Man-machine mixed flow workshop automatic guided vehicle cross node operation control method

Abstract

If so, the man-machine mixed flow workshop automatic guided vehicle cross node operation control method provided by the invention comprises the following steps: S1, determining a cross node of an automatic guided vehicle operation path in a workshop, and setting application equipment for pedestrians to cross the cross node and traffic lights at the cross node; s2, a pedestrian arriving at any cross node at the current moment proposes a crossing application for crossing the cross node through application equipment; and S3, according to the current crossing application and the running state of the automatic guided vehicle at the current cross node, controlling a traffic signal lamp to display passing of the pedestrians, through the method, making a passing request for the pedestrians who want to pass through the cross node, and setting the passing priority of the pedestrians. And the priority of the pedestrian task is combined with the priority of the automatic guided vehicle queue transportation task, so that the priorities of the pedestrian and the cross node through which the automatic guided vehicle queue passes are adaptively determined, the passing conflict between the pedestrian and the automatic guided vehicle can be effectively avoided, the occurrence of safety accidents is avoided, and the traffic safety is improved. And the influence on a conveying task can be reduced.

Description

Technical Field

[0001] The present invention relates to an automatic guided vehicle scheduling control method, and in particular to an automatic guided vehicle cross-node operation control method in a human-machine mixed flow workshop. Background Art

[0002] An automatic guided vehicle (AGV) is a battery-powered auxiliary loading mechanism used to carry a moving object to a target location.

[0003] In the storage workshop, the passage of the automatic guided vehicle is often not only for the operation of the automatic guided vehicle, but also for the staff who need to cross the passage of the automatic guided vehicle. Although, in the prior art, the automatic guided vehicle itself has safety protection functions, such as obstacle detection and obstacle avoidance control programs, and the automatic guided vehicle can automatically detect and avoid obstacles, these are for the automatic guided vehicle relative to relatively fixed obstacles, that is, the automatic guided vehicle has a corresponding reaction time. If the staff suddenly breaks into the operation passage of the automatic guided vehicle while crossing the passage, the automatic guided vehicle cannot react in time, thus posing a serious safety hazard.

[0004] In the prior art, traffic lights are often set at various intersections (or intersection nodes) in storage workshops in the same way as in urban roads. There are generally two ways to control traffic lights: one is to turn on the lights according to established time rules to allow pedestrians or automatic guided vehicles to pass through the intersection nodes. However, this method has low adaptability, resulting in delayed completion of certain high-priority transportation tasks. The other method is to set traffic lights at the intersections. When pedestrians arrive at the intersection, a button is used to control the pedestrian lights to turn on. After the pedestrians pass, the automatic guided vehicles can pass. This method also has the above-mentioned problems, because these rules ignore the transportation properties of the automatic guided vehicles themselves, and may even affect the normal operation of production.

[0005] Therefore, in order to solve the above technical problems, it is urgent to propose a new technical means. Summary of the invention

[0006] In view of this, the purpose of the present invention is to provide an operation control method for an automated guided vehicle at an intersection node in a mixed human-machine workshop, in which a pedestrian who wants to pass through the intersection node makes a request to pass, sets a pedestrian passing priority, and combines the priority of the pedestrian task with the priority of the automated guided vehicle queue transportation task, thereby adaptively determining the priority of the intersection nodes through which pedestrians and automated guided vehicle queues pass, thereby effectively avoiding traffic conflicts between pedestrians and automated guided vehicles, avoiding safety accidents, and reducing the impact on transportation tasks.

[0007] The present invention provides a method for controlling the cross-node operation of an automated guided vehicle in a human-machine mixed workshop, comprising:

[0008] S1. Determine the intersection nodes of the automatic guided vehicle operation path in the workshop, and set up pedestrian crossing application equipment and traffic lights at the intersection nodes;

[0009] S2. A pedestrian who has arrived at any intersection at the current moment submits a crossing application to cross the intersection through the application device;

[0010] S3. Control the traffic light to indicate pedestrian crossing according to the current crossing application and the operating status of the automatic guided vehicle at the current intersection node.

[0011] Furthermore, the crossing application includes the location of the crossing intersection node and the urgency of crossing the crossing intersection node.

[0012] Further, according to the current crossing application and the running state of the automatic guided vehicle at the current crossing node, the traffic signal light is controlled to indicate that pedestrians are passing, specifically including:

[0013] S31. Determine whether the current intersection node has an automatic guided vehicle queue. If not, control the traffic light pedestrian light to display green light; if yes, proceed to the next step;

[0014] S32. Determine whether the current AGV queue is already in the passing state. If so, the pedestrian passing light is red. If not, determine whether the transportation task priority of the current AGV queue is greater than the current pedestrian passing priority. If so, the current AGV queue has priority to pass the intersection node. If not, proceed to the next step.

[0015] S33. Determine whether the current transport task of the automated guided vehicle queue is less than the current pedestrian passing priority. If so, pedestrians have priority to pass through the current intersection node. If the transport task priority of the automated guided vehicle queue is equal to the pedestrian passing priority, pedestrians have priority to pass through the intersection node.

[0016] Furthermore, when pedestrians have priority to pass through the intersection, it also includes:

[0017] Whether the transport task of the adjacent automated guided vehicle queue upstream of the current automated guided vehicle queue is greater than the priority for pedestrians to pass through. If so, determine the distance L between the head vehicle of the adjacent automated guided vehicle queue and the tail vehicle of the current automated guided vehicle, and determine the time t when the head vehicle of the adjacent automated guided vehicle queue reaches the position of the tail vehicle of the current automated guided vehicle. If t is greater than or equal to T, determine whether (L-L1+L2) is greater than or S. If so, the current automated guided vehicle queue will give priority to passing through the current intersection node and then pedestrians will pass through the intersection node; if not, pedestrians will give priority to passing through the current intersection node, where L1 is the safe distance between the front and rear automated guided vehicles and the parking space, L2 is the length of the adjacent automated guided vehicle queue upstream of the current automated guided vehicle, and S is the distance between the tail vehicle of the current automated guided vehicle queue and the upstream intersection node limit line.

[0018] Furthermore, when the automated guided vehicle queue passes through the intersection node preferentially, it also includes:

[0019] Determine whether there is an automated guided vehicle queue between the current intersection node and the downstream intersection node in a waiting state. If not, the automated guided vehicle queue at the current intersection node has priority to pass through the current intersection node. If so, determine the distance S1 between the upstream restriction line of the current intersection node and the tail vehicle of the automated guided vehicle queue in the downstream waiting state, and calculate the time T1: T1=S1 / V. When T1 is greater than or equal to T2, the current automated guided vehicle queue passes through the current intersection. If not, when T1 is less than T2, calculate whether L3 is greater than or equal to S1-L1. If so, the passing priority of the current automated guided vehicle at the current intersection is given to pedestrians. If not, the automated guided vehicle queue at the current intersection has priority to pass through the current intersection, where L3 is the length of the current automated guided vehicle queue, and S1 is the distance between the tail vehicle of the automated guided vehicle queue in the downstream waiting state and the downstream restriction line of the current intersection.

[0020] Beneficial effects of the present invention: Through the present invention, pedestrians who want to pass through an intersection node submit a request to pass, and set the pedestrian passing priority, and combine the priority of the pedestrian task with the priority of the automatic guided vehicle queue transportation task, so as to adaptively determine the priority of the intersection node through which the pedestrian and the automatic guided vehicle queue pass, thereby effectively avoiding traffic conflicts between pedestrians and automatic guided vehicles, avoiding safety accidents, and reducing the impact on the transportation task. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The present invention will be further described below in conjunction with the accompanying drawings and embodiments:

[0022] Figure 1 It is a flow chart of the present invention.

[0023] Figure 2 It is a schematic diagram of a cross node of the present invention. DETAILED DESCRIPTION

[0024] The present invention is further described in detail below:

[0025] For an automated guided vehicle queue, the transport tasks of the same automated guided vehicle queue are the same. The head vehicle of the queue serves as a pilot vehicle, which is used to receive dispatch control information and distribute it to the following vehicles in the queue. Each following vehicle follows the pilot vehicle, and the tasks of different queues may be the same or different, so there are corresponding task priorities. In addition, the front and rear adjacent automated guided vehicles have a certain safety distance, which is used to ensure that there is no collision between them when moving forward, turning and braking.

[0026] For the intersection node, its upstream and downstream are based on the running direction of the automatic guided vehicle, such as Figure 2 As shown, Figure 2 In the diagram, ABC are three adjacent intersection nodes. The direction indicated by the arrow is the running direction of the automatic guided vehicle. In this direction, A is the upstream node of B, and B is the upstream node of C. Figure 2 Each of the four rectangular boxes represents an automated guided vehicle queue. In the running direction, the first one is the pilot vehicle, and the dotted line of each node is the restriction line. For example, for B, in the direction of the arrow, the dotted line on the left side of the B node is the upstream restriction line, and the right side of B is the downstream restriction line. In this area, the automated guided vehicle is never allowed to stay, otherwise it will affect the passage in other directions.

[0027] Then, the present invention provides a method for controlling the cross-node operation of an automated guided vehicle in a mixed human-machine workshop, comprising:

[0028] S1. Determine the intersection nodes of the automatic guided vehicle operation path in the workshop, and set up pedestrian crossing application equipment and traffic lights at the intersection nodes;

[0029] S2. A pedestrian who has arrived at any intersection at the current moment submits a crossing application to cross the intersection through the application device;

[0030] S3. Control the traffic light to indicate pedestrian crossing according to the current crossing application and the operating status of the automatic guided vehicle at the current intersection node. Through the above method, pedestrians who want to pass through the intersection node submit a passing request, set the pedestrian passing priority, and combine the priority of the pedestrian task with the priority of the automatic guided vehicle queue transportation task, so as to adaptively determine the priority of the intersection node through which pedestrians and the automatic guided vehicle queue pass, thereby effectively avoiding traffic conflicts between pedestrians and automatic guided vehicles, avoiding safety accidents, and reducing the impact on the transportation task.

[0031] In this embodiment, the crossing application includes the location of the crossing node and the urgency of crossing the crossing node; wherein the crossing application is implemented by an application device, wherein the application device is in the form of a fingerprint identifier or a combination of a camera and a button switch, wherein the fingerprint identifier or camera is used to obtain information about the current personnel, which can be used to define the task priority of the current staff member, and the button switch is used to obtain information about whether to pass through the crossing node. The fingerprint identifier can trigger the crossing request when it obtains the fingerprint, and the camera also needs the assistance of the button switch when collecting information, because the staff member performs other work in front of the camera, and does not have to pass through the crossing node. At this time, the camera cannot recognize it. The urgency of the personnel crossing the crossing node is related to the current staff member's job position, and different jobs have different urgency levels.

[0032] In this embodiment, controlling the traffic light to indicate pedestrian crossing according to the current crossing application and the running state of the automatic guided vehicle at the current intersection node specifically includes:

[0033] S31. Determine whether the current intersection node has an automated guided vehicle queue. If not, control the traffic light pedestrian crossing light to display a green light. Whether the intersection node has a guided vehicle queue means that there is no automated guided vehicle queue between the upstream restriction line of the intersection node and the downstream restriction line of the upstream intersection node, or in other words, the distance between the automated guided vehicle queue and the upstream restriction line of the current intersection node is greater than a set value (the set value is VT3, V is the speed of the automated guided vehicle, T3 is 1.2-1.5 times the average time for pedestrians to pass through the intersection node, and the multiple is set according to actual needs). If yes, proceed to the next step;

[0034] S32. Determine whether the current AGV queue is already in the passing state. If so, the pedestrian passing light is red. If not, determine whether the transportation task priority of the current AGV queue is greater than the current pedestrian passing priority. If so, the current AGV queue has priority to pass the intersection node. If not, proceed to the next step.

[0035] S33. Determine whether the current transport task of the automated guided vehicle queue is less than the current pedestrian passing priority. If so, pedestrians have priority to pass through the current intersection node. If the transport task priority of the automated guided vehicle queue is equal to the pedestrian passing priority, pedestrians have priority to pass through the intersection node.

[0036] Specifically: When pedestrians have priority to pass through the intersection, it also includes:

[0037] Whether the transport task of the adjacent automated guided vehicle queue upstream of the current automated guided vehicle queue is greater than the priority for pedestrians to pass through, if so, determine the distance L between the head vehicle of the adjacent automated guided vehicle queue and the tail vehicle of the current automated guided vehicle, and determine the time t when the head vehicle of the adjacent automated guided vehicle queue reaches the position of the tail vehicle of the current automated guided vehicle. If t is greater than or equal to T, determine whether (L-L1+L2) is greater than or S. If so, the current automated guided vehicle queue will give priority to passing through the current intersection node and then pedestrians will pass through the intersection node; if not, pedestrians will give priority to passing through the current intersection node, where L1 is the safe distance between the front and rear automated guided vehicles and the parking space, L2 is the length of the adjacent automated guided vehicle queue upstream of the current automated guided vehicle, S is the distance between the tail vehicle of the current automated guided vehicle queue and the upstream intersection node limit line, and T is the average time for pedestrians to pass through the intersection node (the average time is determined by statistics of multiple pedestrians according to their normal walking speed).

[0038] When the AGV queue passes through the intersection node first, it also includes:

[0039] Determine whether there is an automated guided vehicle queue between the current intersection node and the downstream intersection node in a waiting state. If not, the automated guided vehicle queue at the current intersection node has priority to pass through the current intersection node. If so, determine the distance S1 between the upstream restriction line of the current intersection node and the tail vehicle of the automated guided vehicle queue in the downstream waiting state, and calculate the time T1: T1=S1 / V. When T1 is greater than or equal to T2, the current automated guided vehicle queue passes through the current intersection. If not, when T1 is less than T2, calculate whether L3 is greater than or equal to S1-L1. If so, the passing priority of the current automated guided vehicle at the current intersection is given to pedestrians. If not, the automated guided vehicle queue at the current intersection has priority to pass through the current intersection, where L3 is the length of the current automated guided vehicle queue, and S1 is the distance between the tail vehicle of the automated guided vehicle queue in the downstream waiting state and the downstream restriction line of the current intersection. That is to say, for example: when (L-L1+L2) is greater than or equal to S, at this time, during the time when the two automatic guided vehicles are waiting for pedestrians to pass, the tail vehicle of the latter queue may be in the restricted line area of ​​the same intersection node, thereby affecting the passage of other queues, which has a greater impact on scheduling. Therefore, even if there is a higher priority, the priority of passing through the intersection node will change. Therefore, through the above method, it is possible to adaptively adjust and assign passage priority to ensure the orderliness of the operation of the automatic guided vehicles in the entire workshop. This orderliness is determined in advance based on the task, such as which queues follow which routes, and the lighting status of each traffic light in the absence of external interference. That is to say, through the method of the present invention, the impact of pedestrians passing through intersections on the originally determined scheduling can be effectively reduced.

[0040] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solution of the present invention can be modified or replaced by equivalents without departing from the purpose and scope of the technical solution of the present invention, which should be included in the scope of the claims of the present invention.

Claims

1. A method for controlling the operation of an automated guided vehicle at a cross node in a mixed human-machine workshop, characterized in that: include: S1. Determine the intersection nodes of the automatic guided vehicle operation path in the workshop, and set up pedestrian crossing application equipment and traffic lights at the intersection nodes; S2. A pedestrian who has arrived at any intersection at the current moment submits a crossing application to cross the intersection through the application device; S3. Control the traffic light to indicate pedestrian crossing according to the current crossing application and the operating status of the automatic guided vehicle at the current intersection node.

2. According to the method for controlling the cross-node operation of an automated guided vehicle in a mixed human-machine workshop in claim 1, it is characterized by: The crossing application includes the location of the crossing intersection node and the urgency of the crossing intersection node.

3. The method for controlling the cross-node operation of an automated guided vehicle in a mixed human-machine workshop according to claim 2, characterized in that: Controlling the traffic lights to indicate pedestrians passing according to the current crossing application and the running status of the automatic guided vehicle at the current intersection node specifically includes: S31. Determine whether the current intersection node has an automatic guided vehicle queue. If not, control the traffic light pedestrian light to display green light; if yes, proceed to the next step; S32. Determine whether the current AGV queue is already in the passing state. If so, the pedestrian passing light is red. If not, determine whether the transportation task priority of the current AGV queue is greater than the current pedestrian passing priority. If so, the current AGV queue has priority to pass the intersection node. If not, proceed to the next step. S33. Determine whether the current transport task of the automated guided vehicle queue is less than the current pedestrian passing priority. If so, pedestrians have priority to pass through the current intersection node. If the transport task priority of the automated guided vehicle queue is equal to the pedestrian passing priority, pedestrians have priority to pass through the intersection node.

4. The method for controlling the cross-node operation of an automated guided vehicle in a mixed human-machine workshop according to claim 3 is characterized by: When pedestrians have priority in crossing a node, it also includes: Whether the transport task of the adjacent automated guided vehicle queue upstream of the current automated guided vehicle queue is greater than the priority for pedestrians to pass through. If so, determine the distance L between the head vehicle of the adjacent automated guided vehicle queue and the tail vehicle of the current automated guided vehicle, and determine the time t when the head vehicle of the adjacent automated guided vehicle queue reaches the position of the tail vehicle of the current automated guided vehicle. If t is greater than or equal to T, determine whether (L-L1+L2) is greater than or S. If so, the current automated guided vehicle queue will give priority to passing through the current intersection node and then pedestrians will pass through the intersection node; if not, pedestrians will give priority to passing through the current intersection node, where L1 is the safe distance between the front and rear automated guided vehicles and the parking space, L2 is the length of the adjacent automated guided vehicle queue upstream of the current automated guided vehicle, and S is the distance between the tail vehicle of the current automated guided vehicle queue and the upstream intersection node limit line.

5. The method for controlling the cross-node operation of an automated guided vehicle in a mixed human-machine workshop according to claim 3, characterized in that: When the AGV queue passes through the intersection node first, it also includes: Determine whether there is an automated guided vehicle queue between the current intersection node and the downstream intersection node in a waiting state. If not, the automated guided vehicle queue at the current intersection node has priority to pass through the current intersection node. If so, determine the distance S1 between the upstream restriction line of the current intersection node and the tail vehicle of the automated guided vehicle queue in the downstream waiting state, and calculate the time T1: T1=S1 / V. When T1 is greater than or equal to T2, the current automated guided vehicle queue passes through the current intersection. If not, when T1 is less than T2, calculate whether L3 is greater than or equal to S1-L1. If so, the passing priority of the current automated guided vehicle at the current intersection is given to pedestrians. If not, the automated guided vehicle queue at the current intersection has priority to pass through the current intersection, where L3 is the length of the current automated guided vehicle queue, and S1 is the distance between the tail vehicle of the automated guided vehicle queue in the downstream waiting state and the downstream restriction line of the current intersection.

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