Coordinated control method, device and system for multiple AGV intersections in automated terminals

Abstract

The present invention relates to the field of automated terminal technology, and specifically discloses a method, device, and system for collaborative control of multiple AGVs at automated terminal intersections, including: obtaining operational status information of all AGVs in the current intersection area; establishing an AGV dynamics model for the current intersection area based on the operational status information of the AGVs in the current intersection area; determining the position error and speed error that each AGV should maintain with the preceding vehicle based on the AGV dynamics model, and constructing a tracking error state space model based on the position error and speed error; solving the tracking error state space model with the safe distance between each AGV and the preceding vehicle as the target to obtain operational control information for each AGV; and sending the operational control information of each AGV to the corresponding AGV. The method for collaborative control of multiple AGVs at automated terminal intersections provided by the present invention can consider the real-time collaborative passage of multiple AGVs in a limited space to improve the passage efficiency in conflict areas.

Description

Technical Field

[0001] The present invention relates to the technical field of automated terminals, and in particular to a method for collaboratively controlling multiple AGV intersections at an automated terminal, a device for collaboratively controlling multiple AGV intersections at an automated terminal, and a collaborative control system for multiple AGV intersections at an automated terminal. Background Art

[0002] Automated terminals are key nodes in modern logistics and transportation, and their operational efficiency directly impacts the flow of the entire supply chain. Automated guided vehicles (AGVs) are the core equipment for horizontal container transport in automated terminals. However, numerous conflicting areas within terminals limit further improvements in operational efficiency.

[0003] There are many technical solutions for AGV scheduling in automated terminals in the prior art. For example, the invention application with application number 201911221549.2 discloses an AGV intelligent scheduling method based on genetic algorithm, which aims to reduce the idle driving and waiting time of AGV; the invention application with application number 202110407161.2 discloses an AGV dynamic scheduling management method based on global optimal matching, which realizes the optimal matching of tasks and AGVs through a penalty matrix; the invention application with application number 201810499201.9 discloses an AGV scheduling method and system combined with a deep learning network model to achieve real-time scheduling optimization; the invention application with application number 202210236485.9 discloses an AGV scheduling method and system using a sparrow optimization algorithm. Method to improve scheduling efficiency; Patent application number 201811081234.8 proposes an AGV box delivery path optimization method and system to shorten the AGV box delivery time and improve efficiency; Invention application number 201910575968.X discloses a path optimization method and system for AGV entering and exiting the operating lane under the quay crane to improve AGV operation efficiency; Invention application number 201911220718.0 discloses an AGV path optimization method to improve AGV utilization and reduce invalid operation time; Invention application number 202411044996.6 discloses a method for generating collaborative traffic sequence for multiple AGV intersections in an automated container terminal, which can achieve conflict-free deadlock and efficient collaborative traffic, etc.

[0004] Existing AGV scheduling solutions for automated terminals focus primarily on optimizing AGV paths and assigning tasks. However, in the actual operation of automated terminals, especially in high-density work areas, the coordinated movement and conflict resolution of multiple AGVs are key to improving operational efficiency. Existing technologies fail to fully consider the real-time coordinated movement of multiple AGVs within a confined space, resulting in low efficiency in conflict zones and even the potential for 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 in the conflict area 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 at an automated terminal, a device for collaborative control of multiple AGV intersections at an automated terminal, and a collaborative control system for multiple AGV intersections at an automated terminal, which solve the problem in related technologies that the traffic efficiency in conflict areas cannot be improved during real-time collaborative passage of multiple AGVs in a limited space.

[0007] As a first aspect of the present invention, a method for coordinated control of multiple AGV intersections at an automated terminal is provided, comprising:

[0008] Obtaining the operating status information of all AGVs in the current intersection area, wherein the operating status information includes at least the AGV position, operating speed, and operating acceleration;

[0009] Establish an AGV dynamic model for the current intersection area based on the operating status information of all AGVs in the current intersection area;

[0010] Determine the position error and speed error that each AGV should maintain with the preceding vehicle based on the AGV dynamics model, and construct a tracking error state space model based on the position error and speed error;

[0011] Solving the tracking error state space model with the safe 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 status according to the received operation control information;

[0013] The tracking error state space model is solved with the safe distance between each AGV and the vehicle in front as the goal to obtain the operation control information of each AGV, including:

[0014] A centralized controller is constructed with the goal of stabilizing the one-dimensional AGV virtual queue;

[0015] constructing a predictive safety filter based on the tracking state-space model to correct unsafe control inputs in the centralized controller;

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

[0017] Furthermore, an AGV dynamics model of the current intersection area is established based on the operating status information of all AGVs in the current intersection area, including:

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

[0019] The AGV dynamic model of the current intersection area is constructed based on the operating status information of each AGV in the one-dimensional AGV virtual queue.

[0020] Furthermore, an AGV dynamic model of the current intersection area is constructed based on the operating status information of each AGV in the one-dimensional AGV virtual queue, including:

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

[0022] The AGV dynamic model of the current intersection area is constructed based on the operating status information of each AGV in the one-dimensional AGV virtual queue and its one-dimensional position number, where the expression of the AGV dynamic model is:

[0023] ,

[0024] ,

[0025] ,

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

[0027] Furthermore, the position error and speed error that each AGV should maintain with the preceding vehicle are determined based on the AGV dynamic model, and a tracking error state space model is constructed based on the position error and speed error, including:

[0028] The position error and speed error between the current AGV and the preceding vehicle are defined according to the AGV dynamics model, where the position error is expressed as:

[0029] ,

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

[0031] ;

[0032] A state vector is selected, and a tracking error state space model is constructed according to the position error and the velocity error, wherein the expression of the state vector is:

[0033] ,

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

[0035] ,

[0036] in, , , .

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

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

[0039] ,

[0040] in, is the feedback gain, represents the position error, Indicates speed error;

[0041] The selection rule of the feedback gain is determined to meet the response speed and stability of each AGV in the one-dimensional AGV virtual queue, wherein the selection rule of the feedback gain is:

[0042] .

[0043] Furthermore, a predictive safety filter is constructed based on the tracking state space model to correct unsafe control inputs in the centralized controller, including:

[0044] A predictive safety filter is constructed, wherein the expression of the predictive safety filter is:

[0045] ;

[0046] Determining constraints of the predictive safety filter according to the tracking state space model, wherein the constraints include:

[0047] ,

[0048] ,

[0049] ,

[0050] ,

[0051] ,

[0052] in, 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 a terminal collection.

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

[0054] ,

[0055] ,

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

[0057] As another aspect of the present invention, a multi-AGV intersection coordinated control device for an automated terminal is provided, which is used to implement the aforementioned multi-AGV intersection coordinated control method for an automated terminal, and includes:

[0058] An acquisition module is used to obtain the operating status information of all AGVs in the current intersection area, wherein the operating status information includes at least the AGV position, operating speed, and operating acceleration;

[0059] The dynamic model building module is used to build the AGV dynamic model of the current intersection area based on the operating status information of all AGVs in the current intersection area;

[0060] A tracking error state space model building module is used to determine the position error and speed error that each AGV should maintain with the preceding vehicle based on the AGV dynamic model, and to build a tracking error state space model based on the position error and speed error;

[0061] An operation control information acquisition module is used to solve the tracking error state space model with the safe distance between each AGV and the vehicle in front as the target, and obtain the operation control information of each AGV;

[0062] The sending module is used 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, a multi-AGV intersection coordinated control system for an automated terminal is provided, which includes: roadside equipment and AGVs, each roadside equipment including a computing module and a communication module, wherein the computing 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 in communication connection with the roadside device, and the computing module of each roadside device includes the automated terminal multi-AGV intersection collaborative control device described above.

[0065] The present invention provides a method for collaborative control of multiple AGVs at intersections in an automated terminal. The method obtains the operating status information of all AGVs in the current intersection area, constructs an AGV dynamics model based on the operating 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 safe distance between each AGV and its preceding vehicle as the target, thereby obtaining the operating control information of each AGV. Finally, the operating control information of each AGV is sent to the corresponding AGV, so that the AGV adjusts its own operating status according to the received operating control information. This method for collaborative control of multiple AGVs at intersections in an automated terminal is capable of generating collision-free AGV control instructions, thereby ensuring collision-free and safe collaborative passage in the intersection area. Ultimately, it can effectively address the deficiencies of existing technologies in the safety of collaborative control in intersection areas, improve the safety of automated terminals, and thus achieve safer and more efficient container handling operations in actual terminal operations. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0067] Figure 1 This is a flow chart of the collaborative control method for multiple AGV intersections in an automated terminal provided by the present invention.

[0068] Figure 2 Schematic diagram of the positional relationship between the roadside equipment and the AGV in the intersection area provided by the present invention.

[0069] Figure 3 This is a flow chart of establishing the AGV dynamic model of the current intersection area provided by the present invention.

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

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

[0072] Figure 6 The present invention provides a flow chart for constructing a tracking error state space model.

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

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

[0075] Figure 9 This is a schematic diagram of the overall process of implementing the collaborative control method for multiple AGV intersections in an automated terminal provided by the present invention.

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

[0077] Figure 11 This is a structural block diagram of the automated terminal multi-AGV intersection collaborative control system provided by the present invention. DETAILED DESCRIPTION

[0078] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments of the present invention may be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0079] In order to enable those skilled in the art to better understand the solutions 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 drawings in the embodiments of the present invention. Obviously, the embodiments described 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 should fall within the scope of protection of the present invention.

[0080] It should be noted that the terms "first," "second," and the like in the specification and claims of the present invention and the accompanying drawings are used to distinguish similar objects and are not necessarily used to describe a particular order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate for the embodiments of the present invention described herein. In addition, the terms "including," "having," and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or apparatus comprising a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units that are not explicitly listed or that are inherent to these processes, methods, products, or apparatuses.

[0081] In this embodiment, a method for coordinated control of multiple AGV intersections in an automated terminal is provided. Figure 1 Flowchart of the multi-AGV intersection collaborative control method for an automated terminal provided by an embodiment of the present invention. Figure 1 Shown, including:

[0082] S100, obtaining the operating status information of all AGVs in the current intersection area, wherein the operating status information includes at least the AGV position, operating speed, and operating acceleration;

[0083] In the embodiment of the present invention, Figure 2 The figure shows the positional relationship between the roadside equipment and AGVs in the intersection area. Each intersection area is equipped with roadside equipment, and all AGVs within the communication range of the roadside equipment in the intersection area can communicate with the roadside equipment. Each AGV is equipped with a sensing device, a positioning device, a communication device, a control device and an execution device. The positioning device can obtain the current position, speed and acceleration information of the 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 via the CAN bus; the execution device adjusts the speed of the AGV according to the control command. The roadside equipment of the embodiment of the present invention is equipped with a communication device and a computing device. The computing device can calculate the control instructions based on the received AGV information; the communication device can receive information sent by the AGV in the intersection area and send the control instructions to the AGV in the intersection area.

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

[0085] S200, establishing an AGV dynamics model for the current intersection area based on the operating 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 may be constructed based on the acquired operating status information of all AGVs in the current intersection area to facilitate subsequent collaborative control calculations.

[0087] S300, determining the position error and speed error that each AGV should maintain with the preceding vehicle based on the AGV dynamics model, and constructing a tracking error state space model based on the position error and speed error;

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

[0089] S400, solving the tracking error state space model with the safe distance between each AGV and the vehicle in front as the target, and obtaining the operation control information of each AGV;

[0090] In an embodiment of the present invention, the tracking error state space model is correlated with the safety distance that each AGV needs to maintain with the preceding vehicle as a control target to obtain the operation control information of each AGV in the intersection area.

[0091] S500: 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.

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

[0093] In summary, the method for coordinated control of multiple AGVs at intersections in an automated terminal provided by the present invention obtains the operating status information of all AGVs in the current intersection area, constructs an AGV dynamics model based on the operating 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 safe distance between each AGV and its preceding vehicle as the target, obtains the operating control information of each AGV, and finally sends the operating control information of each AGV to the corresponding AGV so that the AGV adjusts its own operating status according to the received operating control information. This method for coordinated control of multiple AGVs at intersections in an automated terminal is capable of generating collision-free AGV control instructions, thereby ensuring collision-free and safe coordinated passage in the intersection area. Ultimately, it can effectively solve the shortcomings of the existing technology in terms of the safety of coordinated control in the intersection area, improve the safety of the automated terminal, and thus achieve safer and more efficient container handling operations in actual terminal operations.

[0094] In the embodiment of the present invention, the AGV dynamic model of the current intersection area is established based on the operating status information of all AGVs in the current intersection area, such as Figure 3 Shown, including:

[0095] S210, converting all two-dimensional AGV groups in the current intersection area into one-dimensional AGV virtual queues;

[0096] In the embodiment of the present invention, Figure 4 As shown in the figure, all two-dimensional AGV groups in the intersection area are converted into one-dimensional AGV virtual queues by using the rotation projection method, wherein the rotation projection maps the AGVs to the virtual lanes based on the distance between the AGVs and the center point of the intersection area to form a one-dimensional virtual queue.

[0097] S220 : Constructing an AGV dynamics model of the current intersection area based on the operating status information of each AGV in the one-dimensional AGV virtual queue.

[0098] In an embodiment of the present invention, an AGV dynamic model of the current intersection area is constructed based on the operating status information of each AGV in the one-dimensional AGV virtual queue, including:

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

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

[0101] 2) Construct an AGV dynamic model of the current intersection area based on the operating status information of each AGV in the one-dimensional AGV virtual queue and its one-dimensional position number, where the expression of the AGV dynamic model is:

[0102] ,

[0103] ,

[0104] ,

[0105] in, 、 、 、 and They represent the position, running speed, running 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 , its state space expression is:

[0107] ,

[0108] in, .

[0109] In an embodiment of the present invention, the position error and speed error that each AGV should maintain with the preceding vehicle are determined according to the AGV dynamic model, and a tracking error state space model is constructed based on the position error and speed error, such as Figure 6 Shown, including:

[0110] S310. Define the position error and speed error between the current AGV and the preceding vehicle according to the AGV dynamics model, where the position error is expressed as:

[0111] ,

[0112] in, represents a constant distance, represents the 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 based on the position error and the velocity error, wherein the expression of the state vector is:

[0115] ,

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

[0117] ,

[0118] in, , , .

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

[0120] S410, constructing a centralized controller with the goal of stabilizing the one-dimensional AGV virtual queue;

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

[0122] Specifically, a centralized controller is constructed with the goal of stabilizing the one-dimensional AGV virtual queue, including:

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

[0124] ,

[0125] in, is the feedback gain, represents the position error, Indicates speed error;

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

[0127] .

[0128] S420: Constructing a predictive safety filter based on the tracking state space model to correct unsafe control inputs in the centralized controller;

[0129] In the embodiment of the present invention, Figure 8 As shown in the figure, a predictive safety filter is constructed as a safety backup to correct unsafe control inputs that may occur in the centralized collaborative controller and ensure collision-free passage in the intersection area.

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

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

[0132] ;

[0133] 2) Determining constraints of the predictive safety filter based on the tracking state space model, wherein the constraints include:

[0134] ,

[0135] ,

[0136] ,

[0137] ,

[0138] ,

[0139] in, 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 a terminal collection.

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

[0141] S430 , calculating the predictive safety filter with the safety distance between each AGV and the vehicle in front of it as a target, and obtaining the operation control information of each AGV.

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

[0143] ,

[0144] ,

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

[0146] After obtaining the AGV's operation control information, the AGV's operation control information is sent to the AGVs within the communication range of the roadside equipment. The AGV adjusts its own operation status based on the obtained operation control information, thereby generating collision-free AGV control instructions, ultimately ensuring collision-free and safe coordinated passage in the intersection area.

[0147] like Figure 9 Figure 2 shows a schematic diagram of the overall process for implementing a method for collaborative control of multiple AGVs at intersections in an automated terminal, according to an embodiment of the present invention. This method, based on a control method using rotational projection and a predictive safety filter, generates collision-free AGV control instructions, thereby ensuring safe, collision-free collaborative passage at intersections. This invention effectively addresses the shortcomings of existing technologies in the safety of collaborative control at intersections, improving the safety of automated terminals and enabling safer and more efficient container handling operations in actual terminal operations.

[0148] As another embodiment of the present invention, a multi-AGV intersection coordinated control device 100 for an automated terminal is provided for implementing the aforementioned multi-AGV intersection coordinated control method for an automated terminal, wherein Figure 10 Shown, including:

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

[0150] A dynamic model building module 120 is used to build an AGV dynamic model in the current intersection area based on the operating status information of all AGVs in the current intersection area;

[0151] A tracking error state space model building module 130 is used to determine the position error and speed error that each AGV should maintain with the preceding vehicle based on the AGV dynamic model, and to build a tracking error state space model based on the position error and speed error;

[0152] An operation control information acquisition module 140 is used to solve the tracking error state space model with the safe distance between each AGV and its preceding vehicle as the target, and obtain the operation control information of each AGV;

[0153] The sending module 150 is used 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 automated terminal multi-AGV intersection collaborative control device provided by the present invention obtains the operating status information of all AGVs in the current intersection area, constructs an AGV dynamic model based on the operating status information of all AGVs, constructs a tracking error state space model based on the AGV dynamic model, and solves the tracking error state space model with the safe distance between each AGV and the vehicle in front as the target to obtain the operating control information of each AGV. Finally, the operating control information of each AGV is sent to the corresponding AGV so that the AGV adjusts its own operating status according to the received operating control information. This automated terminal multi-AGV intersection collaborative control device can generate collision-free AGV control instructions, thereby ensuring collision-free and safe collaborative passage in the intersection area. Ultimately, it can effectively solve the shortcomings of the existing technology in the safety of collaborative control in the intersection area, improve the safety of the automated terminal, and thus achieve safer and more efficient container handling operations in actual terminal operations.

[0155] Regarding the specific working principle of the automated terminal multi-AGV intersection collaborative control device provided by the present invention, reference can be made to the description of the automated terminal multi-AGV intersection collaborative control method above, which will not be repeated here.

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

[0157] All AGVs within the communication range formed by the communication module of each roadside device 10 are in communication connection with the roadside device, and the computing module 12 of each roadside device 10 includes the automated terminal multi-AGV intersection cooperative control device 100 described above.

[0158] In an embodiment of the present invention, the computing device in the roadside equipment is used to collect and process 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 conflict-free passage control instructions.

[0159] Each intersection area is equipped with roadside equipment, and all AGVs within the communication range of the roadside equipment in the intersection area can communicate with the roadside equipment. Each AGV is equipped with a sensing device, a positioning device, a communication device, a control device, and an execution device. The positioning device can obtain the current AGV's position, speed, and acceleration information and send it to the CAN bus; the communication device can obtain the vehicle's information from the CAN bus and send it to the roadside equipment; the control device can obtain the vehicle's information and control instructions from the CAN bus and send them to the execution device via the CAN bus; the execution device adjusts the speed of the AGV according to the control command. The roadside equipment of the embodiment of the present invention is equipped with a communication device and a computing device. The computing device can calculate the control instructions based on the received AGV information; the communication device can receive information sent by the AGV in the intersection area and send the control instructions to the AGV in the intersection area.

[0160] The automated terminal multi-AGV intersection collaborative control system provided by the present invention obtains the operating status information of all AGVs in the current intersection area, constructs an AGV dynamic model based on the operating status information of all AGVs, constructs a tracking error state space model based on the AGV dynamic model, and solves the tracking error state space model with the safe distance between each AGV and the vehicle in front as the target to obtain the operating control information of each AGV. Finally, the operating control information of each AGV is sent to the corresponding AGV so that the AGV adjusts its own operating status according to the received operating control information. This automated terminal multi-AGV intersection collaborative control system can generate collision-free AGV control instructions, thereby ensuring collision-free and safe collaborative passage in the intersection area. Ultimately, it can effectively solve the shortcomings of the existing technology in the safety of collaborative control in the intersection area, improve the safety of the automated terminal, and thus achieve safer and more efficient container handling operations in actual terminal operations.

[0161] The specific working principle of the automated terminal multi-AGV intersection collaborative control system provided by the present invention can be referred to the description of the automated terminal multi-AGV intersection collaborative control method above, and will not be repeated here.

[0162] It will be understood that the above embodiments are merely exemplary embodiments for illustrating the principles of the present invention, and the present invention is not limited thereto. Those skilled in the art will appreciate that various modifications and improvements can be made without departing from the spirit and substance of the present invention, and such modifications and improvements are also considered to be within the scope of protection of the present invention.

Claims

1. A method for collaborative control of multiple AGV intersections at an automated terminal, characterized in that: include: Obtaining the operating status information of all AGVs in the current intersection area, wherein the operating status information includes at least the AGV position, operating speed, and operating acceleration; Establish an AGV dynamic model for the current intersection area based on the operating status information of all AGVs in the current intersection area; Determine the position error and speed error that each AGV should maintain with the preceding vehicle based on the AGV dynamics model, and construct a tracking error state space model based on the position error and speed error; Solving the tracking error state space model with the safe distance between each AGV and the vehicle in front as the target to obtain the operation control information of each AGV; 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; The tracking error state space model is solved with the safe distance between each AGV and the vehicle in front as the goal to obtain the operation control information of each AGV, including: A centralized controller is constructed with the goal of stabilizing the one-dimensional AGV virtual queue; constructing a predictive safety filter based on the tracking error state-space model to correct unsafe control inputs in the centralized controller; The predictive safety filter is calculated based on the safe distance between each AGV and the vehicle in front of it to obtain the operation control information of each AGV; The AGV dynamics model of the current intersection area is established based on the operating status information of all AGVs in the current intersection area, including: Convert all two-dimensional AGV groups in the current intersection area into one-dimensional AGV virtual queues; Construct an AGV dynamic model of the current intersection area based on the operating status information of each AGV in the one-dimensional AGV virtual queue; Among them, the AGV dynamic model of the current intersection area is constructed based on the operating status information of each AGV in the one-dimensional AGV virtual queue, including: Numbering each AGV in the one-dimensional AGV virtual queue in one dimension according to the distance from the center point of the current intersection area; The AGV dynamic model of the current intersection area is constructed based on the operating status information of each AGV in the one-dimensional AGV virtual queue and its one-dimensional position number, where the expression of the AGV dynamic model is: ， ， ， in, 、 、 、 and They represent the position, running speed, running acceleration, actuator delay and control input of the i-th AGV respectively; The position error and speed error that each AGV should maintain with the preceding vehicle are determined based on the AGV dynamic model, and a tracking error state space model is constructed based on the position error and speed error, including: The position error and speed error between the current AGV and the preceding vehicle are defined according to the AGV dynamics model, where the position error is expressed as: ， in, represents a constant distance, represents the time interval, and the expression of the speed error is: ； A state vector is selected, and a tracking error state space model is constructed according to the position error and the velocity error, wherein the expression of the state vector is: ， The expression of the tracking error state space model is: ， in, , , ; Among them, a centralized controller is built with the stability of the one-dimensional AGV virtual queue as the goal, including: Determine that the centralized controller adopts a linear feedback form, wherein the expression of the centralized controller is: ， in, is the feedback gain, represents the position error, Indicates speed error; The selection rule of the feedback gain is determined to meet the response speed and stability of each AGV in the one-dimensional AGV virtual queue, wherein the selection rule of the feedback gain is: 。 2. The method for coordinated control of multiple AGV intersections at an automated terminal according to claim 1, characterized in that: Constructing a predictive safety filter based on the tracking error state-space model to correct unsafe control inputs in the centralized controller includes: A predictive safety filter is constructed, wherein the expression of the predictive safety filter is: ； Determining constraints of the predictive safety filter based on the tracking error state space model, wherein the constraints include: ， ， ， ， ， in, 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 a terminal collection.

3. The method for coordinated control of multiple AGV intersections at an automated terminal according to claim 1, characterized in that: The expression of the operation control information of each AGV is: ， ， in, , , Indicates the maximum value of the control input, represents the maximum value of the position error, Indicates the maximum value of the speed error, Indicates the maximum value of acceleration.

4. A multi-AGV intersection coordinated control device for an automated terminal, used to implement the multi-AGV intersection coordinated control method for an automated terminal according to any one of claims 1 to 3, characterized in that: include: An acquisition module is used to obtain the operating status information of all AGVs in the current intersection area, wherein the operating status information includes at least the AGV position, operating speed, and operating acceleration; The dynamic model building module is used to build the AGV dynamic model of the current intersection area based on the operating status information of all AGVs in the current intersection area; A tracking error state space model construction module is used to determine the position error and speed error that each AGV should maintain with the preceding vehicle based on the AGV dynamic model, and to construct a tracking error state space model based on the position error and speed error; An operation control information acquisition module is used to solve the tracking error state space model with the safe distance between each AGV and the vehicle in front as the target, and obtain the operation control information of each AGV; The sending module is used 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.

5. An automated terminal multi-AGV intersection collaborative control system, characterized in that: include: Roadside equipment and AGV, each roadside equipment includes a computing module and a communication module, the computing module is communicatively connected with 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 computing module of each roadside device includes the automated terminal multi-AGV intersection collaborative control device according to claim 4.

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