Heavy-load AGV dynamic traffic control method and device suitable for area limitation

Abstract

The invention provides a heavy-load AGV dynamic traffic control method and device suitable for area limitation, which are suitable for the situations that the space of an AGV operation area is limited and multiple vehicles cannot operate in one space at the same time, the operation area is divided into a control area and a plurality of forbidden areas, the position information of the AGV is obtained in real time, whether the AGV is contained in the control area or the forbidden areas is calculated, and if yes, the AGV operation is completed. According to the principle that multiple vehicles cannot work at the same time in the control area, the AGV task issuing sequence is controlled, whether the AGVs which have issued tasks are in the forbidden area or not is controlled, the AGVs are controlled to start and stop, the AGV operation sequence is adjusted, and the AGVs are guided to complete the operation tasks in the space limited area in an ordered and conflict-free mode. According to the invention, AGV traffic control under the condition of space limitation is realized, the problem of AGV operation deadlock caused by narrow space is effectively solved, and the operation efficiency, stability and safety of a multi-AGV system are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of AGV multi-vehicle dispatching, and in particular to a heavy-load AGV dynamic traffic control method and device applicable to regional restrictions. Background Art

[0002] With the development of heavy-duty AGV (Automated Guided Vehicle) and intelligent logistics industry, AGV dispatching system has become a key system in the logistics industry. Whether AGV can complete logistics operation tasks in an orderly and efficient manner in multi-AGV operation scenarios is the key to the stable operation of the system. At present, heavy-duty AGV is widely used. Heavy-duty AGV is generally large in size. When multiple heavy-duty AGVs are running in a small space, deadlock problems are prone to occur. Figure 1 The figure shows the conflict diagram of AGV in executing the work task. Green represents the workstation and orange represents the AGV. The workstations in the figure are closely arranged. If there are two AGVs working at adjacent workstations at the same time, when the two AGVs enter the workstations at the same time, the rotation on the main road entering the workstation will cause AGV interference. If the obstacle avoidance function is turned on, the AGV will be deadlocked here.

[0003] Therefore, the current traffic control methods are usually applied in scenarios without spatial interference and cannot be adapted to limited space operation scenarios of large-scale heavy-loaded AGVs. There is no reasonable traffic control strategy for large-scale AGV multi-vehicle operations, which can easily lead to traffic congestion and safety problems. There is an urgent need for a heavy-loaded AGV traffic control method suitable for areas with limited space to improve the flexibility and stability of heavy-loaded AGV multi-vehicle scheduling. Summary of the invention

[0004] The present invention aims to provide a method and device for dynamic traffic control of heavy-load AGVs applicable to regional restrictions, which overcomes the above problems or at least partially solves the above problems.

[0005] To achieve the above object, the technical solution of the present invention is specifically implemented as follows:

[0006] One aspect of the present invention provides a heavy-duty AGV dynamic traffic control method applicable to area restrictions, comprising:

[0007] Divide the AGV operation area into a control area and a prohibited area, wherein the control area is an area where the AGV is controlled, and the prohibited area is an area where the AGV can operate freely;

[0008] Determine a control direction of the AGV in the control area, where the control direction of the AGV in the control area is a direction from the control area into the restricted area;

[0009] Calculate the position information of each AGV in operation in real time, and determine whether the position information of each AGV is located in the prohibited area or the controlled area;

[0010] Calculate the running direction of each AGV in the operation;

[0011] According to the traffic control strategy, traffic control instructions are issued to each AGV.

[0012] Optionally, after dividing the AGV operation area into a controlled area and a prohibited area, the method further includes:

[0013] The description of the prohibited area and the controlled area in the AGV positioning coordinate system is obtained by calculation.

[0014] Optionally, the control area and the prohibited area are rectangular areas; the control area includes a first control area, a second control area, a third control area and a fourth control area, the first control area is located at a first long side of the prohibited area, the second control area is located at a first short side of the prohibited area, the third control area is located at a second long side of the prohibited area, and the fourth control area is located at a second short side of the prohibited area;

[0015] The description of the forbidden area and the controlled area obtained by calculation in the AGV positioning coordinate system includes:

[0016] Use AGV to collect the upper left corner coordinates (X, Y) of the no-entry zone, the first controlled zone, the second controlled zone, the third controlled zone and the fourth controlled zone, and measure the length and width of each rectangular box to calculate the description of the no-entry zone and the controlled zone in the AGV positioning coordinate system.

[0017] Optionally, the real-time calculation of the position information of each AGV in the operation and determining whether the position information of each AGV is located in the prohibited area or the restricted area includes:

[0018] Real-time calculation of the coordinate position (X) of each AGV in operation 1 , Y 1 );

[0019] Set the upper left corner point of any area in the prohibited area and the controlled area to (X s , Y s ), the area length is L, the width is H, and it is calculated by the following formula:

[0020] X s = <X 1 = <X s +H

[0021] Y s = <Y1 = <Y s +L

[0022] Determine the position of each AGV coordinate (X 1 , Y 1 ) is located in the prohibited area or the restricted area.

[0023] Optionally, the running direction of each AGV in the calculation operation includes:

[0024] Set the position of AGV to (X 1 , Y 1 )The coordinates of the target path point are (X m , Y m );

[0025] If X 1 -X m >0, the AGV movement direction is set to forward; if X 1 -X m <0, the AGV movement direction is set to backward; if Y 1 -Y m <0, the AGV movement direction is set to the left; if Y 1 -Y m >0, the AGV movement direction is set to right.

[0026] Optionally, issuing the traffic control instruction to each AGV according to the traffic control strategy includes:

[0027] If it is determined that any AGV is working in the forbidden area, and other AGVs are in the controlled area and their movement direction is consistent with the controlled direction, a parking control instruction is sent to the other AGVs; when the AGV in the forbidden area stops working or leaves the forbidden area, a parking release control instruction is sent to the other AGVs;

[0028] If any AGV runs in the prohibited area, the path of other AGV target points in the prohibited area will not be planned.

[0029] Optionally, after issuing the traffic control instruction to each AGV, the method further includes: updating the control status of each AGV.

[0030] Optionally, the method further comprises:

[0031] For an AGV in a traffic control state, it is calculated in real time whether the AGV in the traffic control state meets the conditions for releasing the control. If the conditions for releasing the control are met, a traffic control release instruction is issued to the AGV in the traffic control state.

[0032] Another aspect of the present invention provides a heavy-duty AGV dynamic traffic control device suitable for area restrictions, comprising:

[0033] A division module is used to divide the AGV operation area into a control area and a prohibited area, wherein the control area is an area where the AGV is controlled, and the prohibited area is an area where the AGV can operate freely;

[0034] A determination module, used to determine the control direction of the AGV in the control area, where the control direction of the AGV in the control area is the direction from the control area into the prohibited area;

[0035] A first calculation module is used to calculate the position information of each AGV in operation in real time, and determine whether the position information of each AGV is located in the prohibited area or the controlled area;

[0036] The second calculation module is used to calculate the running direction of each AGV in operation;

[0037] The control module is used to issue traffic control instructions to each AGV according to the traffic control strategy.

[0038] Another aspect of the present invention provides a heavy-load AGV dynamic traffic control device applicable to area restrictions, which uses the above-mentioned heavy-load AGV dynamic traffic control method applicable to area restrictions to control the AGV in operation.

[0039] It can be seen that the method and device for dynamic traffic control of heavy-duty AGVs applicable to regional restrictions provided by the present invention are applicable to the situation where the space of the AGV operation area is limited and multiple vehicles cannot operate in the same space at the same time. The present invention divides the operation area into a control area and multiple prohibited areas, obtains the AGV position information in real time, calculates whether the AGV is included in the control area or the prohibited area, and controls the order of issuing AGV tasks and whether the AGV that has issued tasks is in the prohibited area according to the principle that multiple vehicles cannot operate at the same time in the control area. It controls the start and stop of the AGV, adjusts the AGV operation order, and guides the AGV to complete the operation tasks in the limited space area in an orderly and conflict-free manner. The present invention realizes AGV traffic control under space restrictions, effectively solves the AGV operation deadlock problem caused by small space, and improves the operation efficiency, stability and safety of the multi-AGV system. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0041] Figure 1 A schematic diagram of conflicts in AGV performing work tasks in the prior art;

[0042] Figure 2 A flow chart of a heavy-duty AGV dynamic traffic control method applicable to area restrictions provided by an embodiment of the present invention;

[0043] Figure 3 A schematic diagram of area division provided in an embodiment of the present invention;

[0044] Figure 4 A schematic diagram of regional direction division provided by an embodiment of the present invention;

[0045] Figure 5 A schematic diagram of real-time calculation of AGV running direction and position provided by an embodiment of the present invention;

[0046] Figure 6 A schematic diagram of an AGV control strategy provided by an embodiment of the present invention;

[0047] Figure 7 A schematic diagram of AGV planning constraints provided by an embodiment of the present invention;

[0048] Figure 8 A schematic structural diagram of a heavy-duty AGV dynamic traffic control device suitable for area restrictions provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0049] The exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0050] Figure 2 A flowchart of a heavy-duty AGV dynamic traffic control method applicable to area restrictions provided by an embodiment of the present invention is shown. Figure 2 , the embodiment of the present invention provides a heavy-duty AGV dynamic traffic control method applicable to area restrictions, including:

[0051] S1, divide the AGV operation area into a control area and a prohibited area, where the control area is the area where the AGV is controlled, and the prohibited area is the area where the AGV can operate freely.

[0052] Specifically, the present invention first divides the area where AGV may conflict into two types of areas, including a forbidden area and a controlled area. AGVs in the forbidden area can operate freely. If the AGV enters the forbidden area, it will be controlled in the controlled area. The present invention divides the AGV operation area into a controlled area and a forbidden area, wherein the forbidden area is a limited space operation area for AGV to enter and exit, and the controlled area is the area around the operation area. The forbidden area includes an entry direction and an exit direction.

[0053] As an optional implementation of an embodiment of the present invention, after the AGV operating area is divided into a controlled area and a prohibited area, the heavy-load AGV dynamic traffic control method suitable for area restrictions provided by the embodiment of the present invention also includes: calculating the description of the prohibited area and the controlled area in the AGV positioning coordinate system.

[0054] Preferably, the control area and the forbidden area are rectangular areas; the control area includes a first control area, a second control area, a third control area and a fourth control area, the first control area is located at the first long side of the forbidden area, the second control area is located at the first short side of the forbidden area, the third control area is located at the second long side of the forbidden area, and the fourth control area is located at the second short side of the forbidden area;

[0055] Calculating the description of the forbidden zone and the controlled zone in the AGV positioning coordinate system includes: using AGV to collect the upper left corner coordinates (X, Y) of the forbidden zone, the first controlled zone, the second controlled zone, the third controlled zone and the fourth controlled zone, and measuring the length and width of each rectangular box, and calculating the description of the forbidden zone and the controlled zone in the AGV positioning coordinate system.

[0056] Specifically, Figure 3 As shown, the present invention is mainly applicable to rectangular areas, and uses AGV equipment to collect the coordinates (X, Y) of the upper left corner of the forbidden area, control area 1, control area 2, control area 3, and control area 4. And measure the length and width of each rectangular box. The description of the forbidden area and the control area in the AGV positioning coordinate system can be obtained.

[0057] S2, determining the control direction of the AGV in the control area, where the control direction of the AGV in the control area is the direction from the control area into the prohibited area.

[0058] Specifically, Figure 4 As shown, according to the position where the control area enters the restricted area, the AGV control direction in the control area is divided, and the direction from the control area to the restricted area is the control direction of this control area.

[0059] S3, calculate the position information of each AGV in operation in real time, and determine whether the position information of each AGV is located in a prohibited area or a controlled area.

[0060] As an optional implementation of the embodiment of the present invention, calculating the position information of each AGV in operation in real time and determining whether the position information of each AGV is located in a prohibited area or a controlled area includes:

[0061] Real-time calculation of the coordinate position (X) of each AGV in operation 1 , Y 1 );

[0062] Set the upper left corner of any area in the prohibited area and the controlled area to (X s , Y s ), the area length is L, the width is H, and it is calculated by the following formula:

[0063] X s = <X 1 = <X s +H

[0064] Y s = <Y 1 = <Y s +L

[0065] Determine the position of each AGV coordinate (X 1 , Y 1 ) is located in a prohibited area or a restricted area.

[0066] Specifically, Figure 5 As shown, the position of the AGV coordinates (X 1 , Y 1 ), and calculate whether the AGV position is in the prohibited area or the controlled area, and set the upper left corner of the area as (X s , Y s ), the area length is L and the width is H.

[0067] X s = <X 1 = <X s +H

[0068] Y s = <Y 1 = <Y s +L

[0069] S4, calculating the running direction of each AGV in the operation.

[0070] As an optional implementation of the embodiment of the present invention, the running direction of each AGV in the calculation operation includes:

[0071] Set the position of AGV to (X 1 , Y 1 )The coordinates of the target path point are (X m , Y m );

[0072] If X 1 -X m >0, the AGV movement direction is set to forward; if X 1 -X m <0, the AGV movement direction is set to backward; if Y 1 -Y m <0, the AGV movement direction is set to the left; if Y 1 -Y m >0, the AGV movement direction is set to right.

[0073] Specifically, calculate the running direction of the AGV and set the position of the AGV to (X 1 , Y 1 )The coordinates of the target path point are (X m , Y m ). If X 1 -X m >0 sets the AGV movement direction to forward; if X 1 -X m <0 sets the AGV movement direction to backward; if Y 1 -Y m <0 sets the AGV movement direction to the left; if Y 1 -Y m >0 sets the AGV movement direction to the right.

[0074] S5: According to the traffic control strategy, traffic control instructions are issued to each AGV.

[0075] As an optional implementation mode of an embodiment of the present invention, according to the traffic control strategy, issuing traffic control instructions to each AGV includes: if it is determined that any AGV is located in a restricted area, and other AGVs are in the controlled area and the movement direction is consistent with the controlled direction, a parking control instruction is sent to other AGVs; when the AGV in the restricted area stops operating or leaves the restricted area, a parking release control instruction is issued to other AGVs; if any AGV is operating in the restricted area, the path of other AGV target points in the restricted area is not planned.

[0076] Specifically, Figure 6 As shown, if the AGV is operating in the prohibited area, other vehicles are prohibited from entering the prohibited area. The strategy is to determine that the AGV is working in the prohibited area, and other AGVs are in the controlled area and their movement direction is consistent with the prohibited direction specified in the controlled area, then a parking control instruction is sent to the AGV. When the AGV in the prohibited area stops operating or leaves the prohibited area, a parking control release instruction is sent to the controlled AGV.

[0077] like Figure 6 As shown, AGV1 is operating in the prohibited area, AGV2 and AGV4 are in the controlled area and their running directions are consistent with the prohibited directions in the controlled area, then AGV2 and AGV4 stop and wait, AGV3 and AGV5 are in the controlled area and their running directions are inconsistent with the prohibited directions in the controlled area, then AGV3 and AGV5 operate normally.

[0078] If the AGV runs in the prohibited area, the paths of other AGV target points in the prohibited area will not be planned.

[0079] like Figure 7 As shown in the figure, AGV1 is operating in the forbidden area, and AGV3 is in idle state waiting for task assignment. If the next task target point of AGV3 is in the forbidden area, the task assignment of AGV3 is unsuccessful. After AGV1 leaves the forbidden area, the task of AGV3 is successfully issued, and AGV3 can enter the forbidden area.

[0080] As an optional implementation of the embodiment of the present invention, after issuing the traffic control instruction to each AGV, the heavy-load AGV dynamic traffic control method applicable to area restrictions provided by the embodiment of the present invention further includes: updating the control status of each AGV.

[0081] As an optional implementation of an embodiment of the present invention, after issuing traffic control instructions to each AGV, the heavy-load AGV dynamic traffic control method suitable for area restrictions provided by the embodiment of the present invention also includes: for the AGV in the traffic control state, real-time calculation of whether the AGV in the traffic control state meets the conditions for lifting the control, and if the conditions for lifting the control are met, issuing a traffic control lifting instruction to the AGV in the traffic control state.

[0082] Specifically, according to the traffic control strategy, it is calculated whether each AGV generates a traffic control instruction. If an AGV in operation is in the control area, the road network in the map relationship of the control area is completely interrupted. At this time, the AGV that has not generated the operation task cannot generate the task because it cannot plan the path. The AGV outside the control area cannot enter this area, and the AGV without a task in the control area cannot leave this area, ensuring that only one AGV is running in this area. If an AGV in operation is in the control area, if there is an AGV in operation in the restricted area, the running direction of the AGV is determined. If the direction is the exit direction of the restricted area, no operation is performed. If the direction is the entry direction of the restricted area, it is prohibited to enter. After that, the control instruction is issued and the control status of each AGV is updated. For the AGV in the traffic control state, the AGV is calculated in real time whether it meets the conditions for lifting the control, and the traffic control lifting instruction is issued.

[0083] It can be seen that the dynamic traffic control method for heavy-load AGVs with area restrictions provided by the embodiment of the present invention has a simple process and a stable control strategy. It can control the order of AGVs entering and exiting a narrow space in real time, and effectively solves the traffic congestion and safety problems in various area-restricted AGV operation scenarios.

[0084] The heavy-duty AGV dynamic traffic control method applicable to area restrictions provided by the embodiment of the present invention has the following beneficial effects:

[0085] (1) The present invention provides a heavy-duty AGV dynamic traffic control method applicable to area restrictions, which improves the operating efficiency and automation level of a multi-AGV system.

[0086] (2) The present invention effectively solves the deadlock problem caused by spatial interference during the operation of a heavy-loaded multi-AGV system.

[0087] (3) The present invention improves the operating efficiency of the heavy-load multi-AGV system and improves the safety and stability of the system operation.

[0088] (4) The present invention can enable AGVs to carry out production operations in an orderly manner in an environment with limited space, reduce the total space occupied by AGVs, and increase the utilization rate of production operation land.

[0089] Figure 8 The structural schematic diagram of the heavy-load AGV dynamic traffic control device applicable to regional restrictions provided by an embodiment of the present invention is shown. The heavy-load AGV dynamic traffic control device applicable to regional restrictions applies the above method. The following is only a brief description of the structure of the heavy-load AGV dynamic traffic control device applicable to regional restrictions. For other matters not covered, please refer to the relevant description in the above-mentioned heavy-load AGV dynamic traffic control method applicable to regional restrictions. Figure 8 , the embodiment of the present invention provides a heavy-duty AGV dynamic traffic control device suitable for area restrictions, including:

[0090] The division module is used to divide the AGV operation area into a control area and a prohibited area, where the control area is the area where the AGV is controlled, and the prohibited area is the area where the AGV can operate freely;

[0091] A determination module is used to determine the control direction of the AGV in the control area. The control direction of the AGV in the control area is the direction from the control area to the prohibited area;

[0092] The first calculation module is used to calculate the position information of each AGV in operation in real time and determine whether the position information of each AGV is located in a prohibited area or a controlled area;

[0093] The second calculation module is used to calculate the running direction of each AGV in operation;

[0094] The control module is used to issue traffic control instructions to each AGV according to the traffic control strategy.

[0095] As an optional implementation of the embodiment of the present invention, after dividing the AGV operation area into a control area and a prohibited area, the division module is further used to calculate descriptions of the prohibited area and the control area in the AGV positioning coordinate system.

[0096] As an optional implementation manner of the embodiment of the present invention, the control area and the prohibited area are rectangular areas; the control area includes a first control area, a second control area, a third control area and a fourth control area, the first control area is located at a first long side of the prohibited area, the second control area is located at a first short side of the prohibited area, the third control area is located at a second long side of the prohibited area, and the fourth control area is located at a second short side of the prohibited area;

[0097] The division module calculates the description of the prohibited area and the controlled area in the AGV positioning coordinate system in the following way:

[0098] Use AGV to collect the upper left corner coordinates (X, Y) of the no-entry zone, the first controlled zone, the second controlled zone, the third controlled zone and the fourth controlled zone, and measure the length and width of each rectangular box to calculate the description of the no-entry zone and the controlled zone in the AGV positioning coordinate system.

[0099] As an optional implementation of the embodiment of the present invention, the first calculation module calculates the position information of each AGV in operation in real time in the following manner, and determines whether the position information of each AGV is located in the prohibited area or the restricted area:

[0100] Real-time calculation of the coordinate position (X) of each AGV in operation 1 , Y 1 );

[0101] Set the upper left corner point of any area in the prohibited area and the controlled area to (X s , Y s ), the area length is L, the width is H, and it is calculated by the following formula:

[0102] X s = <X 1 = <X s +H

[0103] Y s = <Y 1 = <Y s +L

[0104] Determine the position of each AGV coordinate (X1 , Y 1 ) is located in the prohibited area or the restricted area.

[0105] As an optional implementation of the embodiment of the present invention, the second calculation module calculates the running direction of each AGV in the operation in the following manner:

[0106] Set the position of AGV to (X 1 , Y 1 )The coordinates of the target path point are (X m , Y m );

[0107] If X 1 -X m >0, the AGV movement direction is set to forward; if X 1 -X m <0, the AGV movement direction is set to backward; if Y 1 -Y m <0, the AGV movement direction is set to the left; if Y 1 -Y m >0, the AGV movement direction is set to right.

[0108] As an optional implementation of the embodiment of the present invention, the control module sends the traffic control instruction to each AGV according to the traffic control strategy in the following manner:

[0109] If it is determined that any AGV is working in the forbidden area, and other AGVs are in the controlled area and their movement direction is consistent with the controlled direction, a parking control instruction is sent to the other AGVs; when the AGV in the forbidden area stops working or leaves the forbidden area, a parking release control instruction is sent to the other AGVs;

[0110] If any AGV runs in the prohibited area, the path of other AGV target points in the prohibited area will not be planned.

[0111] As an optional implementation of the embodiment of the present invention, after the control module sends the traffic control instruction to each AGV, it is also used to update the control status of each AGV.

[0112] As an optional implementation of an embodiment of the present invention, the control module is also used to calculate in real time whether the AGV in the traffic control state meets the conditions for lifting the control. If the conditions for lifting the control are met, a traffic control lifting instruction is issued to the AGV in the traffic control state.

[0113] It can be seen that the heavy-duty AGV dynamic traffic control device suitable for area restrictions provided by the embodiment of the present invention has a simple process and a stable control strategy. It can control the order of AGVs entering and exiting a narrow space in real time, and effectively solves the traffic congestion and safety problems in various area-restricted AGV operation scenarios.

[0114] The heavy-duty AGV dynamic traffic control method applicable to area restrictions provided by the embodiment of the present invention has the following beneficial effects:

[0115] (1) The present invention provides a heavy-duty AGV dynamic traffic control device suitable for area restrictions, which improves the operating efficiency and automation level of a multi-AGV system.

[0116] (2) The present invention effectively solves the deadlock problem caused by spatial interference during the operation of a heavy-loaded multi-AGV system.

[0117] (3) The present invention improves the operating efficiency of the heavy-load multi-AGV system and improves the safety and stability of the system operation.

[0118] (4) The present invention can enable AGVs to carry out production operations in an orderly manner in an environment with limited space, reduce the total space occupied by AGVs, and increase the utilization rate of production operation land.

[0119] The present invention also provides a heavy-load AGV dynamic traffic control device applicable to area restrictions, and uses the above-mentioned heavy-load AGV dynamic traffic control method applicable to area restrictions to control the AGV in operation.

[0120] It can be seen that the heavy-duty AGV dynamic traffic control device suitable for area restrictions provided by the embodiment of the present invention has a simple process and a stable control strategy. It can control the order of AGVs entering and exiting a narrow space in real time, and effectively solves the traffic congestion and safety problems in various area-restricted AGV operation scenarios.

[0121] The heavy-duty AGV dynamic traffic control method applicable to area restrictions provided by the embodiment of the present invention has the following beneficial effects:

[0122] (1) The present invention provides a heavy-duty AGV dynamic traffic control device suitable for area restrictions, which improves the operating efficiency and automation level of a multi-AGV system.

[0123] (2) The present invention effectively solves the deadlock problem caused by spatial interference during the operation of a heavy-loaded multi-AGV system.

[0124] (3) The present invention improves the operating efficiency of the heavy-load multi-AGV system and improves the safety and stability of the system operation.

[0125] (4) The present invention can enable AGVs to carry out production operations in an orderly manner in an environment with limited space, reduce the total space occupied by AGVs, and increase the utilization rate of production operation land.

[0126] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included within the scope of the claims of the present application.

Claims

1. A heavy-duty AGV dynamic traffic control method applicable to area restrictions, characterized in that: include: Divide the AGV operation area into a control area and a prohibited area, wherein the control area is an area where the AGV is controlled, and the prohibited area is an area where the AGV can operate freely; Determine a control direction of the AGV in the control area, where the control direction of the AGV in the control area is a direction from the control area into the restricted area; Calculate the position information of each AGV in operation in real time, and determine whether the position information of each AGV is located in the prohibited area or the controlled area; Calculate the running direction of each AGV in the operation; According to the traffic control strategy, traffic control instructions are issued to each AGV.

2. The method according to claim 1, characterized in that After dividing the AGV operation area into a controlled area and a prohibited area, the following steps are also included: The description of the prohibited area and the controlled area in the AGV positioning coordinate system is calculated.

3. The method according to claim 2, characterized in that The control area and the restricted area are rectangular areas; the control area includes a first control area, a second control area, a third control area and a fourth control area, the first control area is located at the first long side of the restricted area, the second control area is located at the first short side of the restricted area, the third control area is located at the second long side of the restricted area, and the fourth control area is located at the second short side of the restricted area; The description of the forbidden area and the controlled area obtained by calculation in the AGV positioning coordinate system includes: Use AGV to collect the upper left corner coordinates (X, Y) of the no-entry zone, the first controlled zone, the second controlled zone, the third controlled zone and the fourth controlled zone, and measure the length and width of each rectangular box to calculate the description of the no-entry zone and the controlled zone in the AGV positioning coordinate system.

4. The method according to claim 3, characterized in that The real-time calculation of the position information of each AGV in the operation and determining whether the position information of each AGV is located in the prohibited area or the controlled area includes: Real-time calculation of the coordinate position (X1, Y1) of each AGV in operation; Set the upper left corner point of any area in the prohibited area and the controlled area to (X s , Y s ), the area length is L, the width is H, and it is calculated by the following formula: X s =<X1=<X s +H Y s = <Y1=<Y s +L Determine whether the position (X1, Y1) of each AGV coordinate is located in the prohibited area or the controlled area.

5. The method according to claim 4, characterized in that The running directions of each AGV in the calculation operation include: Set the position of the AGV to (X1, Y1) and the coordinates of the target path point to (X m , Y m ); If X1-X m >0, the AGV movement direction is set to forward; if X1-X m <0, the AGV movement direction is set to backward; if Y1-Y m <0, the AGV movement direction is set to the left; if Y1-Y m >0, the AGV movement direction is set to right.

6. The method according to claim 5, characterized in that The sending of the traffic control instruction to each AGV according to the traffic control strategy includes: If it is determined that any AGV is working in the forbidden area, and other AGVs are in the controlled area and their movement direction is consistent with the controlled direction, a parking control instruction is sent to the other AGVs; when the AGV in the forbidden area stops working or leaves the forbidden area, a parking release control instruction is sent to the other AGVs; If any AGV runs in the prohibited area, the path of other AGV target points in the prohibited area will not be planned.

7. The method according to claim 6, characterized in that After sending the traffic control instruction to each AGV, the method further includes: updating the control status of each AGV.

8. The method according to claim 7, characterized in that Also includes: For an AGV in a traffic control state, it is calculated in real time whether the AGV in the traffic control state meets the conditions for releasing the control. If the conditions for releasing the control are met, a traffic control release instruction is issued to the AGV in the traffic control state.

9. A heavy-duty AGV dynamic traffic control device suitable for regional restrictions, characterized in that: include: A division module is used to divide the AGV operation area into a control area and a prohibited area, wherein the control area is an area where the AGV is controlled, and the prohibited area is an area where the AGV can operate freely; A determination module, used to determine the control direction of the AGV in the control area, where the control direction of the AGV in the control area is the direction from the control area into the prohibited area; A first calculation module is used to calculate the position information of each AGV in operation in real time, and determine whether the position information of each AGV is located in the prohibited area or the controlled area; The second calculation module is used to calculate the running direction of each AGV in operation; The control module is used to issue traffic control instructions to each AGV according to the traffic control strategy.

10. A heavy-duty AGV dynamic traffic control device suitable for regional restrictions, characterized in that: The AGV in operation is controlled by using the heavy-load AGV dynamic traffic control method applicable to area restrictions as described in any one of claims 1 to 8.

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