Automatic wharf multi-AGV intersection cooperative control method, device and system

Abstract

The invention relates to the technical field of automatic wharfs, and particularly discloses an automatic wharf multi-AGV intersection cooperative control method, device and system, and the method comprises the steps: obtaining the operation state information of all AGVs in a current intersection region; establishing an AGV dynamic model of the current intersection area according to the operation state information of the AGV of the current intersection area; determining a position error and a speed error which should be kept between each AGV and the front vehicle according to the AGV dynamical model, and constructing a tracking error state space model according to the position error and the speed error; solving the tracking error state space model by taking the safe distance between each AGV and the vehicle in front of the AGV as a target to obtain operation control information of each AGV; and the operation control information of each AGV is sent to the corresponding AGV. According to the automatic wharf multi-AGV intersection cooperative control method provided by the invention, real-time cooperative passage of multiple AGVs in a limited space can be considered so as to improve the passage efficiency of a conflict area.

Description

Technical Field

[0001] The present invention relates to the technical field of automated terminals, and particularly to a multi-AGV intersection collaborative control method for an automated terminal, a multi-AGV intersection collaborative control device for an automated terminal, and a multi-AGV intersection collaborative control system for an automated terminal. Background Art

[0002] As a key node in modern logistics transportation, the operation efficiency of an automated terminal directly affects the smoothness of the entire supply chain. In an automated terminal, an automated guided vehicle (AGV) is the core equipment for realizing the horizontal transportation of containers. There are a large number of conflict areas in the terminal, which restricts the further improvement of the operation efficiency of the automated terminal.

[0003] There are various technical solutions for AGV scheduling in the prior art. For example, the invention application with the application number 201911221549.2 discloses an intelligent AGV scheduling method based on a genetic algorithm, which aims to reduce the empty running and waiting time of AGVs; the invention application with the application number 202110407161.2 discloses a dynamic scheduling management method for AGVs based on global optimal matching, and realizes the optimal matching of tasks and AGVs through a penalty score matrix; the invention application with the application number 201810499201.9 discloses an AGV scheduling method and system combining a deep learning network model to achieve real-time scheduling optimization; the invention application with the application number 202210236485.9 discloses an AGV scheduling method using a sparrow optimization algorithm to improve the scheduling efficiency; the patent with the application number 201811081234.8 proposes an AGV box delivery path optimization method and system to shorten the AGV box delivery time and improve the efficiency; the invention application with the application number 201910575968.X discloses a path optimization method and system for AGVs to enter and exit the operation lane under the quay bridge to improve the operation efficiency of AGVs; the invention application with the application number 201911220718.0 discloses an AGV path optimization method to improve the utilization rate of AGVs and reduce the ineffective operation time; the invention application with the application number 202411044996.6 discloses a method for generating a collaborative passing sequence for multi-AGV intersections in an automated container terminal, which can achieve conflict-free deadlock and efficient collaborative passing, and so on.

[0004] Most of the above existing AGV scheduling schemes for automated terminals focus on the path optimization and task allocation of AGVs. However, in the actual operation of an automated terminal, especially in high-density operation areas, the collaborative passing and conflict resolution among multiple AGVs are the key to improving the operation efficiency. The prior art fails to fully consider the real-time collaborative passing problem of multiple AGVs in a limited space, resulting in low passing efficiency in conflict areas and even possible congestion and collisions.

[0005] Therefore, how to provide a collaborative control solution that can consider the real-time collaborative passage of multiple AGVs in a limited space to improve the passage efficiency of conflict areas has become a technical problem that needs to be solved urgently by those skilled in the art. Summary of the Invention

[0006] The present invention provides a method for collaborative control of multiple AGV intersections in an automated terminal, a device for collaborative control of multiple AGV intersections in an automated terminal, and a system for collaborative control of multiple AGV intersections in an automated terminal, which solve the problem in the related art that the passage efficiency of the conflict area cannot be improved during the real-time collaborative passage of multiple AGVs in a limited space.

[0007] As the first aspect of the present invention, there is provided a method for collaborative control of multiple AGV intersections in an automated terminal, which includes:

[0008] Obtain the operation state information of all AGVs in the current intersection area, where the operation state information at least includes the AGV position, operation speed, and operation acceleration;

[0009] Establish an AGV dynamics model of the current intersection area according to the operation state information of all AGVs in the current intersection area;

[0010] Determine the position error and speed error that each AGV should maintain with the vehicle in front according to the AGV dynamics model, and construct a tracking error state space model according to the position error and speed error;

[0011] Solve the tracking error state space model with the safety distance between each AGV and the vehicle in front as the target to obtain the operation control information of each AGV;

[0012] Send the operation control information of each AGV to the corresponding AGV so that the AGV adjusts its own operation state according to the received operation control information;

[0013] Among them, solving the tracking error state space model with the safety distance between each AGV and the vehicle in front as the target to obtain the operation control information of each AGV includes:

[0014] Construct a centralized controller with the stability of the one-dimensional AGV virtual queue as the target;

[0015] Construct a predictive safety filter according to the tracking state space model to correct the unsafe control input in the centralized controller;

[0016] Calculate the predictive safety filter with the safety distance between each AGV and the vehicle in front as the target to obtain the operation control information of each AGV.

[0017] Further, an AGV dynamics model of the current intersection area is established according to the operation status information of all AGVs in the current intersection area, including:

[0018] Convert all two-dimensional AGV vehicle groups in the current intersection area into a one-dimensional AGV virtual queue;

[0019] Construct an AGV dynamics model of the current intersection area according to the operation status information of each AGV in the one-dimensional AGV virtual queue.

[0020] Further, an AGV dynamics model of the current intersection area is constructed according to the operation status information of each AGV in the one-dimensional AGV virtual queue, including:

[0021] Number each AGV in the one-dimensional AGV virtual queue according to its distance from the center point of the current intersection area;

[0022] Construct an AGV dynamics model of the current intersection area according to the operation status information of each AGV in the one-dimensional AGV virtual queue and in combination with its one-dimensional position number, where the expression of the AGV dynamics model is:

[0023] ,

[0024] ,

[0025] ,

[0026] where, 、 、 、 and represent the position, running speed, running acceleration, actuator time delay and control input of the i-th AGV respectively.

[0027] Further, determine the position error and speed error that each AGV should maintain from the preceding vehicle according to the AGV dynamics model, and construct a tracking error state space model according to the position error and speed error, including:

[0028] Define the position error and speed error between the current AGV and the preceding vehicle according to the AGV dynamics model, where the expression of the position error is:

[0029] ,

[0030] where, represents a constant distance, represents a time headway, and the expression of the speed error is:

[0031] ;

[0032] Select the state vector and construct a tracking error state space model based on the position error and the velocity error, where the expression of the state vector is:

[0033] ,

[0034] The expression of the tracking error state space model is:

[0035] ,

[0036] where, , , .

[0037] Furthermore, construct a centralized controller with the stability of the one-dimensional AGV virtual queue as the goal, including:

[0038] Determine that the centralized controller adopts a linear feedback form, where the expression of the centralized controller is:

[0039] ,

[0040] where, represents the feedback gain, represents the position error, represents the velocity error;

[0041] For the feedback gain, determine its selection rule to meet the response speed and stability of each AGV in the one-dimensional AGV virtual queue, where the selection rule of the feedback gain is:

[0042] .

[0043] Furthermore, construct a predictive safety filter according to the tracking state space model to correct the unsafe control input in the centralized controller, including:

[0044] Construct a predictive safety filter, where the expression of the predictive safety filter is:

[0045] ;

[0046] Determine the constraint conditions of the predictive safety filter according to the tracking state space model, where the constraint conditions include:

[0047] ,

[0048] ,

[0049] ,

[0050] ,

[0051] ,

[0052] wherein, represents the control sequence calculated by the predictive safety filter, represents the control quantity calculated by the centralized controller, represents the control input set, represents the error state set, represents the terminal set.

[0053] Furthermore, the expression of the operation control information of each AGV is:

[0054] ,

[0055] ,

[0056] wherein, , , represents the maximum value of the control input, represents the maximum value of the position error, represents the maximum value of the speed error, represents the maximum value of the acceleration.

[0057] As another aspect of the present invention, there is provided an automated terminal multi-AGV intersection collaborative control device for implementing the automated terminal multi-AGV intersection collaborative control method described above, wherein, it includes:

[0058] An acquisition module, configured to acquire the operation state information of all AGVs in the current intersection area, and the operation state information at least includes the AGV position, operation speed, and operation acceleration;

[0059] A dynamic model establishment module, configured to establish an AGV dynamic model of the current intersection area according to the operation state information of all AGVs in the current intersection area;

[0060] A tracking error state space model construction module, configured to determine the position error and speed error that each AGV should maintain with the preceding vehicle according to the AGV dynamic model, and construct a tracking error state space model according to the position error and speed error;

[0061] An operation control information acquisition module, configured to solve the tracking error state space model with the safety distance between each AGV and its preceding vehicle as the target, and acquire the operation control information of each AGV;

[0062] A sending module, configured to send the operation control information of each AGV to the corresponding AGV, so that the AGV adjusts its own operation state according to the received operation control information.

[0063] As another embodiment of the present invention, there is provided a multi-AGV intersection collaborative control system for an automated terminal, which includes: roadside devices and AGVs. Each roadside device includes a calculation module and a communication module, and the calculation module is communicatively connected to the communication module;

[0064] All AGVs within the communication range formed by the communication module of each roadside device are communicatively connected to the roadside device, and the calculation module of each roadside device includes the multi-AGV intersection collaborative control device described above.

[0065] The multi-AGV intersection collaborative control method provided by the present invention obtains the operation state information of all AGVs in the current intersection area, constructs an AGV dynamics model based on the operation state information of all AGVs, constructs a tracking error state space model based on the AGV dynamics model, and solves the tracking error state space model with the safety distance between each AGV and its preceding vehicle as the target to obtain the operation control information of each AGV. Finally, the operation control information of each AGV is sent to the corresponding AGV, so that the AGV adjusts its own operation state according to the received operation control information. This multi-AGV intersection collaborative control method for an automated terminal can generate collision-free AGV control instructions, thereby ensuring collision-free and safe collaborative passage in the intersection area, and ultimately effectively solving the deficiencies in the safety of collaborative control in the intersection area of the prior art, improving the safety of the automated terminal, and thus realizing safer and more efficient container handling operations in actual terminal operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0066] The drawings are used to provide a further understanding of the present invention, and constitute a part of the specification, and are used to explain the present invention together with the following specific embodiments, but do not constitute a limitation to the present invention.

[0067] Figure 1 It is a flowchart of the multi-AGV intersection collaborative control method for an automated terminal provided by the present invention.

[0068] Figure 2 It is a schematic diagram of the positional relationship between the roadside device and the AGV in the intersection area provided by the present invention.

[0069] Figure 3 It is a flowchart of establishing an AGV dynamics model in the current intersection area provided by the present invention.

[0070] Figure 4 It is a schematic diagram of the rotational projection of the AGV in the intersection area provided by the present invention.

[0071] Figure 5 It is a schematic diagram of a virtual queue obtained by rotating and projecting in the intersection area provided by the present invention.

[0072] Figure 6 It is a flowchart for constructing a tracking error state space model provided by the present invention.

[0073] Figure 7 It is a flowchart for obtaining the operation control information of each AGV provided by the present invention.

[0074] Figure 8 It is a schematic diagram of the predicted safety filter effect provided by the present invention.

[0075] Figure 9 It is a schematic diagram of the overall implementation process of the multi-AGV intersection collaborative control method for an automated terminal provided by the present invention.

[0076] Figure 10 It is a structural block diagram of the multi-AGV intersection collaborative control device for an automated terminal provided by the present invention.

[0077] Figure 11 It is a structural block diagram of the multi-AGV intersection collaborative control system for an automated terminal provided by the present invention. Detailed implementation manners

[0078] It should be noted that, without conflict, the embodiments in the present invention and the features in the embodiments may be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.

[0079] In order to enable those skilled in the art to better understand the solution of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without making creative efforts shall fall within the protection scope of the present invention.

[0080] It should be noted that the terms "first", "second", etc. in the description, claims and above-mentioned drawings of the present invention are used to distinguish similar objects, and do not necessarily have to be used to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances, so as to implement the embodiments of the present invention described herein. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device comprising a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0081] In this embodiment, a method for collaborative control of multiple AGVs at intersections in an automated terminal is provided. Figure 1 It is a flowchart of the method for collaborative control of multiple AGVs at intersections in an automated terminal provided according to an embodiment of the present invention, as Figure 1 shown, including:

[0082] S100. Obtain the operation status information of all AGVs in the current intersection area, where the operation status information at least includes the AGV position, running speed, and running acceleration;

[0083] In the embodiment of the present invention, as Figure 2 shown is a schematic diagram of the positional relationship between the roadside device and the AGV in the intersection area. A roadside device is provided in each intersection area, and all AGVs within the communication range of the roadside device in the intersection area can establish a communication connection with the roadside device. A sensing device, a positioning device, a communication device, a control device, and an execution device are installed on each AGV. Among them, the positioning device can obtain the position, speed, and acceleration information of the current AGV and send it to the CAN bus; the communication device can obtain the vehicle information from the CAN bus and send it to the roadside device; the control device can obtain the vehicle information and control instructions from the CAN bus and send them to the execution device through the CAN bus; the execution device adjusts the speed of the AGV according to the control command. The roadside devices in the embodiments of the present invention are all installed with a communication device and a computing device. The computing device can calculate control instructions according to the received AGV information; the communication device can receive the information sent by the AGVs in the intersection area and send the control instructions to the AGVs in the intersection area.

[0084] It should be understood that before obtaining the operation status information of the AGV, the relevant parameters of the communication device and the control device in the roadside device can be initialized first.

[0085] S200. Establish an AGV dynamics model of the current intersection area according to the operation status information of all AGVs in the current intersection area;

[0086] In an embodiment of the present invention, an AGV dynamics model of the current intersection area can be constructed for all the AGV operation status information obtained for subsequent cooperative control calculations.

[0087] S300. Determine the position error and speed error that each AGV should maintain with the preceding vehicle according to the AGV dynamics model, and construct a tracking error state space model based on the position error and the speed error;

[0088] It should be understood that based on the current AGV dynamics model, the position error and speed error that each AGV needs to maintain with the preceding vehicle are determined based on the cooperative control target of the current intersection area, and then a tracking error state space model is constructed based on this error information for subsequent control calculations based on this.

[0089] S400. Solve the tracking error state space model with the safety distance between each AGV and its preceding vehicle as the target to obtain the operation control information of each AGV;

[0090] In an embodiment of the present invention, based on the safety distance that each AGV needs to maintain with the preceding vehicle as the control target, relevant calculations are performed on the above tracking error state space model to obtain the operation control information of each AGV in this intersection area.

[0091] S500. Send the operation control information of each AGV to the corresponding AGV so that the AGV adjusts its own operation status according to the received operation control information.

[0092] In an embodiment of the present invention, after the roadside device obtains the operation control information of each AGV, it sends the operation control information of each AGV to the corresponding AGV, and the AGV can adjust its own operation status after receiving the operation control information.

[0093] In summary, the multi-AGV intersection collaborative control method provided by the present invention obtains the operation status information of all AGVs in the current intersection area, constructs an AGV dynamics model based on the operation status information of all AGVs, constructs a tracking error state space model on the basis of the AGV dynamics model, and solves the tracking error state space model with the safety distance between each AGV and its preceding vehicle as the target to obtain the operation control information of each AGV. Finally, the operation control information of each AGV is sent to the corresponding AGV so that the AGV adjusts its own operation status according to the received operation control information. This multi-AGV intersection collaborative control method for automated terminals can generate collision-free AGV control instructions, thus ensuring collision-free and safe collaborative passage in the intersection area, and ultimately effectively solving the deficiencies in the safety of intersection area collaborative control in the prior art, improving the safety of automated terminals, and thus realizing safer and more efficient container handling operations in actual terminal operations.

[0094] In an embodiment of the present invention, an AGV dynamics model of the current intersection area is established according to the operation status information of all AGVs in the current intersection area, as Figure 3 shown, including:

[0095] S210. Convert all two-dimensional AGV vehicle groups in the current intersection area into a one-dimensional AGV virtual queue;

[0096] In an embodiment of the present invention, as Figure 4 shown, all two-dimensional AGV vehicle groups in the intersection area are converted into a one-dimensional AGV virtual queue by using the method of rotational projection. Among them, rotational projection maps the AGVs onto the virtual lane based on the distance between the AGV and the center point of the intersection area to form a one-dimensional virtual queue.

[0097] S220. Construct an AGV dynamics model of the current intersection area according to the operation status information of each AGV in the one-dimensional AGV virtual queue.

[0098] In an embodiment of the present invention, constructing an AGV dynamics model of the current intersection area according to the operation status information of each AGV in the one-dimensional AGV virtual queue includes:

[0099] 1) Perform one-dimensional position numbering on each AGV in the one-dimensional AGV virtual queue according to the distance from the center point of the current intersection area;

[0100] As Figure 5 shown, according to the distance from the center point of the intersection, the AGVs in the virtual queue are numbered from near to far, and the AGV with the previous number is regarded as the preceding vehicle in the virtual queue.

[0101] 2) Construct an AGV dynamics model for the current intersection area based on the operating status information of each AGV in the one-dimensional AGV virtual queue and in combination with its one-dimensional position number. The expression of the AGV dynamics model is as follows:

[0102] ,

[0103] ,

[0104] ,

[0105] where, , , , and represent the position, operating speed, operating acceleration, actuator delay, and control input of the i-th AGV, respectively.

[0106] In the embodiment of the present invention, the state is defined as , and its state space expression is:

[0107] ,

[0108] where, .

[0109] In the embodiment of the present invention, determine the position error and speed error that each AGV should maintain with the preceding vehicle according to the AGV dynamics model, and construct a tracking error state space model according to the position error and the speed error. As shown in Figure 6 , it includes:

[0110] S310. Define the position error and speed error between the current AGV and the preceding vehicle according to the AGV dynamics model. The expression of the position error is:

[0111] ,

[0112] where, represents a constant distance, represents a time interval, and the expression of the speed error is:

[0113] ;

[0114] S320. Select a state vector, and construct a tracking error state space model according to the position error and the speed error. The expression of the state vector is:

[0115] ,

[0116] The expression of the tracking error state space model is:​

[0117] ,

[0118] Among them, , , .

[0119] In the embodiment of the present invention, the tracking error state space model is solved with the safety distance between each AGV and its preceding vehicle as the target, and the operation control information of each AGV is obtained, as Figure 7 shown, including:

[0120] S410. Construct a centralized controller with the stability of the one-dimensional AGV virtual queue as the target;

[0121] In the embodiment of the present invention, a centralized controller that ensures the stability within the virtual queue is constructed.

[0122] Specifically, constructing a centralized controller with the stability of the one-dimensional AGV virtual queue as the target includes:

[0123] 1) Determine that the centralized controller adopts a linear feedback form, where the expression of the centralized controller is:

[0124] ,

[0125] Among them, represents the feedback gain, represents the position error, represents the speed error;

[0126] 2) Determine the selection rule for the feedback gain to meet the response speed and stability of each AGV in the one-dimensional AGV virtual queue, where the selection rule for the feedback gain is:

[0127] .

[0128] S420. Construct a predictive safety filter according to the tracking state space model to correct the unsafe control input in the centralized controller;

[0129] In the embodiment of the present invention, as Figure 8 shown, a predictive safety filter is constructed as a safety backup to correct the possible unsafe control input of the centralized cooperative controller and ensure collision-free passage in the intersection area.

[0130] Specifically, constructing a predictive safety filter according to the tracking state space model to correct the unsafe control input in the centralized controller includes:

[0131] 1) Construct a predictive safety filter, where the expression of the predictive safety filter is:

[0132] ;

[0133] 2) Determine the constraint conditions of the predictive safety filter according to the tracking state space model, where the constraint conditions include:

[0134] ,

[0135] ,

[0136] ,

[0137] ,

[0138] ,

[0139] Among them, represents the control sequence calculated by the predictive safety filter, represents the control quantity calculated by the centralized controller, represents the control input set, represents the error state set, represents the terminal set.

[0140] It should be noted that the terminal set should be appropriately selected to ensure traffic safety.

[0141] S430. Calculate the predictive safety filter with the safety distance between each AGV and its preceding vehicle as the target to obtain the operation control information of each AGV.

[0142] In the embodiment of the present invention, the expression of the operation control information of each AGV is:

[0143] ,

[0144] ,

[0145] Among them, , , represents the maximum value of the control input, represents the maximum value of the position error, represents the maximum value of the speed error, represents the maximum value of the acceleration.

[0146] After obtaining the operation control information of the AGV, the operation control information of the AGV is sent to the AGVs within the communication range of the roadside device. The AGV adjusts its own operation state according to the obtained operation control information, so as to be able to generate collision-free AGV control instructions, and finally ensure collision-free and safe collaborative passage in the intersection area.

[0147] As Figure 9 shown is the overall flowchart of the implementation of the multi-AGV intersection collaborative control method for an automated terminal provided by an embodiment of the present invention. The multi-AGV intersection collaborative control method for an automated terminal provided by the present invention is based on a control method of rotational projection and predictive safety filter, and can generate collision-free AGV control instructions, thereby ensuring collision-free and safe collaborative passage in the intersection area. The present invention can effectively solve the deficiencies of the prior art in the aspect of collaborative control safety in the intersection area, improve the safety of the automated terminal, and thus realize safer and more efficient container handling operations in actual terminal operations.

[0148] As another embodiment of the present invention, there is provided a multi-AGV intersection collaborative control device 100 for an automated terminal, which is used to implement the multi-AGV intersection collaborative control method described above. Among them, as Figure 10 shown, it includes:

[0149] An acquisition module 110, configured to acquire the operation state information of all AGVs in the current intersection area, where the operation state information at least includes the AGV position, operation speed, and operation acceleration;

[0150] A dynamics model establishment module 120, configured to establish an AGV dynamics model of the current intersection area according to the operation state information of all AGVs in the current intersection area;

[0151] A tracking error state space model construction module 130, configured to determine the position error and speed error that each AGV should maintain with the vehicle in front according to the AGV dynamics model, and construct a tracking error state space model according to the position error and speed error;

[0152] An operation control information acquisition module 140, configured to solve the tracking error state space model with the safety distance between each AGV and the vehicle in front as the target, and acquire the operation control information of each AGV;

[0153] A sending module 150, configured to send the operation control information of each AGV to the corresponding AGV, so that the AGV adjusts its own operation state according to the received operation control information.

[0154] The multi-AGV intersection collaborative control device for an automated terminal provided by the present invention obtains the operation status information of all AGVs in the current intersection area, constructs an AGV dynamics model based on the operation status information of all AGVs, constructs a tracking error state space model based on the AGV dynamics model, and solves the tracking error state space model with the safety distance between each AGV and its preceding vehicle as the target to obtain the operation control information of each AGV. Finally, the operation control information of each AGV is sent to the corresponding AGV so that the AGV adjusts its own operation status according to the received operation control information. This multi-AGV intersection collaborative control device for an automated terminal can generate collision-free AGV control instructions, thus ensuring collision-free and safe collaborative passage in the intersection area, and ultimately effectively solving the deficiencies in the safety of intersection area collaborative control in the prior art, improving the safety of the automated terminal, and thus realizing safer and more efficient container handling operations in actual terminal operations.

[0155] For the specific working principle of the multi-AGV intersection collaborative control device for an automated terminal provided by the present invention, reference can be made to the description of the multi-AGV intersection collaborative control method in the foregoing text, and details will not be repeated here.

[0156] As another embodiment of the present invention, a multi-AGV intersection collaborative control system 1 for an automated terminal is provided, wherein, as Figure 11 shown, it includes: roadside devices 10 and AGVs 20. Each roadside device 10 includes a computing module 11 and a communication module 12, and the computing module 11 is communicatively connected to the communication module 12;

[0157] All AGVs within the communication range formed by the communication modules of each roadside device 10 are communicatively connected to the roadside device, and the computing module 12 of each roadside device 10 includes the multi-AGV intersection collaborative control device 100 described above.

[0158] In the embodiment of the present invention, the computing device in the roadside device is used to collect and process the information of all AGVs within the intersection area and perform centralized calculations; the AGV equipped with communication and autonomous driving functions can execute according to the conflict-free passage control instructions.

[0159] A roadside device is set in each intersection area, and all AGVs within the communication range of the roadside device located in the intersection area can establish a communication connection with the roadside device. Each AGV is equipped with a sensing device, a positioning device, a communication device, a control device and an execution device. Among them, the positioning device can obtain the position, speed and acceleration information of the current AGV and send them to the CAN bus; the communication device can obtain the vehicle information from the CAN bus and send it to the roadside device; the control device can obtain the vehicle information and control instructions from the CAN bus and send them to the execution device through the CAN bus; the execution device adjusts the speed of the AGV according to the control command. The roadside devices in the embodiments of the present invention are all equipped with a communication device and a computing device. The computing device can calculate control instructions based on the received AGV information; the communication device can receive the information sent by the AGVs in the intersection area and send the control instructions to the AGVs in the intersection area.

[0160] The multi-AGV intersection cooperative control system for an automated terminal provided by the present invention obtains the operation state information of all AGVs in the current intersection area, constructs an AGV dynamics model based on the operation state information of all AGVs, constructs a tracking error state space model based on the AGV dynamics model, and solves the tracking error state space model with the safety distance between each AGV and its preceding vehicle as the target to obtain the operation control information of each AGV. Finally, the operation control information of each AGV is sent to the corresponding AGV so that the AGV adjusts its own operation state according to the received operation control information. This multi-AGV intersection cooperative control system for an automated terminal can generate collision-free AGV control instructions, thereby ensuring collision-free and safe cooperative passage in the intersection area, and ultimately effectively solving the deficiencies in the safety of intersection area cooperative control in the prior art and improving the safety of the automated terminal, so as to achieve safer and more efficient container handling operations in actual terminal operations.

[0161] Regarding the specific working principle of the multi-AGV intersection cooperative control system for an automated terminal provided by the present invention, reference can be made to the description of the multi-AGV intersection cooperative control method in the foregoing text, and details are not described herein again.

[0162] It can be understood that the above embodiments are merely exemplary embodiments adopted to illustrate the principles of the present invention, but the present invention is not limited thereto. For those of ordinary skill in the art, various modifications and improvements can be made without departing from the spirit and essence of the present invention, and these modifications and improvements are also regarded as the protection scope of the present invention.

Claims

1. An automated terminal multi-AGV intersection collaborative control method, characterized in that, Including: Obtain the running state information of all AGVs in the current intersection area, where the running state information at least includes the AGV position, running speed, and running acceleration; Establish an AGV dynamics model for the current intersection area based on the running state information of all AGVs in the current intersection area; Determine the position error and speed error that each AGV should maintain from the preceding vehicle according to the AGV dynamics model, and construct a tracking error state space model based on the position error and speed error; Solve the tracking error state space model with the safety distance between each AGV and its preceding vehicle as the goal to obtain the running control information of each AGV; Send the running control information of each AGV to the corresponding AGV so that the AGV adjusts its own running state according to the received running control information; Among them, solving the tracking error state space model with the safety distance between each AGV and its preceding vehicle as the goal to obtain the running control information of each AGV includes: Construct a centralized controller with the stability of the one-dimensional AGV virtual queue as the goal; Construct a predictive safety filter according to the tracking state space model to correct the unsafe control input in the centralized controller; Calculate the predictive safety filter with the safety distance between each AGV and its preceding vehicle as the goal to obtain the running control information of each AGV.

2. The collaborative control method for multiple AGV intersections in an automated terminal according to claim 1, wherein Establish an AGV dynamics model for the current intersection area based on the running state information of all AGVs in the current intersection area, including: Convert all two-dimensional AGV vehicle groups in the current intersection area into a one-dimensional AGV virtual queue; Construct an AGV dynamics model for the current intersection area according to the running state information of each AGV in the one-dimensional AGV virtual queue.

3. The collaborative control method for multiple AGV intersections in an automated terminal according to claim 2, characterized in that, Construct an AGV dynamics model for the current intersection area according to the running state information of each AGV in the one-dimensional AGV virtual queue, including: Perform one-dimensional position numbering on each AGV in the one-dimensional AGV virtual queue according to the distance from the center point of the current intersection area; Construct an AGV dynamics model for the current intersection area according to the running state information of each AGV in the one-dimensional AGV virtual queue and in combination with its one-dimensional position number, where the expression of the AGV dynamics model is: ， ， ， Among them, , , , and represent the position, running speed, running acceleration, actuator delay, and control input of the i-th AGV, respectively.

4. The collaborative control method for multiple AGV intersections in an automated terminal according to claim 1, wherein Determine the position error and speed error that each AGV should maintain from the preceding vehicle according to the AGV dynamics model, and construct a tracking error state space model based on the position error and speed error, including: Define the position error and speed error between the current AGV and the preceding vehicle according to the AGV dynamics model, where the expression of the position error is: ， Among them, represents a constant distance, represents a time interval, and the expression of the velocity error is as follows: ； Select a state vector, and construct a tracking error state space model based on the position error and the speed error, where the expression of the state vector is: ， The expression of the tracking error state space model is: ， Among them, , , .

5. The collaborative control method for multiple AGV intersections in an automated terminal according to claim 1, wherein Construct a centralized controller with the stability of the one-dimensional AGV virtual queue as the goal, including: Determine that the centralized controller adopts a linear feedback form, where the expression of the centralized controller is: ， Among them, represents the feedback gain, represents the position error, represents the velocity error; Determine the selection rule for the feedback gain to meet the response speed and stability of each AGV in the one-dimensional AGV virtual queue, where the selection rule for the feedback gain is as follows: 。 6. The collaborative control method for multiple AGV intersections in an automated terminal according to claim 1, characterized in that, Construct a predictive safety filter based on the tracking state space model to correct the unsafe control input in the centralized controller, including: Construct a predictive safety filter, where the expression of the predictive safety filter is: ； Determine the constraint conditions of the predictive safety filter according to the tracking state space model, where the constraint conditions include: ， ， ， ， ， Among them, represents the control sequence calculated by the predictive safety filter, represents the control quantity calculated by the centralized controller, represents the control input set, represents the error state set, represents the terminal set.

7. The collaborative control method for multiple AGV intersections in an automated terminal according to claim 1, wherein The expression of the operation control information of each AGV is: ， ， Among them, , , represents the maximum value of the control input, represents the maximum value of the position error, represents the maximum value of the speed error, represents the maximum value of the acceleration.

8. An automated terminal multi-AGV intersection collaborative control device for implementing the automated terminal multi-AGV intersection collaborative control method according to any one of claims 1 to 7, characterized in that, including: An acquisition module for acquiring the operation state information of all AGVs in the current intersection area, where the operation state information at least includes the AGV position, running speed, and running acceleration; A dynamics model establishment module for establishing an AGV dynamics model of the current intersection area according to the operation state information of all AGVs in the current intersection area; A tracking error state space model construction module for determining the position error and speed error that each AGV should maintain with the vehicle in front according to the AGV dynamics model, and constructing a tracking error state space model according to the position error and speed error; An operation control information acquisition module for solving the tracking error state space model with the safety distance between each AGV and the vehicle in front as the target to obtain the operation control information of each AGV; A sending module for sending the operation control information of each AGV to the corresponding AGV so that the AGV adjusts its own operation state according to the received operation control information.

9. An automated terminal multi-AGV intersection collaborative control system, characterized in that, including: Roadside devices and AGVs, each roadside device includes a calculation module and a communication module, and the calculation module is communicatively connected to the communication module; All AGVs within the communication range formed by the communication module of each roadside device are communicatively connected to the roadside device, and the calculation module of each roadside device includes the automated terminal multi-AGV intersection collaborative control device described in claim 8.

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