Double-AGV cooperative carrying control system and method

Abstract

The invention discloses a double-AGV cooperative carrying control system and method, and relates to the technical field of carrying control, and the system comprises a path planning end, a different-direction driving end, and a same-direction driving end. The path planning end is used for detecting whether an obstacle appears on a double-AGV carrying path or not in real time; the different-direction driving end is used for different-direction driving operation and judging whether the path planning trends of the two AGVs are abnormal or not by calculating the real-time distance between the two AGVs and the same target point in real time; the same-direction driving end is used for judging whether path planning of the double AGVs is safe or not in real time by calculating the angle deviation between the double AGVs in real time during same-direction driving. According to the double-AGV cooperative carrying control system and method, path planning and cooperative strategies can be adjusted in time, the situation that carrying is blocked by obstacles when the AGVs operate normally is avoided, the situation that the two AGVs stop and wait is avoided, and the situation that two AGV carrying vehicles are disjointed or collided when the two AGV carrying vehicles drive to an intersection in the same direction to turn around is avoided.

Description

Technical Field

[0001] The present invention relates to the field of transport control technology, and in particular to a dual AGV collaborative transport control system and method. Background Art

[0002] Dual AGV collaborative transport control refers to the use of specific control methods and systems to enable two automated guided vehicles to work together during operation to jointly complete tasks such as material handling and transportation. The behavior of AGV is decomposed into multiple basic behavior units, such as forward, backward, turning, obstacle avoidance, etc. Each behavior unit has corresponding control rules and strategies. AGV selects appropriate behavior units for combination and execution based on current task requirements and environmental information, thereby achieving complex motion control and collaborative operations.

[0003] China Publication No. CN110989526B discloses a dual AGV collaborative transport control method and system, which involves the field of intelligent logistics delivery robots. This method is mainly aimed at large components, especially the transportation needs of objects with larger dimensions in the length direction. It combines the path tracking method and the pilot-following method, uses a three-layer topological structure collaborative planning model, and uses a discrete control model based on time domain rolling predictive control to optimize the kinematic control model, so as to achieve stable and reliable path tracking collaborative transport of the dual AGV system.

[0004] At present, there are some shortcomings in the collaborative transportation control of dual AGVs: 1. Since the actual working environment is dynamically changing, when encountering the addition or removal of obstacles or temporary occupation of other equipment, the dual AGV collaborative transportation control system may be difficult to quickly adapt to these changes, and it is impossible to adjust the path planning and collaborative strategy in time, resulting in obstruction to the normal operation of the AGV, causing the AGV to fail to complete the task smoothly; 2. If two AGVs arrive at the same intersection or meet on the same channel at the same time, the traffic control strategy of the AGC driving cannot be adjusted in real time according to the actual situation, resulting in stagnation and waiting on both sides, reducing transportation efficiency, and may even cause a collision accident; 3. If the speed of the pilot AGV is too fast or too slow, the following AGV cannot keep up in time or maintain a safe distance, which is easy to cause disconnection or collision, affecting the safety and reliability of the collaborative transportation control of the dual AGV.

[0005] Therefore, a dual AGV collaborative transportation control system and method are proposed to solve the above problems. Summary of the invention

[0006] The main purpose of the present invention is to provide a dual AGV collaborative transportation control system and method to solve the problems raised in the above background.

[0007] To achieve the above-mentioned purpose, the technical solution adopted by the present invention is: a dual AGV cooperative transportation control system and method, including a path planning end, a different-direction driving end and a same-direction driving end;

[0008] The path planning end is used to set the transport mode of the dual AGV collaborative transport, monitor the environmental parameters of the dual AGC transport process in real time according to the transport mode, and detect in real time whether there are obstacles on the dual AGV transport path, and adjust the path planning and collaborative strategy in real time according to the obstacles in the actual situation;

[0009] The opposite-direction driving end is used for opposite-direction driving operations, by real-time detection of the current positions of the two AGVs, and real-time detection of whether the current positions of the two AGVs are repeated, and real-time adjustment of the traffic control strategy for AGV driving according to the real-time distance of each AGV from the intersection, and when the two AGVs arrive at the same intersection at the same time or meet on the same channel, the real-time distance of the two AGVs to the same target point is calculated in real time to determine whether the path planning trends of the two AGVs are abnormal;

[0010] The same-direction driving end is used for same-direction driving. It collects the speed of the leading AGV in real time, detects the driving distance between the following AGV and the leading AGV in real time, calculates the angle deviation between the two AGVs in real time when turning at the intersection, and judges whether the path planning of the two AGVs is safe in real time based on the angle deviation of the two AGV carriers when turning at the intersection.

[0011] The path planning end includes a transport mode module, an obstacle avoidance warning module and a planning strategy module;

[0012] The transport mode module includes a path planning unit, a transport mode unit and a dual AGV environment acquisition unit;

[0013] The path planning unit is used to plan the AGV path according to the actual route of the AGV for material transportation, and set the two AGVs to a detachable structure;

[0014] The transport mode unit is used to set the transport modes of the two AGVs. The transport modes include a different-direction driving mode and a same-direction driving mode. The different-direction driving mode adopts a separated multi-channel driving mode, and the same-direction driving mode adopts a single-channel driving mode.

[0015] The dual AGV environment acquisition unit captures the surrounding environment of the two AGVs in real time during transportation through data sensors and cameras, and automatically generates pictures on the moving path.

[0016] The obstacle avoidance warning module includes an obstacle recognition unit and an obstacle avoidance warning unit;

[0017] The obstacle recognition unit is used to capture the image information in front of the AGV path in real time through the camera, and automatically recognize whether there are obstacles in the image information. The recognition method is as follows:

[0018] Step 1: Set the obstacle definition model. The obstacle definition model includes the stationary entities and mobile entities in front of the path. According to the initial point of the AGV route, the equidistant feature points of the route movement, and the feature points captured at the current moment, calculate the average displacement of the feature points of the AGV moving path, and then calculate the approximate contour of the AGV path in front of the current frame image according to the movement of similar points. The average displacement D of the feature points of the moving path t The calculation formula is as follows:

[0019]

[0020] Among them, f x,y-1 represents the feature point in the moving area of ​​the AGV’s front path at time t-1, f x,y represents the feature point in front of the AGV path detected at time t, and M represents the number of feature points captured at time t;

[0021] Step 2: By calculating the average displacement D of the feature points on the AGV's front path at time t-1 t The difference is calculated with the initial point of the AGV's route. If the difference is equal to 0, it means that the obstacle is a stationary entity. If the difference is not equal to 0, it means that the obstacle is a moving entity. The approximate outline of the obstacle in front of the AGV path at time t is obtained by comparing the image of the obstacle definition model. If the image comparison difference is equal to 0, it is judged that there is an obstacle in front of the AGV path. If the image comparison difference is not equal to 0, it is judged that there is no obstacle in front of the AGV path.

[0022] The obstacle avoidance warning unit is used to report to the system to issue a warning reminder when it is determined that there is an obstacle in front of the AGV path.

[0023] The planning strategy module includes a collaborative strategy unit and a strategy adjustment unit;

[0024] The collaborative strategy unit is used to set collaborative transport strategy schemes for two AGVs under different transport modes;

[0025] The strategy adjustment unit is used to adjust the collaborative transportation strategy scheme of the two AGVs under different transportation modes in real time according to the obstacle avoidance warning unit.

[0026] The opposite-direction driving terminal includes a position detection module, a real-time judgment module and a traffic control module;

[0027] The position detection module includes a position positioning unit and a path trend unit;

[0028] The position positioning unit is used to monitor the real-time position of the AGV in real time through GPS positioning and navigation;

[0029] The path trend unit is used to detect the real-time movement trend of the AGV path according to the actual route of the AGV material transportation.

[0030] The real-time judgment module includes a path judgment unit and a distance calculation unit;

[0031] The path judgment unit is used to judge whether two AGVs pass through the same intersection according to the path movement trends of the two AGVs, combined with the real-time positions and path movement trends of the two AGVs. If the target points of the two AGVs are the same, it is judged that the two AGVs pass through the same intersection;

[0032] The distance calculation unit is used to calculate the distance of each AGV from the target point in real time when the next target point of the path movement of the two AGVs is the same intersection. The calculation method is as follows:

[0033] Set the current position of the AGV as (x1, y1), and set the target point of the AGV as (x2, y2). The distance formula for calculating the corresponding AGV to the same intersection is as follows:

[0034] Calculate the distances of the corresponding two AGVs from the same intersection according to the calculation formula, and arrange the calculation results in serial numbers, which are serial number 1 and serial number 2.

[0035] The traffic control module includes a control strategy unit, a real-time tracking unit, and a collision prevention alarm unit;

[0036] The control strategy unit is used to adjust the traffic control strategy in real time according to the distance values of the two AGVs from the same intersection. The AGV with a larger distance value gives way to the AGV with a smaller distance value to pass through the intersection first. If the distance values are equal, the AGV corresponding to serial number 1 passes through first;

[0037] The real-time tracking unit is used to track in real time through a data tracker, and capture in real time through a camera whether the AGV with a smaller distance value passes through the intersection. If it passes through the intersection, the AGV with a larger distance value performs the intersection passing operation;

[0038] The collision prevention alarm unit is used to send a collision prevention warning message when it is monitored that the AGV with a larger distance value does not pass through the intersection at the corresponding time, and stop the movement of the AGV corresponding to serial number 2 until the AGV with a larger distance value passes through the intersection, and the AGV corresponding to serial number 2 starts to move again.

[0039] The same-direction driving end includes a mode adjustment module, a speed detection module, an angle deviation module, and a scheme adjustment module;

[0040] The mode adjustment module is used to adjust the dual AGVs to a same-direction driving mode according to the dual AGV cooperative transport mode;

[0041] The speed detection module includes a speed detection unit and a distance warning unit;

[0042] The speed detection unit is used to detect the driving speed of the two AGVs in real time through a data monitor, and arrange the leading AGV and the following AGV in order, the order is D1 and D2, and the difference between D1 and D2 is calculated. If the difference is greater than 0, it means that the two AGVs are running normally. If the difference is less than or equal to 0, it means that the two AGVs are running abnormally, and the system is reported to issue a voice alarm reminder;

[0043] The distance warning unit is used to calculate the distance between D1 and D2 in real time, set a safety distance threshold, and calculate the difference between the distance and the safety distance threshold. If the difference is greater than 0, it means that the two AGVs are running normally. If the difference is less than or equal to 0, it means that the two AGVs are running abnormally, and the system is reported to issue a voice alarm reminder.

[0044] The angle deviation module is used to calculate the angle deviation between the leading AGV and the following AGV when turning at the intersection in real time, and set the standard angle deviation value. The calculation formula is as follows:

[0045] Set the center point of the standard angle deviation value as the center origin, establish a coordinate system, and calculate the angle deviation difference between the two AGVs using the calculation formula:

[0046]

[0047] Among them, α is the angle between the driving angle of the pilot AGV and the following AGV and the positive direction of the X-axis, θ is the angle between the driving angle of the pilot AGV and the following AGV and the positive direction of the Y-axis, A is the carrying height of the pilot AGV and the following AGV, Δx is the vector of the pilot AGV and the following AGV in the X-axis direction, and Δy is the vector of the pilot AGV and the following AGV in the Y-axis direction;

[0048] The scheme adjustment module includes a scheme adjustment unit and a scheme execution tracking unit;

[0049] The scheme adjustment unit is used to adjust the traffic coordination strategies of the two AGVs in real time according to the vectors calculated by the pilot AGV and the follower AGV;

[0050] The scheme execution tracking unit is used to track the execution results of the traffic coordination strategy of the two AGVs in real time through a data tracker, and calculate the difference between the data before and after the execution. If the difference is equal to 0, it means that the traffic coordination strategy is executed abnormally. If the difference is not equal to 0, it means that the traffic coordination strategy is executed abnormally.

[0051] A dual AGV collaborative transport control method comprises the following steps:

[0052] Step 1: Configure the IP address information of the dual AGV collaborative remote control area server;

[0053] Step 2: Enter the path planning end, set the dual AGV transport mode, and monitor the dual AGC transport environment in real time to detect whether there are obstacles in real time, and adjust the path planning and coordination strategy in real time according to the actual situation, and report the system to issue a voice alarm;

[0054] Step 3: Enter the opposite direction driving end, detect the current positions of the two AGVs in real time, and if the current positions are repeated, adjust the traffic control strategy of the AGV driving in real time according to the real-time distance of each AGV from the intersection to ensure the anti-collision safety of the two AGVs driving in different phases;

[0055] Step 4: Enter the same-direction driving end, collect the speed of the pilot AGV in real time, detect the driving distance between the following AGV and the pilot AGV in real time, and calculate the angle deviation between the two AGVs in real time when turning at the intersection to ensure the safety of the dual AGV path planning.

[0056] The present invention has the following beneficial effects:

[0057] 1. In the present invention, by setting a path planning end, when performing dual AGV collaborative transportation control, by detecting whether there are obstacles on the dual AGV transportation path, and adjusting the path planning and coordination strategy in real time according to the obstacles in the actual situation, it is possible to quickly adapt to these changes according to the dynamic changes of the actual working environment, and can adjust the path planning and coordination strategy in time to avoid obstacles blocking the transportation during the normal operation of the AGV, thereby ensuring that the dual AGV transportation can successfully complete the task.

[0058] 2. In the present invention, by setting up a different-direction driving terminal, the dual AGVs can realize different-direction driving when performing dual AGV collaborative transportation control. The transportation trend of each AGV is detected according to the transportation path of each AGV, and the traffic control strategy of AGV driving is adjusted in real time according to the real-time distance of each AGV from the intersection, so as to avoid collision incidents when the dual AGVs drive in different phases. In addition, by calculating the real-time distance between the two AGVs and the same target point, stagnation and waiting of both parties can be avoided, thereby improving the transportation efficiency of the dual AGVs when driving in different directions and avoiding collision accidents when the dual AGV transport vehicles arrive at the same intersection.

[0059] 3. In the present invention, by setting the same-direction driving end, the dual AGVs can realize the same-direction driving when performing dual AGV collaborative transportation control. By calculating the angle deviation between the dual AGVs in real time when turning at the intersection, the safety of the path planning of the dual AGVs can be judged in real time according to the angle deviation of the two AGV carriers when turning at the intersection. At the same time, the following AGV can maintain a safe turning angle with the leading AGV when turning at the intersection, avoiding disconnection or collision between the two AGV carriers when driving in the same direction and turning at the intersection, thereby improving the safety and reliability of dual AGV collaborative transportation control. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] Figure 1 A schematic diagram of the system architecture of a dual AGV collaborative transportation control system and method of the present invention;

[0061] Figure 2 It is a schematic diagram of the architecture of the path planning end of a dual AGV cooperative transportation control system and method of the present invention;

[0062] Figure 3 It is a schematic diagram of the structure of the opposite-direction driving end of a dual AGV cooperative transportation control system and method of the present invention;

[0063] Figure 4 It is a schematic diagram of the structure of the same-direction driving end of a dual AGV cooperative transportation control system and method of the present invention. DETAILED DESCRIPTION

[0064] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further explained below in conjunction with specific implementation methods.

[0065] Embodiment 1

[0066] Please refer to Figure 1 to Figure 2 As shown: A dual AGV cooperative transportation control system and method, including a path planning end, a different-direction driving end, and a same-direction driving end;

[0067] The path planning end is used to set the transport mode of the dual AGV collaborative transport, monitor the environmental parameters of the dual AGC transport process in real time according to the transport mode, and detect in real time whether there are obstacles on the dual AGV transport path, and adjust the path planning and collaborative strategy in real time according to the obstacles in the actual situation;

[0068] The opposite-direction driving terminal is used for opposite-direction driving operations. It detects the current positions of the two AGVs in real time, and detects whether the current positions of the two AGVs are repeated in real time. It adjusts the traffic control strategy of the AGV driving in real time according to the real-time distance of each AGV from the intersection. When the two AGVs arrive at the same intersection at the same time or meet on the same channel, it calculates the real-time distance between the two AGVs and the same target point in real time to determine whether the path planning trend of the two AGVs is abnormal.

[0069] The same-direction driving end is used for same-direction driving. It collects the speed of the leading AGV in real time, and detects the driving distance between the following AGV and the leading AGV in real time. When turning at an intersection, it calculates the angle deviation between the two AGVs in real time. Based on the angle deviation of the two AGV carriers when turning at the intersection, it judges in real time whether the path planning of the two AGVs is safe.

[0070] The path planning end includes a transport mode module, an obstacle avoidance warning module, and a planning strategy module;

[0071] The transport mode module includes a path planning unit, a transport mode unit, and a dual AGV environment acquisition unit;

[0072] The path planning unit is used to plan the AGV path according to the actual route of the AGV for material transportation, and set the two AGVs to a detachable structure;

[0073] The transport mode unit is used to set the transport modes of the two AGVs. The transport modes include different-direction driving mode and same-direction driving mode. The different-direction driving mode adopts a separated multi-channel driving mode, and the same-direction driving mode adopts a single-channel driving mode.

[0074] The dual AGV environment acquisition unit uses data sensors and cameras to capture the surrounding environment of the two AGVs in real time during the transportation process, and automatically generates pictures on the moving path.

[0075] The obstacle avoidance warning module includes an obstacle recognition unit and an obstacle avoidance warning unit;

[0076] The obstacle recognition unit is used to capture the image information in front of the AGV path in real time through the camera, and automatically identify whether there are obstacles in the image information. The recognition method is as follows:

[0077] Step 1: Set the obstacle definition model. The obstacle definition model includes the stationary entities and mobile entities in front of the path. According to the initial point of the AGV route, the equidistant feature points of the route movement, and the feature points captured at the current moment, calculate the average displacement of the feature points of the AGV moving path, and then calculate the approximate contour of the AGV path in front of the current frame image according to the movement of similar points. The average displacement D of the feature points of the moving path t The calculation formula is as follows:

[0078]

[0079] Among them, f x,y-1 represents the feature point in the moving area of ​​the AGV’s front path at time t-1, f x,y represents the feature point in front of the AGV path detected at time t, and M represents the number of feature points captured at time t;

[0080] Step 2: By calculating the average displacement D of the feature points on the AGV's front path at time t-1 t The difference is calculated with the initial point of the AGV's route. If the difference is equal to 0, it means that the obstacle is a stationary entity. If the difference is not equal to 0, it means that the obstacle is a moving entity. The approximate outline of the obstacle in front of the AGV path at time t is obtained by comparing the image of the obstacle definition model. If the image comparison difference is equal to 0, it is judged that there is an obstacle in front of the AGV path. If the image comparison difference is not equal to 0, it is judged that there is no obstacle in front of the AGV path.

[0081] The obstacle avoidance warning unit is used to report the warning to the system when it determines that there is an obstacle ahead of the AGV path, monitor the environmental parameters in the dual AGC transportation process in real time, detect whether there are obstacles on the dual AGV transportation path in real time, and adjust the path planning and coordination strategy in real time according to the obstacles in the actual situation.

[0082] The planning strategy module includes a collaborative strategy unit and a strategy adjustment unit;

[0083] The collaborative strategy unit is used to set collaborative transport strategies for two AGVs in different transport modes;

[0084] The strategy adjustment unit is used to adjust the collaborative transportation strategy schemes of the two AGVs under different transportation modes in real time according to the obstacle avoidance warning unit, and quickly adapt to these changes according to the dynamic changes of the actual working environment. It can adjust the path planning and collaborative strategy in time to avoid obstacles blocking the transportation during normal operation of the AGV, and ensure that the dual AGVs can complete the task smoothly.

[0085] Embodiment 2

[0086] Please refer to Figure 3 As shown: Based on the first embodiment, the opposite-direction driving end includes a position detection module, a real-time judgment module and a traffic control module;

[0087] The position detection module includes a position positioning unit and a path trend unit;

[0088] The position positioning unit is used to monitor the real-time position of the AGV through GPS positioning navigation;

[0089] The path trend unit is used to perform real-time detection of the AGV path movement trend according to the actual route of AGV material transportation.

[0090] The real-time judgment module includes a path judgment unit and a distance calculation unit;

[0091] The path judgment unit is used to judge whether the two AGVs pass through the same intersection according to the path movement trend of the two AGVs, combined with the real-time positions and path movement trends of the two AGVs. If the target points of the two AGVs are the same, it is judged that the two AGVs pass through the same intersection;

[0092] The distance calculation unit is used to calculate the distance between each AGV and the target point in real time when the next target point of the two AGV paths is the same intersection. The calculation method is as follows:

[0093] Set the current position of the AGV to (x1, y1), and set the target point of the AGV to (x2, y2). The formula for calculating the distance from the corresponding AGV to the same intersection is as follows:

[0094] According to the calculation formula, the distances between the corresponding two AGVs and the same intersection are calculated respectively, and the calculation results are arranged in sequence as sequence 1 and sequence 2. The current positions of the two AGVs are detected in real time to see if they are repeated, and the transportation trend of each AGV is detected according to the transportation path of each AGV. The traffic control strategy for AGV driving is adjusted in real time according to the real-time distance of each AGV from the intersection to avoid collision incidents when the two AGVs are driving in different phases.

[0095] The traffic control module includes a control strategy unit, a real-time tracking unit, and an anti-collision alarm unit;

[0096] The control strategy unit is used to adjust the traffic control strategy in real time according to the distance values ​​of two AGVs from the same intersection. The AGV with a larger distance value and a smaller courtesy distance value has priority to pass through the intersection. If the distance values ​​are equal, the AGV corresponding to priority number 1 has priority to pass through.

[0097] The real-time tracking unit is used to track in real time through the data tracker, and to capture in real time through the camera whether the AGV with a small distance value passes through the intersection. If it passes through the intersection, the AGV with a large distance will perform the intersection passing operation;

[0098] The anti-collision alarm unit is used to issue an anti-collision warning message when it monitors that the AGV with a large distance has not passed the intersection at the corresponding time, and stops the movement of the AGV corresponding to driving number 2 until the AGV with a large distance passes the intersection. The AGV corresponding to driving number 2 starts moving again. When two AGVs arrive at the same intersection at the same time or meet on the same channel, the real-time distance between the two AGVs to the same target point is calculated to determine whether the path planning trends of the two AGVs are abnormal. If abnormal, the traffic control strategy of the AGC driving is adjusted in real time according to the actual situation to avoid stagnation and waiting on both sides, improve the transportation efficiency when the two AGVs are driving in different directions, and avoid collision accidents between the two AGV carriers when they arrive at the same intersection.

[0099] Embodiment 3

[0100] Please refer to Figure 4 As shown: Based on the first embodiment, the same-direction driving end includes a mode adjustment module, a speed detection module, an angle deviation module and a scheme adjustment module;

[0101] The mode adjustment module is used to adjust the dual AGVs to a same-direction driving mode according to the dual AGV cooperative transport mode;

[0102] The speed detection module includes a speed detection unit and a distance warning unit;

[0103] The speed detection unit is used to detect the driving speed of the two AGVs in real time through the data monitor, and arrange the leading AGV and the following AGV in sequence, the sequence arrangement is D1 and D2, and the difference between D1 and D2 is calculated. If the difference is greater than 0, it means that the two AGVs are running normally. If the difference is less than or equal to 0, it means that the two AGVs are running abnormally, and the system is reported, and a voice alarm is issued;

[0104] The distance warning unit is used to calculate the distance between D1 and D2 in real time, set the safety distance threshold, and calculate the difference between the distance and the safety distance threshold. If the difference is greater than 0, it means that the two AGVs are operating normally. If the difference is less than or equal to 0, it means that the two AGVs are driving abnormally. The system is reported and a voice alarm is issued to remind. The driving distance between the following AGV and the leading AGV is detected in real time. The angle deviation between the two AGVs is calculated in real time when turning at the intersection. According to the angle deviation of the two AGV carriers when turning at the intersection, it is judged in real time whether the path planning of the two AGVs is safe to avoid the leading AGV from speeding too fast or too slow.

[0105] The angle deviation module is used to calculate the angle deviation between the leading AGV and the following AGV in real time when turning at the intersection, and set the standard angle deviation value. The calculation formula is as follows:

[0106] Set the center point of the standard angle deviation value as the center origin, establish a coordinate system, and calculate the angle deviation difference between the two AGVs using the calculation formula:

[0107]

[0108] Among them, α is the angle between the driving angle of the pilot AGV and the following AGV and the positive direction of the X-axis, θ is the angle between the driving angle of the pilot AGV and the following AGV and the positive direction of the Y-axis, A is the carrying height of the pilot AGV and the following AGV, Δx is the vector of the pilot AGV and the following AGV in the X-axis direction, and Δy is the vector of the pilot AGV and the following AGV in the Y-axis direction;

[0109] The plan adjustment module includes a plan adjustment unit and a plan execution tracking unit;

[0110] The scheme adjustment unit is used to adjust the traffic coordination strategies of the two AGVs in real time according to the vectors calculated by the leading AGV and the following AGV;

[0111] The solution execution tracking unit is used to track the execution results of the traffic coordination strategy of the two AGVs in real time through a data tracker, and calculate the difference between the data before and after the execution. If the difference is equal to 0, it means that the traffic coordination strategy is executed abnormally. If the difference is not equal to 0, it means that the traffic coordination strategy is executed abnormally. The following AGV can maintain a safe turning angle with the leading AGV when turning at the intersection, avoiding disconnection or collision when the two AGV carriers travel in the same direction to turn at the intersection, thereby improving the safety and reliability of dual AGV collaborative transportation control.

[0112] In the present invention, a dual AGV collaborative transport control system and method is provided. When the system is in operation, the IP address information of the dual AGV collaborative remote control area server is first configured; the path planning end is entered, and the dual AGV transport mode is set, and the dual AGC transport environment is monitored in real time, and whether obstacles appear in real time is detected, and the path planning and collaborative strategy are adjusted in real time according to the actual situation, and the reporting system sends out a voice alarm. When performing dual AGV collaborative transport control, the dual AGV transport mode is set, and the environmental parameters in the dual AGC transport process are monitored in real time, and whether obstacles appear in the dual AGV transport path is detected in real time, and the path planning and collaborative strategy are adjusted in real time according to the obstacles in the actual situation, so that the dual AGVs can be coordinated in real time. During transportation, it can quickly adapt to these changes according to the dynamic changes of the actual working environment, and can adjust the path planning and coordination strategy in time to avoid obstacles blocking the transportation when the AGV is operating normally, and ensure that the transportation of the two AGVs can complete the task smoothly; when entering the opposite direction driving end, the current positions of the two AGVs are detected in real time. If the current positions are repeated, the traffic control strategy of the AGV driving is adjusted in real time according to the real-time distance of each AGV from the intersection to ensure the anti-collision safety of the opposite direction driving of the two AGVs. The double AGVs realize opposite direction driving, and the current positions of the two AGVs are detected in real time. Whether the current positions of the two AGVs are repeated, and the transportation trend of each AGV is detected according to the transportation path of each AGV, according to each The real-time distance between the two AGVs and the intersection is used to adjust the traffic control strategy of AGV driving in real time to avoid collisions when the two AGVs are driving in different phases. When the two AGVs arrive at the same intersection at the same time or meet on the same channel, the real-time distance between the two AGVs to the same target point is calculated to determine whether the path planning trends of the two AGVs are abnormal. If abnormal, the traffic control strategy of AGC driving is adjusted in real time according to the actual situation to avoid stagnation and waiting on both sides, improve the transportation efficiency when the two AGVs are driving in different directions, and avoid collisions between the two AGV carriers when they arrive at the same intersection; when entering the same-direction driving end, the speed of the pilot AGV is collected in real time, and the driving distance between the following AGV and the pilot AGV is detected in real time. The angular deviation between the two AGVs is calculated in real time when the two AGVs turn at the intersection to ensure the safety of the dual AGV path planning. The dual AGVs can travel in the same direction. The speed of the pilot AGV is collected in real time, and the driving distance between the following AGV and the pilot AGV is detected in real time. The angular deviation between the two AGVs is calculated in real time when the intersection turns. The safety of the dual AGV path planning is judged in real time according to the angular deviation of the two AGV carriers when turning at the intersection to avoid the pilot AGV from being too fast or too slow. At the same time, the following AGV can maintain a safe turning angle with the pilot AGV when turning at the intersection to avoid disconnection or collision between the two AGV carriers when driving in the same direction and turning at the intersection, thereby improving the safety and reliability of dual AGV collaborative transportation control.

[0113] The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention to be protected. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A dual AGV collaborative transport control system, characterized in that: The system includes a path planning end, a different-direction driving end, and a same-direction driving end; The path planning end is used to set the transport mode of the dual AGV collaborative transport, monitor the environmental parameters of the dual AGC transport process in real time according to the transport mode, and detect in real time whether there are obstacles on the dual AGV transport path, and adjust the path planning and collaborative strategy in real time according to the obstacles in the actual situation; The opposite-direction driving end is used for opposite-direction driving operations, by real-time detection of the current positions of the two AGVs, and real-time detection of whether the current positions of the two AGVs are repeated, and real-time adjustment of the traffic control strategy for AGV driving according to the real-time distance of each AGV from the intersection, and when the two AGVs arrive at the same intersection at the same time or meet on the same channel, the real-time distance of the two AGVs to the same target point is calculated in real time to determine whether the path planning trends of the two AGVs are abnormal; The same-direction driving end is used for same-direction driving. It collects the speed of the leading AGV in real time, detects the driving distance between the following AGV and the leading AGV in real time, calculates the angle deviation between the two AGVs in real time when turning at the intersection, and judges whether the path planning of the two AGVs is safe in real time based on the angle deviation of the two AGV carriers when turning at the intersection.

2. The system according to claim 1, characterized in that: The path planning end includes a transport mode module, an obstacle avoidance warning module and a planning strategy module; The transport mode module includes a path planning unit, a transport mode unit and a dual AGV environment acquisition unit; The path planning unit is used to plan the AGV path according to the actual route of the AGV for material transportation, and set the two AGVs to a detachable structure; The transport mode unit is used to set the transport modes of the two AGVs. The transport modes include a different-direction driving mode and a same-direction driving mode. The different-direction driving mode adopts a separated multi-channel driving mode, and the same-direction driving mode adopts a single-channel driving mode. The dual AGV environment acquisition unit captures the surrounding environment of the two AGVs in real time during transportation through data sensors and cameras, and automatically generates pictures on the moving path.

3. The system according to claim 2, characterized in that: The obstacle avoidance warning module includes an obstacle recognition unit and an obstacle avoidance warning unit; The obstacle recognition unit is used to capture the image information in front of the AGV path in real time through the camera, and automatically recognize whether there are obstacles in the image information. The recognition method is as follows: Step 1: Set the obstacle definition model. The obstacle definition model includes the stationary entities and mobile entities in front of the path. According to the initial point of the AGV route, the equidistant feature points of the route movement, and the feature points captured at the current moment, calculate the average displacement of the feature points of the AGV moving path, and then calculate the approximate contour of the AGV path in front of the current frame image according to the movement of similar points. The average displacement D of the feature points of the moving path t The calculation formula is as follows: Among them, f x,y-1 represents the feature point in the moving area of ​​the AGV’s front path at time t-1, f x,y represents the feature point in front of the AGV path detected at time t, and M represents the number of feature points captured at time t; Step 2: By calculating the average displacement D of the feature points on the AGV's front path at time t-1 t The difference is calculated with the initial point of the AGV's route. If the difference is equal to 0, it means that the obstacle is a stationary entity. If the difference is not equal to 0, it means that the obstacle is a moving entity. The approximate outline of the obstacle in front of the AGV path at time t is obtained by comparing the image of the obstacle definition model. If the image comparison difference is equal to 0, it is judged that there is an obstacle in front of the AGV path. If the image comparison difference is not equal to 0, it is judged that there is no obstacle in front of the AGV path. The obstacle avoidance warning unit is used to report to the system to issue a warning reminder when it is determined that there is an obstacle in front of the AGV path.

4. The system according to claim 3, characterized in that: The planning strategy module includes a collaborative strategy unit and a strategy adjustment unit; The collaborative strategy unit is used to set collaborative transport strategy schemes for two AGVs under different transport modes; The strategy adjustment unit is used to adjust the collaborative transportation strategy scheme of the two AGVs under different transportation modes in real time according to the obstacle avoidance warning unit.

5. The system according to claim 1, characterized in that: The opposite-direction driving terminal includes a position detection module, a real-time judgment module and a traffic control module; The position detection module includes a position positioning unit and a path trend unit; The position positioning unit is used to monitor the real-time position of the AGV in real time through GPS positioning navigation; The path trend unit is used to perform real-time detection of the AGV path movement trend according to the actual route of AGV material transportation.

6. The system according to claim 5, characterized in that: The real-time judgment module includes a path judgment unit and a distance calculation unit; The path judgment unit is used to judge whether the two AGVs pass through the same intersection according to the path movement trends of the two AGVs, combined with the real-time positions and path movement trends of the two AGVs. If the target points of the two AGVs are the same, it is judged that the two AGVs pass through the same intersection; The distance calculation unit is used to calculate the distance between each AGV and the target point in real time when the next target point of the two AGV paths is the same intersection. The calculation method is as follows: Set the current position of the AGV to (x1, y1), and set the target point of the AGV to (x2, y2). The formula for calculating the distance from the corresponding AGV to the same intersection is as follows: According to the calculation formula, the distances between the corresponding two AGVs and the same intersection are calculated respectively, and the calculation results are arranged in sequence, which are sequence number 1 and sequence number 2.

7. The system according to claim 6, characterized in that: The traffic control module includes a control strategy unit, a real-time tracking unit and an anti-collision alarm unit; The control strategy unit is used to adjust the traffic control strategy in real time according to the distance values ​​of two AGVs from the same intersection. The AGV with a larger distance value and a smaller courtesy distance value has priority to pass through the intersection. If the distance values ​​are equal, the AGV corresponding to priority number 1 has priority to pass through. The real-time tracking unit is used for real-time tracking through a data tracker, and for capturing in real time through a camera whether the AGV with a small distance value passes through the intersection. If it passes through the intersection, the AGV with a large distance performs the intersection passing operation; The anti-collision alarm unit is used to issue an anti-collision warning message when it detects that the AGV with a large distance has not passed the intersection at the corresponding time, and stop the movement of the AGV corresponding to the driving sequence number 2 until the AGV with a large distance passes the intersection and the AGV corresponding to the driving sequence number 2 starts moving again.

8. The system according to claim 1, characterized in that: The same-direction driving end includes a mode adjustment module, a speed detection module, an angle deviation module and a scheme adjustment module; The mode adjustment module is used to adjust the dual AGVs to a same-direction driving mode according to the dual AGV cooperative transport mode; The speed detection module includes a speed detection unit and a distance warning unit; The speed detection unit is used to detect the driving speed of the two AGVs in real time through a data monitor, and arrange the leading AGV and the following AGV in order, the order is D1 and D2, and the difference between D1 and D2 is calculated. If the difference is greater than 0, it means that the two AGVs are running normally. If the difference is less than or equal to 0, it means that the two AGVs are running abnormally, and the system is reported to issue a voice alarm reminder; The distance warning unit is used to calculate the distance between D1 and D2 in real time, set a safety distance threshold, and calculate the difference between the distance and the safety distance threshold. If the difference is greater than 0, it means that the two AGVs are running normally. If the difference is less than or equal to 0, it means that the two AGVs are running abnormally, and the system is reported to issue a voice alarm reminder.

9. The system according to claim 8, characterized in that: The angle deviation module is used to calculate the angle deviation between the leading AGV and the following AGV when turning at the intersection in real time, and set the standard angle deviation value. The calculation formula is as follows: Set the center point of the standard angle deviation value as the center origin, establish a coordinate system, and calculate the angle deviation difference between the two AGVs using the calculation formula: Among them, α is the angle between the driving angle of the pilot AGV and the following AGV and the positive direction of the X-axis, θ is the angle between the driving angle of the pilot AGV and the following AGV and the positive direction of the Y-axis, A is the carrying height of the pilot AGV and the following AGV, Δx is the vector of the pilot AGV and the following AGV in the X-axis direction, and Δy is the vector of the pilot AGV and the following AGV in the Y-axis direction; The scheme adjustment module includes a scheme adjustment unit and a scheme execution tracking unit; The scheme adjustment unit is used to adjust the traffic coordination strategies of the two AGVs in real time according to the vectors calculated by the pilot AGV and the follower AGV; The scheme execution tracking unit is used to track the execution results of the traffic coordination strategy of the two AGVs in real time through a data tracker, and calculate the difference between the data before and after the execution. If the difference is equal to 0, it means that the traffic coordination strategy is executed abnormally. If the difference is not equal to 0, it means that the traffic coordination strategy is executed abnormally.

10. A dual AGV cooperative transportation control method according to any one of claims 1 to 9, characterized in that: The following steps are involved: Step 1: Configure the IP address information of the dual AGV collaborative remote control area server; Step 2: Enter the path planning end, set the dual AGV transport mode, and monitor the dual AGC transport environment in real time to detect whether there are obstacles in real time, and adjust the path planning and coordination strategy in real time according to the actual situation, and report to the system to issue a voice alarm; Step 3: Enter the opposite direction driving end, detect the current positions of the two AGVs in real time, and if the current positions are repeated, adjust the traffic control strategy of the AGV driving in real time according to the real-time distance of each AGV from the intersection to ensure the anti-collision safety of the two AGVs driving in different phases; Step 4: Enter the same-direction driving end, collect the speed of the pilot AGV in real time, detect the driving distance between the following AGV and the pilot AGV in real time, and calculate the angle deviation between the two AGVs in real time when turning at the intersection to ensure the safety of the dual AGV path planning.

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