A conflict determination method and system for AGV

Abstract

The present invention discloses a conflict determination method and system for automated guided vehicles (AGVs). This determination method, applied to AGV scheduling methods, includes establishing a two-dimensional grid diagram and defining unique coordinates for each node in the two-dimensional grid diagram; obtaining the starting and target coordinate points of each AGV; ensuring that all AGVs complete only one movement from the starting coordinate point to the target coordinate point during a single scheduling process; calculating the common activity area of ​​any two AGVs during this scheduling process; classifying the types of path conflict determinations based on the number of travel directions of the two AGVs; and determining whether the conflict relationship between the two AGVs is hostile, compatible, or free based on the classification results and the common activity area of ​​the two AGVs. The determination method provided by the present invention solves the problem of path conflict determination for AGVs using elementary mathematical tools.

Description

Technical Field

[0001] The present invention relates to the field of automatic guided vehicle (AGV) path conflict detection, and in particular to an AGV conflict determination method and system. Background Art

[0002] Automated Guided Vehicles (AGVs) are becoming increasingly common in the automation of industrial production and logistics, becoming a key component in improving transportation efficiency and intelligence. In a multi-AGV collaborative transportation system, planning an effective, safe, and fast path for each AGV is crucial for ensuring efficient system operation. This problem, known in academic and engineering fields as the Multi-Agent Path Finding Problem (MAPF), aims to ensure that all AGVs avoid collisions while minimizing travel time as they travel from their starting point to their destination.

[0003] The MAPF problem has important applications in scenarios such as automated warehouses, intelligent transportation, and smart parking. In automated warehouses, numerous automated guided vehicles (AGVs) must quickly move goods within a limited space. Properly planned paths can improve storage space utilization and cargo turnover efficiency. In the field of intelligent transportation, AGVs, as a new type of transportation tool, have a direct impact on traffic flow and safety through their path planning. In intelligent parking systems, AGVs require precise path planning to achieve efficient parking and retrieval.

[0004] However, with the increasing number of AGVs and the growing distances they travel, the MAPF problem faces significant challenges. The search path space for this problem grows exponentially, and even when restricted to a two-dimensional grid graph, it remains an NP-hard problem. This means that as the problem scales, the computational resources and time required to solve it increase dramatically. Traditional computational methods struggle to find an optimal solution within a reasonable timeframe, or even fail to find a feasible solution.

[0005] Among the numerous algorithms for solving the MAPF problem, conflict-based search (CBS) and its derivatives play a crucial role. CBS greedily plans the shortest path for each AGV that satisfies constraints and continuously resolves conflicts between AGVs in the solution space to achieve overall path planning. However, existing technologies lack a comprehensive method for determining and identifying path conflicts between two AGVs, which has become a key bottleneck hindering the further optimization of CBS algorithms and related path planning strategies. However, in practical applications, the lack of a precise method for determining AGV path conflicts can lead to frequent collisions and congestion during AGV operation, reducing the efficiency and stability of transportation systems. For example, in automated warehouses, failure to accurately determine AGV path conflicts can cause multiple AGVs to simultaneously drive into the same area, resulting in traffic jams and prolonged cargo handling times. In intelligent parking systems, path conflicts can prevent AGVs from finding parking spaces in a timely manner, impacting user experience. This not only increases operational costs for businesses but also disrupts the smooth operation of the entire production or service process.

[0006] In summary, the existing multi-AGV transportation system has significant deficiencies in path planning, especially in the AGV path conflict judgment link. An efficient and accurate judgment method is urgently needed to solve these problems and promote further development in related fields. Summary of the Invention

[0007] In view of the above-mentioned deficiencies in the current AGV path conflict determination technology, the present invention provides an AGV conflict determination method and system, which can fully determine the path conflict relationship between any two AGVs in a two-dimensional grid graph.

[0008] To achieve the above objectives, a first aspect of the present invention provides an AGV conflict determination method, comprising:

[0009] Establish a two-dimensional grid graph and define each node in the two-dimensional grid graph to correspond to a unique coordinate;

[0010] Get the starting and target coordinates of each AGV;

[0011] In a single dispatch process, all AGVs only complete the movement task from the starting coordinate point to the target coordinate point once;

[0012] Calculate the common activity area of ​​any two AGVs during this scheduling process;

[0013] The types of path conflict judgments of the two AGVs are classified according to the number of their travel directions;

[0014] The conflict relationship between two AGVs is determined to be hostile, compatible or free based on the classification results and the common activity area of ​​the two AGVs.

[0015] In some embodiments according to the first aspect of the present invention, each AGV moves from a starting coordinate point to a target coordinate point according to the Manhattan distance and cannot stop before reaching the target coordinate point. When the AGV reaches the target coordinate point, it stops at the point until all AGVs reach their respective target coordinate points.

[0016] In some embodiments of the first aspect of the present invention, the calculation of the common activity area of ​​any two AGVs in this scheduling process includes: determining the area formed by the starting coordinate points and target coordinate points of the two AGVs on the two-dimensional grid map, and the common activity area of ​​the two AGVs is the intersection of the activity areas of the two AGVs on the two-dimensional grid map.

[0017] In some embodiments of the first aspect of the present invention, the classification of the type of path conflict judgment based on the number of travel directions of the two AGVs includes: calculating the sum of the absolute values ​​of the movement direction values ​​of the two AGVs along the X-axis and Y-axis on the two-dimensional grid diagram, and the movement direction values ​​include 1, -1 and 0 and respectively represent the AGV's positive, negative and no axial movement along the axis.

[0018] In some embodiments of the first aspect of the present invention, the determination of whether the conflict relationship between two AGVs is hostile, compatible or free based on the classification results and the common activity area of ​​the two AGVs includes: dividing the determination process into a first stage and a second stage according to the status of the two AGVs, the first stage being the time period in which the two AGVs move together, and the second stage being the time period in which one AGV reaches the target coordinate point and the other AGV continues to move until it reaches the target coordinate point.

[0019] In some embodiments of the first aspect of the present invention, the determination of whether the conflict relationship between two AGVs is hostile, compatible or free based on the classification results and the common activity area of ​​the two AGVs includes: if the first stage or the second stage is a hostile relationship, then the overall relationship is determined to be a hostile relationship; if the first stage and the second stage are not hostile relationships and there is a compatible relationship, then the overall relationship is determined to be a compatible relationship; if the first stage and the second stage are both free relationships, then the overall relationship is determined to be a free relationship.

[0020] In some embodiments of the first aspect of the present invention, the determination of the conflict relationship between two AGVs as hostile, compatible or free based on the classification results and the common activity area of ​​the two AGVs includes: if the two AGVs do not have a common activity area, then the conflict relationship between the two AGVs is determined to be free; if the two AGVs have a common activity area, then further determination is made based on the number of travel directions of the two AGVs.

[0021] In some embodiments according to the first aspect of the present invention, the further determination based on the number of travel directions of the two AGVs includes: if the number of travel directions of the two AGVs is 2, the determination rule is:

[0022] When the two AGVs are traveling in the same direction, the determination process includes:

[0023] In the first stage, the two AGVs are in a free relationship;

[0024] In the second stage, if one AGV reaches its target coordinate point first and the target coordinate point blocks the path of another AGV, it is a hostile relationship, otherwise it is a free relationship;

[0025] When two AGVs are traveling in opposite directions, they are in a hostile relationship;

[0026] When the two AGVs are traveling in perpendicular directions, the determination process includes:

[0027] In the first stage, if two AGVs enter the only intersection at the same time, they are in a hostile relationship, otherwise they are in a free relationship;

[0028] In the second stage, if one AGV reaches its target coordinate point first and the target coordinate point blocks the path of another AGV, it is a hostile relationship, otherwise it is a free relationship.

[0029] In some embodiments of the first aspect of the present invention, the AGV conflict determination method according to claim 5 is characterized in that the further determination based on the number of travel directions of the two AGVs includes: if the number of travel directions of the two AGVs is 3, the determination rule is:

[0030] In the first scenario, when the first AGV moves in the positive direction along the X-axis and Y-axis and the second AGV moves only in the positive direction along the X-axis, the judgment process includes:

[0031] In the first stage, when the sum of the coordinate values ​​of the starting coordinate points of the two AGVs is not equal, it is a free relationship; when the sum of the coordinate values ​​of the starting coordinate points of the two AGVs is equal and the activity area of ​​one AGV passes through the activity area of ​​the other AGV, it is a hostile relationship; otherwise, it is a compatible relationship;

[0032] In the second stage, when the second AGV reaches the target coordinate point first, if the target coordinate point of the second AGV is located in the common activity area of ​​the two AGVs and the difference between the Manhattan distance from the starting coordinate point to the target coordinate point of the first AGV and the Manhattan distance from the starting coordinate point to the target coordinate point of the second AGV is not less than the Manhattan distance of the target coordinate points of the two AGVs, the two AGVs are compatible, otherwise they are free; when the first AGV reaches the target coordinate point first, if the target coordinate point of the first AGV is located in the common activity area of ​​the two AGVs and the difference between the Manhattan distance from the starting coordinate point to the target coordinate point of the second AGV and the Manhattan distance from the starting coordinate point to the target coordinate point of the first AGV is not less than the Manhattan distance of the target coordinate points of the two AGVs, the two AGVs are in a hostile relationship, otherwise they are in a free relationship;

[0033] In the second scenario, when the first AGV moves along the positive X-axis and Y-axis and the second AGV moves only along the negative X-axis, the judgment process includes:

[0034] In the first stage, when there is a coordinate point in the common activity area of ​​the two AGVs and the Manhattan distance from the coordinate point to the two AGVs is equal, the two AGVs are in a compatible relationship; when there are two adjacent coordinate points on the X axis in the common activity area of ​​the two AGVs, and the sum of the X and Y coordinate values ​​of the starting coordinate point of the first AGV plus the difference between the X and Y coordinate values ​​of the starting coordinate point of the second AGV is equal to the sum of the X coordinate values ​​of the two adjacent coordinate points, the two AGVs are in a compatible relationship; otherwise, the two AGVs are in a free relationship;

[0035] In the second stage, the determination method is the same as that in the second stage in the first scenario;

[0036] In the third scenario, when one AGV moves in the positive direction along the X-axis and the Y-axis and the other AGV moves only in the positive direction along the Y-axis, the determination method is the same as that of the first scenario;

[0037] In the fourth scenario, when one AGV moves in the positive direction along the X-axis and the Y-axis and the other AGV moves only in the negative direction along the Y-axis, the determination method is the same as that in the second scenario.

[0038] In some embodiments according to the first aspect of the present invention, the further determination based on the number of travel directions of the two AGVs includes: if the number of travel directions of the two AGVs is 4, the determination rule is:

[0039] In the first scenario, when both AGVs are moving in the positive direction along the X-axis and Y-axis, the judgment process includes:

[0040] In the first stage, when the sum of the coordinate values ​​of the starting points of the two AGVs is not equal, the two AGVs are in a free relationship; when the sum of the coordinate values ​​of the starting points of the two AGVs is equal and the activity areas of the two AGVs intersect each other, the two AGVs are in a hostile relationship, otherwise they are in a compatible relationship;

[0041] In the second stage, if the target coordinate point of the first AGV is located in the common activity area of ​​the two AGVs and the difference between the Manhattan distance from the starting coordinate point to the target coordinate point of the later AGV and the Manhattan distance from the starting coordinate point to the target coordinate point of the first AGV is not less than the Manhattan distance of the target coordinate points of the two AGVs, the two AGVs are in a compatible relationship, otherwise they are in a free relationship;

[0042] In the second scenario, when the first AGV moves along the positive X-axis and Y-axis and the second AGV moves along the positive X-axis and negative Y-axis, the judgment process includes:

[0043] In the first stage, when there is a coordinate point in the common activity area of ​​the two AGVs such that the Manhattan distances from the starting coordinate points of the first AGV and the second AGV to the coordinate point are equal, the two AGVs are compatible; when there are two adjacent coordinate points on the Y axis in the common activity area of ​​the two AGVs and the sum of the X coordinate value and the Y coordinate value of the starting coordinate point of the first AGV plus the difference between the Y coordinate value and the X coordinate value of the starting coordinate point of the second AGV is equal to the sum of the Y coordinate values ​​of the two adjacent coordinate points, the two AGVs are compatible; otherwise, the two AGVs are free;

[0044] In the second stage, the determination method is the same as that in the second stage in the first scenario;

[0045] In the third scenario, when the first AGV moves in the positive direction along the X-axis and the Y-axis and the second AGV moves in the negative direction along the X-axis and the positive direction along the Y-axis, the determination method is the same as that of the second scenario;

[0046] In the fourth scenario, when the first AGV moves in the positive direction along the X-axis and Y-axis and the second AGV moves in the negative direction along the X-axis and Y-axis, the determination process includes:

[0047] In the first stage, when there is a coordinate point in the common activity area of ​​the two AGVs and the Manhattan distance from the coordinate point to the starting coordinate points of the two AGVs is equal, the two AGVs are in a compatible relationship; when there are two adjacent coordinate points in the common activity area of ​​the two AGVs and the sum of the coordinate values ​​of the first AGV starting coordinate point and the second AGV starting coordinate point is equal to the sum of the coordinate values ​​of the two adjacent coordinate points, the two AGVs are in a compatible relationship; otherwise, the two AGVs are in a free relationship;

[0048] In the second stage, the determination method is the same as the determination method in the second stage in the first scenario.

[0049] In some embodiments according to the first aspect of the present invention, the hostile relationship between the two AGVs includes point conflict and edge conflict. The point conflict is that the two AGVs arrive at the same position at the same time, and the edge conflict is that the two AGVs exchange positions with each other at adjacent times.

[0050] To achieve the above objectives, a second aspect of the present invention provides an AGV conflict determination system, comprising:

[0051] A network construction module is used to build a two-dimensional grid graph and define the unique coordinates corresponding to each node in the two-dimensional grid graph;

[0052] Coordinate point acquisition template, used to obtain the starting coordinate point and target coordinate point of each AGV;

[0053] The task scheduling module is used to execute the task of scheduling each AGV to move from the starting coordinate point to the target coordinate point;

[0054] The conflict type classification module classifies the conflict types between two AGVs based on the number of their travel directions;

[0055] The conflict determination module determines the conflict relationship between two AGVs based on their common activity area and conflict type.

[0056] Advantages of the implementation of the present invention: First, the present invention uses the AGV starting coordinate point and target coordinate point as input, and uses elementary mathematical tools to determine the conflict type, thereby reducing the demand for computing resources and improving the real-time performance of the system. Secondly, by enhancing the performance of the algorithm, the CBS solution strategy for the MAPF problem clarifies the priority and direction of conflict resolution and can find the global optimal solution more quickly in the high-conflict path planning process. Thirdly, by providing an accurate basis for conflict determination, a reasonable path can be planned in advance for the AGV, reducing the AGV waiting and avoidance time, thereby improving cargo handling efficiency and storage space utilization. Finally, the present invention is applicable to multi-AGV systems of different scales and complexities, has strong versatility and can meet the needs of diverse scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0058] Figure 1The figure is a flow chart of an AGV conflict determination method according to the present invention. DETAILED DESCRIPTION

[0059] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0060] Before further explaining the present invention in detail, the nouns and terms involved in the embodiments of the present invention are explained. The nouns and terms involved in the embodiments of the present invention are subject to the following interpretations:

[0061] AGV: Automated Guided Vehicle is a mobile robot that can automatically drive along a predetermined route and transport goods without human driving. It is commonly used in warehouses, factories, hospitals, ports and other scenarios.

[0062] Manhattan distance: Manhattan distance is a metric that measures the distance between two points in a geometric space. It is named after the Manhattan district in New York City because the street layout in this area is like a grid, and the shortest path between two points is usually along these vertical and horizontal streets. In a two-dimensional plane, suppose we have two points P1(x1,y1) and P2(x2,y2), then the Manhattan distance d between them is calculated as d=|x1-x2|+|y1-y2|, where |x1-x2| represents the distance between the two points on the x-axis, and |y1-y2| represents the distance between the two points on the y-axis; for two points in a multidimensional space, such as for two points P1(x1,y1) in an n-dimensional space, 11 ,x 12 ,...x 1n ) and P2(x 21 ,x 22 ,...x 2n ), the Manhattan distance between them is the sum of the absolute values ​​of the differences in each dimension, and the mathematical formula is:

[0063]

[0064] Figure 1 An AGV conflict determination method according to an embodiment of the present invention is presented. The conflict determination method is applied to an AGV scheduling method and includes the following process:

[0065] Step S1: Create a two-dimensional grid graph and define that each node in the two-dimensional grid graph corresponds to a unique coordinate.

[0066] In this embodiment of the present invention, a two-dimensional grid graph based on Manhattan distance is first created. In this two-dimensional grid graph, each grid (node) is connected to adjacent grids in four directions: up, down, left, and right. The distance between these grids is 1. This connection method uses Manhattan distance. Furthermore, the coordinates of each node are integers.

[0067] Step S2: Obtain the starting coordinate point and target coordinate point of each AGV.

[0068] In the implementation of the present invention, in order to avoid the conflict between the starting coordinate point and the target coordinate point of the AGV and simplify the discussion of the problem, the starting coordinate point and the target coordinate point of each AGV are different.

[0069] Step S3: Set in a single scheduling process that all AGVs complete the movement task from the starting coordinate point to the target coordinate point only once.

[0070] Here, each AGV moves from its starting point to its target coordinate point according to the Manhattan distance. The so-called Manhattan distance has been explained above. According to the rule of Manhattan distance, from the perspective of the AGV's decision space, there are 5 actions that the AGV can take on the map at any moment, namely Therefore, the optional actions of each AGV before reaching the target coordinate point are affected by the starting and ending points. Specifically, if the target coordinate point is below and to the right of the starting coordinate point, according to the Manhattan distance limit, the optional actions of the AGV at each step can only be right or down, but not left or up. For example, an AGV starts at (0,0) and ends at (5,6). Since it must take the shortest path, the AGV must perform 5 actions before reaching the end point. , 6 ↑ actions, after reaching the end point, the AGV stays at the end point, so the only action is stop.

[0071] To limit the discussion of the AGV conflict determination method, in this embodiment, each AGV cannot stop at a coordinate point before reaching its target coordinate point. In other words, each AGV does not stop before reaching its target coordinate point. During a scheduling task, when an AGV reaches its target coordinate point, it stops at that point until all AGVs reach their respective target coordinate points.

[0072] Step S4: Calculate the common activity area of ​​any two AGVs in this scheduling process.

[0073] In order to facilitate the use of data formulas to explain the problem in detail, the two AGVs here are respectively and . The starting coordinate point is , the target coordinate point is ; The starting coordinate point is , the target coordinate point is . With the above conditions, we know and .

[0074] From the structure of the two-dimensional grid graph and the Manhattan distance walking rule, we can see that The active area is from its starting coordinate point To its target coordinate point The rectangular area formed, The active area is from its starting coordinate point To its target coordinate point The rectangular area formed. In this embodiment, and The active areas on the two-dimensional grid are denoted as and , whose common activity area is and The intersection on the two-dimensional grid is recorded as .

[0075] The mathematical expressions are:

[0076] ;

[0077] ;

[0078] .

[0079] Step S5: Classify the types of path conflict determinations of the two AGVs according to the number of their traveling directions.

[0080] Specifically, The direction of travel along the x-axis is recorded as , the direction of travel along the y-axis is recorded as ;Will The direction of travel along the x-axis is recorded as , the direction of travel along the y-axis is recorded as .

[0081] Among them, the sign function is used to return the sign of the value. It returns 1 for positive numbers, 0 for zero, and -1 for negative numbers. The rule is: when the input value is positive, it returns 1; when the input value is zero, it returns 0; when the input value is negative, it returns -1. For example, the values ​​1, -1, and 0 represent along Axis positive direction, Axis negative and no Axis movement.

[0082] To facilitate discussion, and The number of directions of travel is represented by parameter B. The mathematical expression is Because for , and The value of is 0 or 1, that is ,so, According to the structure discussed above, and The number of travel directions B on the two-dimensional grid graph may be 2, 3, or 4, that is, Bϵ{2,3,4}.

[0083] Step S6: Determine the conflict relationship between the two AGVs based on the classification result and the common activity area of ​​the two AGVs.

[0084] because and The Manhattan distance on the 2D grid may be different, so starting from the same moment, and The time from each starting point to each target point is also different. The time from its starting coordinate point to its target coordinate point is recorded as ,Will The time from its starting coordinate point to its target coordinate point is recorded as ,because and Only one square can be moved in the two-dimensional grid in a unit of time, so and Can be expressed as and The Manhattan distance from each starting coordinate point to each target coordinate point is The exercise duration is , The exercise duration is ,in Represents the Manhattan distance between two nodes in a two-dimensional grid graph.

[0085] Because the movement time of the two AGVs may be different, so in the whole cycle, and The path conflict determination can be divided into two stages, namely the first stage and the second stage. In the first stage and All are in motion, in the second stage and There is one that has reached the target coordinate point and is in the stop state after reaching the target coordinate point. That is, the first stage is from time 0 to min{T i, T j}, the second stage is from min{T i, T j} time to max{T i, T j}time.

[0086] According to the Manhattan distance rule, on a two-dimensional grid graph, an AGV may have multiple path choices from its starting coordinate point to its target coordinate point. The set of shortest paths (i.e., Manhattan distance paths) from its starting coordinate point to its target coordinate point is recorded as ,Will The Manhattan distance path set from its starting coordinate point to its target coordinate point is recorded as .

[0087] At the same time, in order to facilitate analysis, on the two-dimensional grid and The path conflict types can be divided into point conflict and edge conflict. Point conflict is when there is a , so that when along Movement t step, along After traveling t steps, they arrive at the same position in the grid at the same time, that is, on the two-dimensional grid and Arriving at the same location at the same time. An edge conflict occurs when there are two adjacent times 0 ≤ t and t+1 ≤ min{T i, T j} and two adjacent positions (x,y)ϵD ij and (x',y')ϵD ij , so that at time t At (x,y) and At (x',y'), and at time t+1 At (x',y') At (x,y), that is, at adjacent moments and The positions have been swapped.

[0088] According to the degree of path conflict, and The relationship is defined as hostile, free and compatible. and The path conflict between is inevitable, that is, if and only if , hour, and Conflict. Free relations are and There is no conflict between the paths, that is, if and only if , hour, and There is no conflict. The compatibility relationship is and There is neither a hostile relationship nor a free relationship between them. Under a compatible relationship, reasonable path planning can be used to avoid and An actual path conflict occurs between them.

[0089] The conflict relationship between two AGVs throughout the entire cycle is determined by the conflict relationship in both the first and second phases. Specifically, if either the first or second phase is hostile, the overall relationship is hostile; if the first and second phases are not hostile and are compatible, the overall relationship is compatible; if both the first and second phases are free, the overall relationship is free. The conflict relationship throughout the cycle is shown in the following table:

[0090]

[0091] It is understandable that if and The common activity area between is empty, that is hour, and There must be no path conflict between them, so they are free.

[0092] when and The common activity area between them is not empty, that is When, according to and The value of the number of travel directions B on the two-dimensional grid requires a specific analysis of path conflicts in different situations. The analysis process is as follows:

[0093] When B=2, due to , there must be . , ,Right now Only move along the positive direction of the X axis. discuss the direction of travel.

[0094] Scenario 1.1: When , hour:

[0095] at this time, and All move along the positive direction of the X axis, so on the two-dimensional grid and Activity area and is a straight line, and its common activity area It is also a straight line.

[0096] In the first stage, and The direction of travel is the positive direction of the X axis. They move one step along the positive direction of the X axis in unit time, and their relative positions remain unchanged. and free.

[0097] During the second phase:

[0098] when (Right now Before When reaching the target coordinate point), if lie in On the necessary path Blocked , that is, if and but Blocked ,at this time and Hostile, otherwise and free.

[0099] when (Right now Before When reaching the target coordinate point), if lie in On the necessary path Blocked , that is, if and but Blocked ,at this time and Hostile, otherwise and free.

[0100] In summary, in the second stage, if one AGV reaches its target coordinate point first and the target coordinate point blocks the path that another AGV must pass through, it is a hostile relationship, otherwise it is a free relationship.

[0101] Scenario 1.2: , hour:

[0102] at this time, Move along the positive direction of the X axis All move along the negative direction of the X axis, that is, and Going towards each other, so it must be Conflict arises within and hostility.

[0103] Scenario 1.3: When , hour:

[0104] at this time, Traveling along the positive X-axis, Travel along the positive or negative Y axis, and They intersect in a cross shape. There is only one intersection node. Only a single location is involved, so no edge conflicts will occur and only point conflicts need to be considered.

[0105] The analysis process in the first stage is as follows:

[0106] when When and Enter the node at the same time , so a point conflict occurs, so and For hostile relations;

[0107] when At this time and It is impossible to enter intersecting nodes at the same time ,therefore and For free relationship.

[0108] The analysis process in the second stage is as follows:

[0109] when , the two are already hostile in the first stage, so and This is a hostile relationship and does not require analysis here.

[0110] when When, if and , It is blocked The only way, so and Hostile otherwise free; if and , It is blocked The only way, so and Hostile otherwise free.

[0111] When B=2, Moving in other directions, such as The direction of travel is along the negative X-axis ( ), along the positive direction of the Y axis ( ) and along the negative Y axis ( ) when the above Move along the positive X axis ( ) under the simple coordinate transformation. Specifically, if , then the coordinate system is moved along The axis is flipped; if , then rotate the coordinate system 90 degrees clockwise; if , then rotate the coordinate system 90 degrees counterclockwise. and The method for determining the conflict type is the same as described above and will not be repeated here.

[0112] When B=3, let , otherwise swap the subscripts Then, further, assume (Right now Move along the positive direction of the X and Y axes), otherwise it can be transformed into this situation through coordinate system transformation (rotation or mirroring). discuss the direction of travel.

[0113] Scenario 2.1: When , hour:

[0114] at this time, Move along the positive direction of the X and Y axes, Move along the positive X axis.

[0115] During the first phase:

[0116] First, consider the case of edge conflict. When edge conflict occurs, and There must be a set of opposite directions of travel, and at this time and The direction of travel along the X axis is the same, so no edge conflict occurs.

[0117] Then consider the case of point conflict. , let the rectangular area The lower left corner of Here, according to the plane rectangular coordinate system, the positive direction of the X axis is defined as "right" and the positive direction of the Y axis is defined as "up". At this time, T is The "lower left corner" point of ,

[0118]

[0119] when and At the point When a conflict occurs, there , we can get and At this time , ,therefore They are all points of conflict.

[0120] From the above analysis, we can see that in the first stage:

[0121] when hour, and Not present Inner conflict, therefore freedom.

[0122] when At this time Every point in is a conflict point. and hour, "Throughout" ,but Must pass One point in At the same time, we reach this point, so and hostile; otherwise "Not through" ,but You can choose not to go through The shortest path, so and compatible.

[0123] The above analysis results based on mathematical formulas can be summarized as follows: in the first stage, when the sum of the coordinate values ​​of the two AGV starting points is not equal, it is a free relationship; when the sum of the coordinate values ​​of the two AGV starting points is equal and the activity area of ​​one AGV passes through the activity area of ​​the other AGV, it is a hostile relationship; otherwise, it is a compatible relationship.

[0124] During the second phase:

[0125] when (Right now Before When reaching the target coordinate point), because It can move in the positive direction along both the X and Y axes. and ,but Falling arrive In the area, because ,therefore The size is at least .exist \ middle, There must be a shortest path, so and Not hostile, but compatible; otherwise, Not right There is no interference, so both are free.

[0126] when (Right now Before When reaching the target coordinate point), because It can only move along the positive direction of the Y axis. and hour, Blocked , so the two are hostile; otherwise and be free.

[0127] The above analysis results based on mathematical formulas can be summarized as follows: in the second stage, when the second AGV reaches the target coordinate point first, if the target coordinate point of the second AGV is located in the common activity area of ​​the two AGVs and the difference between the Manhattan distance from the starting coordinate point to the target coordinate point of the first AGV and the Manhattan distance from the starting coordinate point to the target coordinate point of the second AGV is not less than the Manhattan distance of the target coordinate points of the two AGVs, the two AGVs are compatible, otherwise they are free; when the first AGV reaches the target coordinate point first, if the target coordinate point of the first AGV is located in the common activity area of ​​the two AGVs and when the difference between the Manhattan distance from the starting coordinate point to the target coordinate point of the second AGV and the Manhattan distance from the starting coordinate point to the target coordinate point of the first AGV is not less than the Manhattan distance of the target coordinate points of the two AGVs, the two AGVs are in a hostile relationship, otherwise the two AGVs are in a free relationship.

[0128] Scenario 2.2: When , hour:

[0129] at this time, Move along the positive direction of the X and Y axes, Move along the negative X axis.

[0130] During the first phase:

[0131] First consider the case of point conflict. and At one point When a point conflict occurs, .because , on the X axis with x u The increase, Increase, and decreases, so u is China makes The only point that holds true. \u, and No point conflicts will occur. Therefore, in the area \u in, There must be a shortest path, resulting in and Not hostile.

[0132] Then consider the case of edge conflicts. and At two adjacent points When a border conflict occurs, and ,Right now .but exist Arrival time u, +1 time arrival For this path, there must be one of the following two ways to resolve this edge conflict. Because if the following method a) is not feasible, then If the following method b) is not feasible, then Therefore, if both methods do not work, , but by It can be seen that , creating a contradiction. and Not hostile.

[0133] a) Time to arrive , +1 time arrival .

[0134] b) Arrival time u, +1 time arrival .

[0135] From the above analysis, we can see that in the first stage:

[0136] When there exists uϵ Make = hour, and is compatible; when There are two adjacent points in and , making hour, and is compatible; otherwise and All are free.

[0137] The above analysis results based on mathematical formulas can be summarized as follows: in the first stage, when there is a coordinate point in the common activity area of ​​the two AGVs and the Manhattan distances from the coordinate point to the two AGVs are equal, the two AGVs are in a compatible relationship; when there are two adjacent coordinate points on the X-axis in the common activity area of ​​the two AGVs, and the sum of the X-coordinate value and Y-coordinate value of the starting coordinate point of the first AGV plus the difference between the X-coordinate value and the Y-coordinate value of the starting coordinate point of the second AGV is equal to the sum of the X-coordinate values ​​of the two adjacent coordinate points, the two AGVs are in a compatible relationship; otherwise, the two AGVs are in a free relationship.

[0138] During the second phase:

[0139] In this case, in the second phase and The conflict situation is exactly the same as the analysis process of the second stage in Scenario 2.1, and will not be repeated here.

[0140] Scenario 2.3: When , hour:

[0141] at this time, Move along the positive direction of the X and Y axes, Move along the positive Y axis.

[0142] After exchanging the x and y coordinates, the situation is transformed into the situation in Section 1.1. The analysis process is the same and will not be repeated here.

[0143] Scenario 2.4: When , hour:

[0144] at this time, Move along the positive direction of the X and Y axes, Move along the negative Y axis.

[0145] exchange The coordinates are then transformed into the scenario in Section 2.2. The analysis process is the same and will not be repeated here.

[0146] In other cases, such as when When analyzing , or In the case and The path conflicts are the same as above. Move along the X and Y axes ( ) is the same as the analysis process, only a simple coordinate transformation is required. In the case and The path conflict analysis process is also related to The analysis process is the same in each case and will not be described again here.

[0147] When B=4, Let's assume (Right now Move along the positive direction of the X and Y axes), otherwise it can be transformed into this situation through coordinate transformation (rotation or mirroring). discuss the direction of travel.

[0148] Scenario 3.1: When , hour:

[0149] at this time, and Both move in the positive direction along the X and Y axes.

[0150] During the first phase:

[0151] First consider the case of edge conflict. and The directions of travel are exactly the same and no edge conflicts will occur.

[0152] Then consider the case of point conflict. and There is a point conflict, that is, there is a point Make = , at this time there must be And right , = ,therefore All points in are conflict points.

[0153] From the above analysis, we can see that in the first stage:

[0154] when hour, and Not present Inner conflict, therefore freedom.

[0155] when At this time Each point in is a conflict point. At this time, when when or hour, and "penetrate" each other, so and Must be There is a little conflict in and Hostile, otherwise exist \ There is a shortest path or exist \ There is a shortest path in and compatible.

[0156] The above analysis results based on mathematical formula can be summarized as follows: In the first stage, when the sum of the coordinate values ​​of the starting coordinate points of the two AGVs is not equal, the two AGVs are in a free relationship. When the sum of the coordinate values ​​of the two AGV starting points is equal and When the activity areas of AGVs intersect each other, the two AGVs are in a hostile relationship, otherwise they are in a compatible relationship.

[0157] During the second phase:

[0158] when (Right now Before When reaching the target coordinate point), if and ,but Falling arrive In the area, because ,therefore The size is at least .exist \ middle, There must be a shortest path, so and Not hostile, but compatible; otherwise, Not right There is no interference, so both are free.

[0159] when (Right now Before When the target coordinate point is reached, and hour, Blocked , but at this time There are two directions of travel, \ middle, There is a shortest path, so the two are compatible; otherwise Not right There is no interference, so both are free.

[0160] The above analysis results based on mathematical formulas can be summarized as follows: in the second stage, if the target coordinate point of the AGV that arrives first is located in the common activity area of ​​the two AGVs and the difference between the Manhattan distance from the starting coordinate point to the target coordinate point of the later AGV and the Manhattan distance from the starting coordinate point to the target coordinate point of the earlier AGV is not less than the Manhattan distance of the target coordinate points of the two AGVs, the two AGVs are in a compatible relationship; otherwise, the two AGVs are in a free relationship.

[0161] Scenario 3.2: When , hour:

[0162] at this time, Move along the positive direction of the X and Y axes, Move along the positive X-axis and negative Y-axis.

[0163] During the first phase:

[0164] First consider the case of point conflict. Make hour, ,Right now ,So All nodes whose y coordinates satisfy the above equation are conflict points. .

[0165] Then consider the case of edge conflicts. When there is a conflict between edges, let arrive hour, arrive ,but .remember

[0166] From the above analysis, we can see that in the first stage:

[0167] When there is hour, and is compatible. That is, and Find a non-conflicting path. When controlling Action Arrived at the destination , and in \ Zhongwei Find the shortest path, so at this time and The paths do not conflict; when When controlling Action Arrived at the destination , and in \ Zhongwei Find the shortest path, so at this time and The paths do not conflict; when When controlling Only through A point p in the middle, i.e. entering p with action ↑ and passing through p with action ↑ , and exist \ p finds a shortest path, so at this time and The paths do not conflict.

[0168] When there is hour, and is compatible. Similar to the above When the situation is and Find a non-conflicting path.

[0169] Otherwise, when neither of the above two conditions is satisfied, and be free.

[0170] The above analysis results based on mathematical formulas can be summarized as follows: in the first stage, when there is a coordinate point in the common activity area of ​​the two AGVs such that the Manhattan distances from the starting coordinate points of the first AGV and the second AGV to the coordinate point are equal, the two AGVs are compatible; when there are two adjacent coordinate points on the Y axis in the common activity area of ​​the two AGVs and the sum of the X coordinate value and Y coordinate value of the starting coordinate point of the first AGV plus the difference between the Y coordinate value and the X coordinate value of the starting coordinate point of the second AGV is equal to the sum of the Y coordinate values ​​of the two adjacent coordinate points, the two AGVs are in a compatible relationship; otherwise, the two AGVs are in a free relationship.

[0171] During the second phase:

[0172] In this case, in the second phase and The conflict situation is exactly the same as the analysis process of the second stage in Scenario 3.1, so I will not repeat it here.

[0173] Scenario 3.3: When , hour:

[0174] at this time, Move along the positive direction of the X and Y axes, Move along the negative X-axis and the positive Y-axis.

[0175] exchange The coordinates are then transformed into the scenario in Section 3.2. The analysis process is the same and will not be repeated here.

[0176] Scenario 4.4: When , hour:

[0177] at this time, Move along the positive direction of the X and Y axes, Move along the negative direction of both X and Y axes.

[0178] During the first phase:

[0179] First consider the case of point conflict. If there is a point Make ,So ,Right now , at this time the conflict point is on a 45-degree straight line, let .

[0180] Then consider the edge conflict situation. If there are three points Make or ,So ,in and yes Neighbors. .

[0181] From the above analysis, we can see that in the first stage:

[0182] When there is When, due to ,therefore Only possible through A point (assumed to be p) in \p is Plan a shortest path, so and There are non-conflicting paths, so at this time and is compatible

[0183] When there is hour, and is compatible. Similar to the above When the situation is and Find a non-conflicting path.

[0184] Otherwise, when neither of the above two conditions is satisfied, and be free.

[0185] The above analysis results based on mathematical formulas can be summarized as follows: in the first stage, when there is a coordinate point in the common activity area of ​​the two AGVs and the Manhattan distances from this coordinate point to the starting coordinate points of the two AGVs are equal, the two AGVs are in a compatible relationship; when there are two adjacent coordinate points in the common activity area of ​​the two AGVs and the sum of the coordinate values ​​of the starting coordinate point of the first AGV and the starting coordinate point of the second AGV is equal to the sum of the coordinate values ​​of the two adjacent coordinate points, the two AGVs are in a compatible relationship; otherwise, the two AGVs are in a free relationship.

[0186] During the second phase:

[0187] In this case, in the second phase and The conflict situation is exactly the same as the analysis process of the second stage in Scenario 3.1, and will not be repeated here.

[0188] In other cases, such as When analyzing , or In the case and Path conflicts are both Move along the positive X and Y axes ( ) is the same as the previous one, except for a simple coordinate transformation.

[0189] According to the method provided in the embodiment of the present application, the present invention also provides an AGV conflict determination system, including a network construction module, a coordinate point acquisition template, a task scheduling module, a conflict type classification module and a conflict determination module.

[0190] The network construction module is used to establish a two-dimensional grid graph and define unique coordinates corresponding to each node in the two-dimensional grid graph.

[0191] The coordinate point acquisition template is used to obtain the starting coordinate point and target coordinate point of each AGV.

[0192] The task scheduling module is used to execute the task of scheduling each AGV to move from the starting coordinate point to the target coordinate point.

[0193] The conflict type classification module can classify the conflict types of the two AGVs based on the number of travel directions of the two AGVs. As mentioned above, the number of travel directions of the two AGVs can be 2, 3 or 4. The conflict types of the two AGVs are classified based on the number of travel directions. The specific classification process has been described in detail above.

[0194] The conflict determination module can determine the conflict relationship between the two AGVs based on the common activity area and the conflict type of the two AGVs. The specific determination execution process has been described in detail above.

[0195] Advantages of the implementation of the present invention: First, the present invention uses the AGV starting coordinate point and target coordinate point as input, and uses elementary mathematical tools to determine the conflict type, which reduces the demand for computing resources and improves the real-time performance of the system. Secondly, by enhancing the performance of the algorithm, the CBS solution strategy for the MAPF problem clarifies the priority and direction of conflict resolution and can find the global optimal solution more quickly in the high-conflict path planning process. Thirdly, by providing an accurate basis for conflict determination, a reasonable path can be planned in advance for the AGV, reducing the waiting and avoidance time of the AGV, thereby improving the cargo handling efficiency and storage space utilization. Finally, the present invention is applicable to multi-AGV systems of different scales and complexities, has strong versatility and can meet the needs of diverse scenarios. In short, the AGV conflict determination method of the present invention has high industrial utilization value.

[0196] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present invention should be included in the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. An AGV conflict determination method, applied to an AGV scheduling method, characterized in that: include: Establish a two-dimensional grid graph and define each node in the two-dimensional grid graph to correspond to a unique coordinate; Get the starting and target coordinates of each AGV; In a single dispatch process, all AGVs only complete the movement task from the starting coordinate point to the target coordinate point once; Calculate the common activity area of ​​any two AGVs during this scheduling process; The types of path conflict judgments of the two AGVs are classified according to the number of their travel directions; The conflict relationship between the two AGVs is determined to be hostile, compatible, or free based on the classification results and the common activity area of ​​the two AGVs; The classifying the type of path conflict determination according to the number of travel directions of the two AGVs includes: calculating the sum of the absolute values ​​of the movement direction values ​​of the two AGVs along the X-axis and the Y-axis on the two-dimensional grid graph, where the movement direction values ​​include 1, -1, and 0, which respectively represent the AGV moving in the positive direction, negative direction, and no axial direction along the axis; The determining of whether the conflict relationship between the two AGVs is hostile, compatible, or free based on the classification results and the common activity area of ​​the two AGVs includes: dividing the determination process into a first stage and a second stage according to the states of the two AGVs, the first stage being a time period during which the two AGVs move together, and the second stage being a time period during which one AGV reaches a target coordinate point and the other AGV continues to move until it reaches the target coordinate point; The determining of whether the conflict relationship between the two AGVs is hostile, compatible or free based on the classification results and the common activity area of ​​the two AGVs includes: if the first stage or the second stage is a hostile relationship, determining that the entire relationship is a hostile relationship; if the first stage and the second stage are not hostile relationships and there is a compatible relationship, determining that the entire relationship is a compatible relationship; if the first stage and the second stage are both free relationships, determining that the entire relationship is a free relationship; The method of determining whether the conflict relationship between the two AGVs is hostile, compatible or free based on the classification results and the common activity area of ​​the two AGVs includes: if the two AGVs do not have a common activity area, then the conflict relationship between the two AGVs is determined to be free; if the two AGVs have a common activity area, then further determination is made based on the number of travel directions of the two AGVs.

2. The AGV conflict determination method according to claim 1, characterized in that: Each AGV moves from the starting coordinate point to the target coordinate point according to the Manhattan distance and cannot stop before reaching the target coordinate point. When the AGV reaches the target coordinate point, it stops at the point until all AGVs reach their respective target coordinate points.

3. The AGV conflict determination method according to claim 1, characterized in that: The calculation of the common activity area of ​​any two AGVs in this scheduling process includes: determining the area formed by the starting coordinate points and target coordinate points of the two AGVs on the two-dimensional grid map, and the common activity area of ​​the two AGVs is the intersection of the activity areas of the two AGVs on the two-dimensional grid map.

4. The AGV conflict determination method according to claim 1, characterized in that: The further determination based on the number of travel directions of the two AGVs includes: if the number of travel directions of the two AGVs is 2, the determination rule is: When the two AGVs are traveling in the same direction, the determination process includes: In the first stage, the two AGVs are in a free relationship; In the second stage, if one AGV reaches its target coordinate point first and the target coordinate point blocks the path of another AGV, it is a hostile relationship, otherwise it is a free relationship; When two AGVs are traveling in opposite directions, they are in a hostile relationship; When the two AGVs are traveling in perpendicular directions, the determination process includes: In the first stage, if two AGVs enter the only intersection at the same time, they are in a hostile relationship, otherwise they are in a free relationship; In the second stage, if one AGV reaches its target coordinate point first and the target coordinate point blocks the path of another AGV, it is a hostile relationship, otherwise it is a free relationship.

5. The AGV conflict determination method according to claim 1, characterized in that: The further determination based on the number of travel directions of the two AGVs includes: if the number of travel directions of the two AGVs is 3, the determination rule is: In the first scenario, when the first AGV moves in the positive direction along the X-axis and Y-axis and the second AGV moves only in the positive direction along the X-axis, the judgment process includes: In the first stage, when the sum of the coordinate values ​​of the starting coordinate points of the two AGVs is not equal, it is a free relationship; when the sum of the coordinate values ​​of the starting coordinate points of the two AGVs is equal and the activity area of ​​one AGV passes through the activity area of ​​the other AGV, it is a hostile relationship; otherwise, it is a compatible relationship; In the second stage, when the second AGV reaches the target coordinate point first, if the target coordinate point of the second AGV is located in the common activity area of ​​the two AGVs and the difference between the Manhattan distance from the starting coordinate point to the target coordinate point of the first AGV and the Manhattan distance from the starting coordinate point to the target coordinate point of the second AGV is not less than the Manhattan distance of the target coordinate points of the two AGVs, the two AGVs are compatible, otherwise they are free; when the first AGV reaches the target coordinate point first, if the target coordinate point of the first AGV is located in the common activity area of ​​the two AGVs and the difference between the Manhattan distance from the starting coordinate point to the target coordinate point of the second AGV and the Manhattan distance from the starting coordinate point to the target coordinate point of the first AGV is not less than the Manhattan distance of the target coordinate points of the two AGVs, the two AGVs are in a hostile relationship, otherwise they are in a free relationship; In the second scenario, when the first AGV moves along the positive X-axis and Y-axis and the second AGV moves only along the negative X-axis, the judgment process includes: In the first stage, when there is a coordinate point in the common activity area of ​​the two AGVs and the Manhattan distance from the coordinate point to the two AGVs is equal, the two AGVs are in a compatible relationship; when there are two adjacent coordinate points on the X axis in the common activity area of ​​the two AGVs, and the sum of the X and Y coordinate values ​​of the starting coordinate point of the first AGV plus the difference between the X and Y coordinate values ​​of the starting coordinate point of the second AGV is equal to the sum of the X coordinate values ​​of the two adjacent coordinate points, the two AGVs are in a compatible relationship; otherwise, the two AGVs are in a free relationship; In the second stage, the determination method is the same as that in the second stage in the first scenario; In the third scenario, when one AGV moves in the positive direction along the X-axis and the Y-axis and the other AGV moves only in the positive direction along the Y-axis, the determination method is the same as that of the first scenario; In the fourth scenario, when one AGV moves in the positive direction along the X-axis and the Y-axis and the other AGV moves only in the negative direction along the Y-axis, the determination method is the same as that in the second scenario.

6. The AGV conflict determination method according to claim 1, characterized in that: The further determination based on the number of travel directions of the two AGVs includes: if the number of travel directions of the two AGVs is 4, the determination rule is: In the first scenario, when both AGVs are moving in the positive direction along the X-axis and Y-axis, the judgment process includes: In the first stage, when the sum of the coordinate values ​​of the starting points of the two AGVs is not equal, the two AGVs are in a free relationship; when the sum of the coordinate values ​​of the starting points of the two AGVs is equal and the activity areas of the two AGVs intersect each other, the two AGVs are in a hostile relationship, otherwise they are in a compatible relationship; In the second stage, if the target coordinate point of the first AGV is located in the common activity area of ​​the two AGVs and the difference between the Manhattan distance from the starting coordinate point to the target coordinate point of the later AGV and the Manhattan distance from the starting coordinate point to the target coordinate point of the first AGV is not less than the Manhattan distance of the target coordinate points of the two AGVs, the two AGVs are in a compatible relationship, otherwise they are in a free relationship; In the second scenario, when the first AGV moves along the positive X-axis and Y-axis and the second AGV moves along the positive X-axis and negative Y-axis, the judgment process includes: In the first stage, when there is a coordinate point in the common activity area of ​​the two AGVs such that the Manhattan distances from the starting coordinate points of the first AGV and the second AGV to the coordinate point are equal, the two AGVs are compatible; when there are two adjacent coordinate points on the Y axis in the common activity area of ​​the two AGVs and the sum of the X coordinate value and the Y coordinate value of the starting coordinate point of the first AGV plus the difference between the Y coordinate value and the X coordinate value of the starting coordinate point of the second AGV is equal to the sum of the Y coordinate values ​​of the two adjacent coordinate points, the two AGVs are compatible; otherwise, the two AGVs are free; In the second stage, the determination method is the same as that in the second stage in the first scenario; In the third scenario, when the first AGV moves in the positive direction along the X-axis and the Y-axis and the second AGV moves in the negative direction along the X-axis and the positive direction along the Y-axis, the determination method is the same as that of the second scenario; In the fourth scenario, when the first AGV moves in the positive direction along the X-axis and Y-axis and the second AGV moves in the negative direction along the X-axis and Y-axis, the determination process includes: In the first stage, when there is a coordinate point in the common activity area of ​​the two AGVs and the Manhattan distance from the coordinate point to the starting coordinate points of the two AGVs is equal, the two AGVs are in a compatible relationship; when there are two adjacent coordinate points in the common activity area of ​​the two AGVs and the sum of the coordinate values ​​of the first AGV starting coordinate point and the second AGV starting coordinate point is equal to the sum of the coordinate values ​​of the two adjacent coordinate points, the two AGVs are in a compatible relationship; otherwise, the two AGVs are in a free relationship; In the second stage, the determination method is the same as the determination method in the second stage in the first scenario.

7. The AGV conflict determination method according to any one of claims 1 to 6, characterized in that: The hostile relationship between the two AGVs includes point conflict and edge conflict. The point conflict is that the two AGVs arrive at the same position at the same time, and the edge conflict is that the two AGVs exchange positions with each other at adjacent times.

8. An AGV conflict determination system, characterized in that: include: A network construction module is used to build a two-dimensional grid graph and define the unique coordinates corresponding to each node in the two-dimensional grid graph; Coordinate point acquisition template, used to obtain the starting coordinate point and target coordinate point of each AGV; The task scheduling module is used to execute the task of scheduling each AGV to move from the starting coordinate point to the target coordinate point; The conflict type classification module classifies the conflict types between two AGVs based on the number of their travel directions; the type of path conflict determination is classified according to the number of their travel directions; The conflict determination module determines the conflict relationship between two AGVs based on their common activity area and conflict type; based on the classification results and the common activity area of ​​the two AGVs, it determines whether the conflict relationship between the two AGVs is hostile, compatible, or free; The classifying the type of path conflict determination according to the number of travel directions of the two AGVs includes: calculating the sum of the absolute values ​​of the movement direction values ​​of the two AGVs along the X-axis and the Y-axis on the two-dimensional grid graph, where the movement direction values ​​include 1, -1, and 0, which respectively represent the AGV moving in the positive direction, negative direction, and no axial direction along the axis; The determining of whether the conflict relationship between the two AGVs is hostile, compatible, or free based on the classification results and the common activity area of ​​the two AGVs includes: dividing the determination process into a first stage and a second stage according to the states of the two AGVs, the first stage being a time period during which the two AGVs move together, and the second stage being a time period during which one AGV reaches a target coordinate point and the other AGV continues to move until it reaches the target coordinate point; The determining of whether the conflict relationship between the two AGVs is hostile, compatible, or free based on the classification results and the common activity area of ​​the two AGVs includes: if the first stage or the second stage is a hostile relationship, determining that the entire relationship is a hostile relationship; if the first stage and the second stage are not hostile relationships and there is a compatible relationship, determining that the entire relationship is a compatible relationship; if the first stage and the second stage are both free relationships, determining that the entire relationship is a free relationship; The method of determining whether the conflict relationship between the two AGVs is hostile, compatible or free based on the classification results and the common activity area of ​​the two AGVs includes: if the two AGVs do not have a common activity area, then the conflict relationship between the two AGVs is determined to be free; if the two AGVs have a common activity area, then further determination is made based on the number of travel directions of the two AGVs.

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