AGV traffic control method based on dynamic area

Abstract

The invention relates to an AGV traffic control method based on a dynamic area, and the method comprises a control area selection calculation module, the output end of the control area selection calculation module is electrically connected with an area intersection judgment module, and the output end of the area intersection judgment module is electrically connected with a special control area management module. And the output end of the special control area management module is electrically connected with a control decision module. According to the method, the five-level dynamic control area system is constructed, the operation state of the AGV is finely monitored, the operation efficiency is greatly improved while the safety is ensured, the intelligent area intersection judgment algorithm is adopted, the potential collision risk can be accurately recognized, accurate intervention is achieved through the hierarchical control strategy, and the method is suitable for being popularized and applied. Efficiency loss caused by excessive control in a traditional method is effectively avoided, a deadlock detection and removal mechanism can quickly recognize and automatically remove deadlock, and the reliability of the method is remarkably improved.

Claims

1. A dynamic area-based AGV traffic control method, characterized by: include: A control area calculation module, wherein the output end of the control area calculation module is electrically connected to the area intersection judgment module, the output end of the area intersection judgment module is electrically connected to the special control area management module, the output end of the special control area management module is electrically connected to the control decision module, the output end of the control decision module is electrically connected to the deadlock processing module, and the output end of the deadlock processing module is electrically connected to the control execution module.

2. The AGV traffic control method based on dynamic area according to claim 1, characterized in that: The control zone calculation module is used to dynamically calculate the control zone for each AGV, which includes five control areas. The five control areas are the physical area, the safety area, the warning area, the sub-path area and the full path area. The protection range of the five control areas is expanded sequentially. The area intersection judgment module is used to judge the intersection of the control areas between AGVs based on the rectangular block intersection algorithm. The special control area management module is used to set and manage user-defined special control areas and the number of AGVs allowed to enter. The control decision module is used to determine the control measures of the AGV based on the area intersection judgment results and the status of the special control area. The deadlock processing module is used to detect and release the control deadlock between AGVs. The control execution module is used to execute the control instructions of the control decision module.

3. The AGV traffic control method based on dynamic area according to claim 1, characterized in that: The control selection area calculation module is internally integrated with a physical area calculation unit, the output end of the physical area calculation unit is electrically connected to the safety area calculation unit, the output end of the safety area calculation unit is electrically connected to the early warning area calculation unit, the output end of the early warning area calculation unit is electrically connected to the sub-path area calculation unit, the output end of the sub-path area calculation unit is electrically connected to the full path area calculation unit, the physical area calculation unit is used to calculate the physical area range based on the physical dimensions of the AGV body and the load, the safety area calculation unit is used to add a displacement braking area, a rotation braking area and a laser obstacle avoidance area on the basis of the physical area, and the early warning area calculation unit is used to calculate the early warning area on the AGV running trajectory based on a preset early warning detection distance. The sub-path area calculation unit is used to calculate the sub-path area based on the sub-path distance greater than the warning detection distance, the full path area calculation unit is used to calculate the full path area on the complete operation path of the AGV, the special control area management module is internally integrated with an entry judgment unit, the output end of the entry judgment unit is electrically connected to the locking judgment unit, the output end of the locking judgment unit is electrically connected to the control trigger unit, the entry judgment unit is used to judge whether the AGV safety area intersects with the special control area, the locking judgment unit is used to decide whether to lock the control area based on the comparison result of the current number of AGVs entering and the maximum number allowed, and the control trigger unit is used to trigger control measures for AGVs entering the warning area of ​​the locked control area.

4. The AGV traffic control method based on dynamic area according to claim 1 is characterized by: The judgment rules of the region intersection judgment module are: For two rectangular blocks, when !(L1>R2‖T1 <B2‖R1<L2‖B1> T2) When the condition is met, it is determined to be intersecting; For two regions, when any two rectangular blocks in the region intersect, the regions are considered to intersect; For rectangular blocks and regions, an intersection is determined when a rectangular block intersects with any rectangular block in the region.

5. The AGV traffic control method based on dynamic area according to claim 1 is characterized by: The control decision module implements the following control logic: When the warning areas of two AGVs do not intersect, no control is performed; When the sub-path area of ​​one AGV intersects the physical area of ​​another AGV, unilateral control is triggered; When the sub-path areas of two AGVs intersect with each other's physical areas, the control priority is determined based on the distance comparison result.

6. The AGV traffic control method based on dynamic area according to claim 1, characterized in that: The deadlock processing module is internally integrated with a deadlock detection unit, the output end of the deadlock detection unit is electrically connected to an avoidance point search unit, the output end of the avoidance point search unit is electrically connected to a path replanning unit, the output end of the path replanning unit is electrically connected to a deadlock release unit, the deadlock detection unit is used to identify AGV groups that form a circular obstruction relationship, the avoidance point search unit searches for a suitable avoidance point for the deadlocked AGV, the path replanning unit plans a new path to the avoidance point for the selected AGV, and the deadlock release unit releases the deadlock by controlling the selected AGV to move to the avoidance point.

7. The AGV traffic control method based on dynamic area according to claim 1, characterized in that: The operations performed by the control execution module are issuing a stop instruction to the AGV that needs to be controlled, issuing a resume operation instruction to the AGV whose control conditions are released, and issuing a path replanning instruction to the AGV that needs to be avoided.

8. The AGV traffic control method based on dynamic area according to claim 3 is characterized by: The dynamic factors included in the safety zone calculation unit are the real-time coordinates, angle, movement speed, rotation speed, displacement deceleration, rotation deceleration, network communication delay time, fixed safety distance and the working range of the laser obstacle avoidance sensor of the AGV.

9. The AGV traffic control method based on dynamic area according to any one of claims 1 to 8, characterized in that: The method includes the following process: first, the control area calculation module generates five layers of dynamic control areas for each AGV in real time, including a physical area based on physical size, a safety area with superimposed braking and obstacle avoidance functions, a warning area extending along the running trajectory, a sub-path area covering the critical path segment, and a full-path area including the complete task path. Then, the area intersection judgment module uses a rectangular block intersection algorithm to detect the area overlap between AGVs. At the same time, the special control area management module monitors the AGV entry status of the preset control area. When area intersection is detected, the control decision module triggers differentiated control measures according to the intersection level, including unilateral control, two-way coordinated control or priority arbitration. If a circular obstruction relationship is formed, the deadlock processing module resolves the deadlock by intelligently identifying deadlocked AGV groups, dynamically allocating avoidance points and replanning the path. Finally, the control execution module issues corresponding control instructions based on the decision results, forming a closed-loop control process from area dynamic calculation, conflict detection to intelligent decision execution. The execution frequency of each module is synchronized with the AGV position update, and the special control area status detection takes precedence over the conventional area judgment.

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