Traffic control method and system based on parallel operation of multiple AGVs

Abstract

The invention discloses a traffic control method and system based on parallel operation of multiple AGVs. The traffic control method based on parallel operation of multiple AGVs comprises the following steps: acquiring equipment information and material information of each AGV equipment; obtaining a transportation material evaluation value according to the equipment information and the material information; a priority passing evaluation value is obtained at the intersection according to the equipment information and the material information of the AGV equipment, and the AGV equipment with the high priority passing evaluation value is permitted preferentially. According to the invention, through determining the material transportation evaluation value of each AGV device and obtaining the priority passing evaluation value through the electric quantity evaluation coefficient, the material type evaluation coefficient, the task type evaluation coefficient and the waiting time evaluation coefficient, the priority passing method of multiple AGVs working in parallel is set more comprehensively; the problem that in the prior art, the priority traffic setting method for the multiple AGVs working in parallel is single is solved.

Description

Technical Field

[0001] This invention relates to the field of AGV technology, and in particular to a traffic control method and system based on the parallel operation of multiple AGVs. Background Technology

[0002] With the continuous increase in labor costs, using AGVs to replace traditional manual handling has become a trend. It can not only save manpower but also improve work efficiency. However, if multiple AGVs operate in parallel without effective traffic control, the operation of the AGVs will become chaotic.

[0003] Existing traffic control methods for multiple AGVs operating in parallel use common priority evaluation criteria, such as waiting time and remaining power, to divide AGVs into several priority levels to achieve traffic control for multiple AGVs operating in parallel.

[0004] For example, the invention patent with publication number CN116594381A discloses a traffic control method based on an AGV scheduling system, including: S1, setting up an AGV scheduling system, database, server interface, and configuring AGV interfaces, configuring stations and control areas; S2, real-time monitoring of AGV vehicle status; S3, the IO1 interface is used as a connection marker between the AGV vehicle and the AGV scheduling system; the IO2 interface is used as a marker to restart the AGV vehicle; S4, the AGV vehicle and the AGV scheduling system use a handshake mechanism via the AGV interface to control the start and stop of the AGV vehicle; S5, triggering a missed control processing mechanism to start and stop the AGV vehicle and update the status of the control area; S6, selecting the AGV vehicle with the largest objective function value and sending a start command to that AGV vehicle.

[0005] For example, the invention patent with publication number CN115328121A discloses a multi-AGV traffic control method based on the A-Star algorithm, which includes: S1, constructing an environmental topology; S2, pre-prioritizing all N AGVs in the environment; S3, assigning tasks to each AGV in order of priority.

[0006] S4. Determine the travel trajectory of the AGV with the highest priority; S5. Obtain the travel trajectory of the AGV with the nth priority, where n is an integer between 2 and N; S6. All N AGVs complete their movement according to their respective travel trajectories.

[0007] However, in the process of implementing the inventive technical solution in the embodiments of this application, it was found that the above-mentioned technology has at least the following technical problems:

[0008] In existing technologies, traffic control methods based on the parallel operation of multiple AGVs mostly prioritize the passage of multiple AGVs based on several common evaluation criteria, such as AGV battery power and AGV waiting time. However, these cannot serve as a comprehensive evaluation method for prioritizing the passage of multiple AGVs. In summary, existing technologies suffer from a lack of diversity in the methods for setting priority passage for multiple AGVs operating in parallel. Summary of the Invention

[0009] This application provides a traffic control method and system based on the parallel operation of multiple AGVs, which solves the problem in the prior art that there is a single method for determining the priority passage of multiple AGVs operating in parallel, and realizes a more comprehensive method for setting the priority passage of multiple AGVs operating in parallel.

[0010] This application provides a traffic control method based on the parallel operation of multiple AGVs, including the following steps: acquiring equipment information and material information for each AGV; determining a transport material assessment value based on the equipment and material information; if the transport material assessment value is greater than zero, it is determined that the AGV cannot transport the material to the destination, and then the AGV is replaced to transport the material, while simultaneously implementing an automatic charging strategy for the AGV that cannot transport the material to the destination; if the transport material assessment value is less than zero, it is determined that the AGV can transport the material to the destination, and then the AGV transports the material; at intersections, a monitoring data assessment value is obtained based on the equipment and material information of the AGVs, and a priority passage assessment value is determined based on the monitoring data assessment value; for AGVs with higher priority passage assessment values, priority is given to passage.

[0011] Furthermore, the specific analysis method for the transport material evaluation value is as follows: The starting position and destination position of each AGV device are obtained from the material information; the shortest path distance and shortest path node to the destination are calculated using Dijkstra's algorithm; the remaining power of each AGV device is obtained from the device information; if the remaining power of an AGV device is insufficient to transport the material to the destination, then that AGV device is not selected for transporting the material; a transport material evaluation value analysis formula is constructed, and the transport material evaluation value is derived based on this formula. The transport material evaluation value analysis formula is as follows: In the formula, E represents the assessed value of the transported materials for the m-th AGV device. m Let p represent the initial remaining power of the m-th AGV device, where m represents the AGV device number (m = 1, 2, 3...n), n represents the total number of AGV devices, and p represents the shortest path node number (p = 1, 2, 3...q), where q represents the total number of nodes containing the shortest path. Let κ represent the distance of the shortest path for the m-th AGV device, starting at node p and ending at node p+1, and let κ represent the distance traveled per unit of electricity.

[0012] Furthermore, the specific analysis method for the priority passage assessment value is as follows: the priority passage assessment value includes a power consumption assessment coefficient, a material type assessment coefficient, a task type assessment coefficient, and a waiting time assessment coefficient. A priority passage assessment value analysis formula is constructed, and the priority passage assessment value is obtained based on the analysis. The priority passage assessment value analysis formula is as follows: In the formula, ψ m η represents the priority passage assessment value corresponding to the m-th AGV device. m ω represents the power consumption evaluation coefficient corresponding to the m-th AGV device. m δ represents the material type evaluation coefficient corresponding to the m-th AGV device. m ε represents the task type evaluation coefficient corresponding to the m-th AGV device. m Let represent the waiting time evaluation coefficient corresponding to the m-th AGV device, e represent the natural constant, b1, b2, b3 and b4 represent the weights corresponding to the power evaluation coefficient, material type evaluation coefficient, task type evaluation coefficient and waiting time evaluation coefficient respectively, and γ represent the correction factor corresponding to the priority passage evaluation value.

[0013] Furthermore, the specific analysis method for the power evaluation coefficient is as follows: From the equipment information, the remaining power of each AGV and the transport speed of each AGV are obtained. For AGVs with low remaining power, while ensuring their remaining power is sufficient to complete the transport task, they are encouraged to transport materials as quickly as possible. A remaining distance analysis formula is constructed, and the remaining distance is derived from this formula. The remaining distance analysis formula is as follows: In the formula, υ represents the remaining distance of the m-th AGV to its destination within the already transported time Δt, where Δt represents the AGV's transport time. m ι represents the transport speed corresponding to the m-th AGV device. Based on the corresponding correction factor, a power consumption assessment coefficient analysis formula is constructed, and the power consumption assessment coefficient is obtained from the analysis. The power consumption assessment coefficient analysis formula is as follows: In the formula, α1 represents the correction factor corresponding to the electricity assessment coefficient. This represents the remaining battery power of the m-th AGV device during a transport time Δt. express The maximum value between 0 and 0.

[0014] Furthermore, the specific analysis method for the material type evaluation coefficient is as follows: The material type corresponding to each AGV device is obtained from the material information. The materials are then sorted from highest to lowest based on their fragility and importance. Materials with high fragility and importance are transported as quickly as possible. A material type evaluation coefficient analysis formula is constructed, and the material type evaluation coefficient is derived from this formula. The material type evaluation coefficient analysis formula is as follows: In the formula, This represents the ranking of the fragility of the material type for the m-th AGV device. This represents the ranking of material importance corresponding to the material type of the m-th AGV device. This represents the weighting factor corresponding to the fragility of the material type of the m-th AGV device. α1 represents the weighting factor corresponding to the importance of the material type of the m-th AGV equipment, and α2 represents the correction factor corresponding to the material type evaluation coefficient.

[0015] Furthermore, the specific analysis method for the task type evaluation coefficient is as follows: The task type of each AGV device is determined from the material information; it is judged whether it is a periodic routine task or an urgent task. For AGV devices with periodic routine tasks, they are ranked the same. For AGV devices with urgent tasks, they are sorted from high to low according to the urgency of the task. Those with higher urgency rankings are prioritized for transport. A task type evaluation coefficient analysis formula is constructed, and the task type evaluation coefficient is derived from this formula. The task type evaluation coefficient analysis formula is as follows: In the formula, This indicates the urgency ranking of the task corresponding to the m-th AGV device. α represents the ranking value of the periodic routine task corresponding to the m-th AGV device, f1 represents the probability of an emergency task, f1 = 0 or 1, and α3 represents the correction factor corresponding to the task type evaluation coefficient.

[0016] Furthermore, the specific analysis method for the waiting time evaluation coefficient is as follows: The waiting time of each AGV device is obtained from the equipment information; for devices with long waiting times, transportation is expedited; a waiting time evaluation coefficient analysis formula is constructed; and the waiting time evaluation coefficient is derived based on this formula. The waiting time evaluation coefficient analysis formula is as follows: In the formula, t m α represents the waiting time for the m-th AGV device, and α4 represents the correction factor corresponding to the waiting time evaluation coefficient.

[0017] Furthermore, the automatic charging strategy is as follows: when the AGV device's power level is lower than a specified power threshold, the AGV device automatically performs a charging task; when the AGV device's power level is not lower than the specified power threshold, the AGV device automatically performs a charging task at a specified time.

[0018] Furthermore, the method for obtaining the fragility and importance of material types is as follows: acquire the transportation history data corresponding to each material type; analyze the damage probability of each material type based on its physical characteristics and transportation history data; acquire expert opinions on the fragility of each material type; analyze the fragility of each material type based on the damage probability and fragility opinions; acquire historical data on the importance of each material type in the supply chain; acquire expert opinions on the importance of each material type; and analyze the importance of each material type based on the historical data on the importance of each material type in the supply chain and the importance opinions.

[0019] This application provides a traffic control system based on the parallel operation of multiple AGVs. The system includes an information acquisition module, a transport material assessment module, and a priority passage execution module. The information acquisition module acquires equipment and material information for each AGV. The transport material assessment module calculates a transport material assessment value based on the equipment and material information. If the assessment value is greater than zero, the AGV is deemed unable to transport the material to its destination, and a different AGV is used. Simultaneously, an automatic charging strategy is implemented for the AGVs unable to transport the material. If the assessment value is less than zero, the AGV is deemed capable of transporting the material, and the AGV performs the transport. The priority passage execution module calculates a monitoring data assessment value at intersections based on the AGV's equipment and material information, and then derives a priority passage assessment value. AGVs with higher priority passage assessment values ​​are given priority passage.

[0020] One or more technical solutions provided in the embodiments of this application have at least the following technical effects or advantages:

[0021] 1. By setting priority passage evaluation values ​​including power consumption evaluation coefficient, material type evaluation coefficient, task type evaluation coefficient, and waiting time evaluation coefficient, multiple priority passage influencing factors of different AGV devices can be analyzed based on the AGV device status and the materials transported by the AGV devices in places such as intersections where multiple AGV devices are operating in parallel. This enables a more comprehensive method for setting priority passage for multiple AGVs operating in parallel, effectively solving the problem of the single method for setting priority passage for multiple AGVs operating in parallel in the existing technology.

[0022] 2. By setting a material transport evaluation value, it is possible to determine whether the AGV equipment has enough power to transport the materials before it is transported, thereby avoiding the trouble caused by insufficient power of the AGV equipment preventing the materials from being transported to their destination.

[0023] 3. By implementing an automatic charging strategy for AGV equipment, the inability to transport materials normally and damage to the AGV equipment battery caused by failure to charge the AGV equipment in a timely manner can be avoided, thereby improving work efficiency and extending battery life. Attached Figure Description

[0024] Figure 1 A flowchart illustrating a traffic control method based on parallel operation of multiple AGVs, provided for an embodiment of this application;

[0025] Figure 2 This is a schematic diagram of the structure of a traffic control system based on the parallel operation of multiple AGVs, provided in an embodiment of this application. Detailed Implementation

[0026] This application provides a traffic control method and system based on the parallel operation of multiple AGVs, which solves the problem of the single method for setting priority passage for multiple AGVs operating in parallel in the prior art. By setting priority passage evaluation values ​​including power evaluation coefficient, material type evaluation coefficient, task type evaluation coefficient and waiting time evaluation coefficient, a more comprehensive method for setting priority passage for multiple AGVs operating in parallel is realized.

[0027] The technical solution in this application embodiment aims to address the aforementioned problem of a single method for setting priority passage for multiple AGVs operating in parallel. The overall approach is as follows:

[0028] By acquiring the equipment and material information of each AGV device, a transport material assessment value is derived based on this information. If the transport material assessment value is greater than zero, it is determined that the AGV device cannot transport the material to the destination, and a different AGV device is used to transport the material. At the same time, an automatic charging strategy is implemented for AGV devices that cannot transport materials to the destination. If the transport material assessment value is less than zero, it is determined that the AGV device can transport the material to the destination, and the AGV device performs the material transport. At intersections, a priority passage assessment value is derived based on the equipment and material information of the AGV devices. AGV devices with higher priority passage assessment values ​​are given priority passage, achieving a more comprehensive method for setting priority passage for multiple AGVs operating in parallel.

[0029] To better understand the above technical solutions, the following will provide a detailed explanation of the technical solutions in conjunction with the accompanying drawings and specific implementation methods.

[0030] like Figure 1The diagram shows a flowchart of a traffic control method based on parallel operation of multiple AGVs provided in this application embodiment. The method includes the following steps: obtaining equipment information and material information for each AGV device; determining the transport material assessment value based on the equipment information and material information; if the transport material assessment value is greater than zero, it is determined that the AGV device cannot transport the material to the destination, and then the AGV device is replaced to transport the material, while simultaneously implementing an automatic charging strategy for the AGV device that cannot transport the material to the destination; if the transport material assessment value is less than zero, it is determined that the AGV device can transport the material to the destination, and then the AGV device performs material transport; determining the priority passage assessment value based on the monitoring data assessment value of the AGV device: at the intersection, the monitoring data assessment value is determined based on the equipment information and material information of the AGV device, and the priority passage assessment value is determined based on the monitoring data assessment value; for AGV devices with higher priority passage assessment values, priority is given to passage.

[0031] In this embodiment, various sensors are integrated into the AGV equipment to acquire equipment information such as the starting position of the transported materials, waiting time, remaining power, running speed, and running time. RFID tags are used to identify the materials, and corresponding reading devices are installed on the AGV equipment to read material information, including name, quantity, and destination, by scanning the tags. Wireless communication technology is used to establish communication between the AGV equipment and the central control system. Through this communication, the equipment status and material information are transmitted in real time for monitoring and management of the AGV equipment. The central control system controls the movement of the AGV equipment, executes tasks, and monitors the status of the AGV equipment.

[0032] Furthermore, the specific analysis method for the evaluation value of transported materials is as follows: The starting and destination positions of the transported materials for each AGV are obtained from the material information. The shortest path distance and shortest path nodes to the destination are calculated using Dijkstra's algorithm. The remaining power of each AGV is obtained from the equipment information. If the remaining power of an AGV is insufficient to transport materials to the destination, that AGV is not selected for transport. A formula for analyzing the evaluation value of transported materials is constructed, and the evaluation value of the transported materials is derived based on this formula. The formula for analyzing the evaluation value of transported materials is as follows: In the formula, E represents the assessed value of the transported materials for the m-th AGV device. m Let p represent the initial remaining power of the m-th AGV device, where m represents the AGV device number (m = 1, 2, 3...n), n represents the total number of AGV devices, and p represents the shortest path node number (p = 1, 2, 3...q), where q represents the total number of nodes containing the shortest path. Let κ represent the distance of the shortest path for the m-th AGV device, starting at node p and ending at node p+1, and let κ represent the distance traveled per unit of electricity.

[0033] In this embodiment, the AGV equipment uses laser SLAM navigation, and the onboard control system and the central dispatch system are connected via WIFI wireless data communication. After the AGV onboard system receives the cargo retrieval and release task instruction issued by the central dispatch system, it autonomously determines its current position coordinates, automatically generates the shortest travel path to the task destination, and autonomously executes straight-going, reverse, turning, and U-turn actions on the planned path to complete the cargo retrieval and release process. The central dispatch system is responsible for task allocation and resource scheduling for the entire system to ensure the efficient operation of the entire system. The onboard control system monitors and manages the AGV equipment by installing sensors, actuators, and electronic control units on the AGV equipment.

[0034] Furthermore, the specific analysis method for the priority passage assessment value is as follows: The priority passage assessment value includes the power consumption assessment coefficient, material type assessment coefficient, task type assessment coefficient, and waiting time assessment coefficient. A priority passage assessment value analysis formula is constructed, and the priority passage assessment value is derived based on this formula. The priority passage assessment value analysis formula is as follows: In the formula, ψ m η represents the priority passage assessment value corresponding to the m-th AGV device. m ω represents the power consumption evaluation coefficient corresponding to the m-th AGV device. m δm represents the material type evaluation coefficient corresponding to the m-th AGV device, δm represents the task type evaluation coefficient corresponding to the m-th AGV device, and ε m Let represent the waiting time evaluation coefficient corresponding to the m-th AGV device, e represent the natural constant, b1, b2, b3 and b4 represent the weights corresponding to the power evaluation coefficient, material type evaluation coefficient, task type evaluation coefficient and waiting time evaluation coefficient respectively, and γ represent the correction factor corresponding to the priority passage evaluation value.

[0035] In this embodiment, when traffic control is required at an intersection, the central dispatch system prioritizes AGV devices with high priority passage ratings to avoid traffic chaos caused by multiple AGV devices operating in parallel.

[0036] Furthermore, the specific analysis method for the power consumption assessment coefficient is as follows: From the equipment information, the remaining power consumption and transportation speed of each AGV are obtained. For AGVs with low remaining power consumption, while ensuring their remaining power is sufficient to complete the transportation task, they are encouraged to transport materials as quickly as possible. A remaining distance analysis formula is constructed, and the remaining distance is derived from this analysis. The remaining distance analysis formula is as follows: In the formula, υ represents the remaining distance of the m-th AGV to its destination within the already transported time Δt, where Δt represents the AGV's transport time. mι represents the transport speed corresponding to the m-th AGV device. Based on the corresponding correction factor, a power consumption assessment coefficient analysis formula is constructed, and the power consumption assessment coefficient is derived from the analysis. The power consumption assessment coefficient analysis formula is as follows: In the formula, α1 represents the correction factor corresponding to the electricity assessment coefficient. This represents the remaining battery power of the m-th AGV device during a transport time Δt. express The maximum value between 0 and 0.

[0037] In this embodiment, if there are two AGV devices numbered 1 and 2, and their remaining power is 10% and 15% respectively, provided that both AGV devices can transport the materials to their destination completely, It can be seen that the lower the remaining power, the higher the corresponding power assessment coefficient.

[0038] Furthermore, the specific analysis method for the material type evaluation coefficient is as follows: The material type corresponding to each AGV device is obtained from the material information. The materials are then sorted from highest to lowest based on their fragility and importance. Materials with high fragility and importance are transported as quickly as possible. A material type evaluation coefficient analysis formula is constructed, and the material type evaluation coefficient is derived from this formula. The material type evaluation coefficient analysis formula is as follows: In the formula, This represents the ranking of the fragility of the material type for the m-th AGV device. This represents the ranking of material importance corresponding to the material type of the m-th AGV device. This represents the weighting factor corresponding to the fragility of the material type of the m-th AGV device. α1 represents the weighting factor corresponding to the importance of the material type of the m-th AGV equipment, and α2 represents the correction factor corresponding to the material type evaluation coefficient.

[0039] In this embodiment, the material types are sorted from highest to lowest based on their fragility and importance. This is done by retrieving the fragility and importance of all materials transported by AGV devices at the intersection from the database. The highest-ranked material is recorded as 1, the next highest as 2, and so on.

[0040] Furthermore, the specific analysis method for the task type evaluation coefficient is as follows: The task type of each AGV device is determined from the material information. It is then determined whether the task is a periodic routine task or an urgent task. For AGV devices with periodic routine tasks, they are ranked equally. For AGV devices with urgent tasks, they are ranked from highest to lowest according to the urgency of the task. Those with higher urgency rankings are prioritized for transport. A task type evaluation coefficient analysis formula is constructed, and the task type evaluation coefficient is derived from this formula. The task type evaluation coefficient analysis formula is as follows: In the formula, This indicates the urgency ranking of the task corresponding to the m-th AGV device. α represents the ranking value of the periodic routine task corresponding to the m-th AGV device, f1 represents the probability of an emergency task, f1 = 0 or 1, and α3 represents the correction factor corresponding to the task type evaluation coefficient.

[0041] In this embodiment, the urgency of the material types is sorted from high to low by comparing the delivery deadlines of the materials transported by the AGV equipment. The material closest to the delivery deadline has the highest urgency, and the highest-ranked material is 1, followed by 2, and so on.

[0042] Furthermore, the specific analysis method for the waiting time evaluation coefficient is as follows: The waiting time of each AGV device is obtained from the equipment information. For devices with long waiting times, transportation is expedited. A waiting time evaluation coefficient analysis formula is constructed, and the waiting time evaluation coefficient is derived from this analysis. The waiting time evaluation coefficient analysis formula is as follows: In the formula, t m α represents the waiting time for the m-th AGV device, and α4 represents the correction factor corresponding to the waiting time evaluation coefficient.

[0043] In this embodiment, if there are two AGV devices numbered 1 and 2, and their waiting times are 2 minutes and 4 minutes respectively, then It can be seen that the longer the waiting time, the larger the corresponding waiting time evaluation coefficient.

[0044] Furthermore, the automatic charging strategy is as follows: when the AGV's battery level is lower than the specified battery threshold, the AGV will automatically perform the charging task; when the AGV's battery level is not lower than the specified battery threshold, the AGV will automatically perform the charging task at the specified time.

[0045] Furthermore, the method for obtaining the fragility and importance of material types is as follows: obtain the transportation history data corresponding to each material type; analyze the damage probability of each material type based on its physical characteristics and transportation history data; obtain expert opinions on the fragility of each material type; analyze the fragility of each material type based on the damage probability and fragility opinions; obtain historical data on the importance of each material type in the supply chain; obtain expert opinions on the importance of each material type; and analyze the importance of each material type based on the historical data on the importance of each material type in the supply chain and the importance opinions.

[0046] In this embodiment, the method for obtaining the fragility of various materials is to first conduct an online survey to study the physical characteristics corresponding to the material type. The transportation history data corresponding to each material type is obtained by transporting a certain type of material through multiple AGV devices to obtain the damage situation, and the damage situation of the material after transportation is stored in the database. When the same material is transported again, the corresponding damage situation of the material can be directly retrieved from the database, and opinions can be obtained from experts in relevant fields. The method for obtaining the importance of various materials is to first check the position of the material in the supply chain and whether the price of the material is valuable online, and obtain opinions from experts in relevant fields. The importance information of the material is stored in the database. When the same material is transported again, the importance information of the material can be directly retrieved from the database.

[0047] like Figure 2 The diagram shows a schematic of a traffic control system based on the parallel operation of multiple AGVs provided in this application embodiment. The system includes an information acquisition module, a transport material assessment module, and a priority passage execution module. The information acquisition module acquires equipment and material information for each AGV. The transport material assessment module calculates a transport material assessment value based on the equipment and material information. If the assessment value is greater than zero, the AGV is deemed unable to transport the material to its destination, and a different AGV is used. Simultaneously, an automatic charging strategy is implemented for AGVs unable to transport materials. If the assessment value is less than zero, the AGV is deemed capable of transporting the material to its destination, and the AGV performs the transport. The priority passage execution module calculates a priority passage assessment value based on the monitoring data of the AGVs. At intersections, the monitoring data assessment value is calculated based on the equipment and material information of the AGVs, and a priority passage assessment value is calculated. AGVs with higher priority passage assessment values ​​are given priority passage.

[0048] The technical solutions in the above-described embodiments of this application have at least the following technical effects or advantages: Compared with the traffic control method based on an AGV scheduling system disclosed in CN116594381A, this application embodiment sets priority passage evaluation values ​​including power evaluation coefficient, material type evaluation coefficient, task type evaluation coefficient, and waiting time evaluation coefficient. This enables the analysis of various priority passage influencing factors for different AGV devices based on the AGV device status and the materials transported by the AGV devices in places such as intersections where multiple AGV devices operate in parallel. This allows for a more comprehensive setting of priority passage methods for multiple AGV devices operating in parallel. Compared with the multi-AGV traffic control method based on the A-Star algorithm disclosed in CN115328121A, this application embodiment uses an automatic charging strategy for AGV devices to avoid the inability to transport materials normally and damage to the AGV device batteries caused by failure to charge the AGV devices in time. This improves work efficiency and extends battery life.

[0049] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0050] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0051] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0052] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0053] Although preferred embodiments of the invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including both the preferred embodiments and all changes and modifications falling within the scope of the invention.

[0054] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. A traffic control method based on the parallel operation of multiple AGVs, characterized in that, Includes the following steps: Obtain equipment and material information for each AGV device; Based on equipment and material information, a transport material assessment value is obtained. If the transport material assessment value is greater than zero, it is determined that the AGV equipment cannot transport the material to the destination, so the AGV equipment is replaced to transport the material. At the same time, an automatic charging strategy is implemented for the AGV equipment that cannot transport the material to the destination. If the transport material assessment value is less than zero, it is determined that the AGV equipment can transport the material to the destination, so the AGV equipment performs material transport. At intersections, monitoring data evaluation values ​​are derived based on the equipment and material information of AGV devices. Priority passage evaluation values ​​are then determined based on these evaluation values, and AGV devices with higher priority passage evaluation values ​​are given priority passage.

2. The traffic control method based on the parallel operation of multiple AGVs as described in claim 1, characterized in that, The specific analysis method for the evaluation value of the transport materials is as follows: The equipment information includes: the remaining power of each AGV device, the transportation speed of each AGV device, and the corresponding waiting time of each AGV device. The material information includes: the starting position of the material transported by each AGV device, the destination position, the corresponding material type of each AGV device, and the corresponding task type of each AGV device. The starting and destination locations of each AGV are determined from the material information. The shortest path distance and shortest path nodes to the destination are calculated using the Dijkstra algorithm. The remaining power of each AGV is determined from the equipment information. If the remaining power of an AGV is insufficient to transport materials to the destination, then that AGV is not selected to transport materials. Construct a formula for analyzing the valuation of transport materials, and derive the valuation of transport materials based on the analysis. The formula for analyzing the evaluation value of the transport materials is as follows: In the formula, E represents the assessed value of the transported materials for the m-th AGV device. m Let p represent the initial remaining power of the m-th AGV device, where m represents the AGV device number (m = 1, 2, 3...n), n represents the total number of AGV devices, and p represents the shortest path node number (p = 1, 2, 3...q), where q represents the total number of nodes containing the shortest path. Let κ represent the distance of the shortest path for the m-th AGV device, starting at node p and ending at node p+1, and let κ represent the distance traveled per unit of electricity.

3. The traffic control method based on the parallel operation of multiple AGVs as described in claim 2, characterized in that, The specific analysis method for the priority passage assessment value is as follows: Priority passage assessment values ​​are derived based on monitoring data evaluation values, which include power consumption assessment coefficient, material type assessment coefficient, task type assessment coefficient, and waiting time assessment coefficient. Construct a priority passage assessment value analysis formula, and derive the priority passage assessment value based on the analysis; The formula for the priority passage assessment value is as follows: In the formula, ψ m η represents the priority passage assessment value corresponding to the m-th AGV device. m ω represents the power consumption evaluation coefficient corresponding to the m-th AGV device. m δ represents the material type evaluation coefficient corresponding to the m-th AGV device. m ε represents the task type evaluation coefficient corresponding to the m-th AGV device. m Let represent the waiting time evaluation coefficient corresponding to the m-th AGV device, e represent the natural constant, b1, b2, b3 and b4 represent the weights corresponding to the power evaluation coefficient, material type evaluation coefficient, task type evaluation coefficient and waiting time evaluation coefficient respectively, and γ represent the correction factor corresponding to the priority passage evaluation value.

4. The traffic control method based on the parallel operation of multiple AGVs as described in claim 3, characterized in that, The specific analysis method for the aforementioned power evaluation coefficient is as follows: The remaining power and transportation speed of each AGV are obtained from the equipment information. For AGVs with low remaining power, the materials are transported as quickly as possible while ensuring that their remaining power is sufficient to complete the transportation task. Construct a formula for analyzing the remaining distance, and derive the remaining distance based on the analysis. The formula for analyzing the remaining distance is: In the formula, υ represents the remaining distance of the m-th AGV to its destination within the already transported time Δt, where Δt represents the AGV's transport time. m ι represents the transport speed corresponding to the m-th AGV device. The corresponding correction factor. Construct an analysis formula for the electricity consumption assessment coefficient, and derive the electricity consumption assessment coefficient based on the analysis. The formula for analyzing the power consumption evaluation coefficient is as follows: In the formula, α1 represents the correction factor corresponding to the electricity assessment coefficient. This represents the remaining battery power of the m-th AGV device during a transport time Δt. express The maximum value between 0 and 0.

5. The traffic control method based on the parallel operation of multiple AGVs as described in claim 3, characterized in that, The specific analysis method for the material type evaluation coefficient is as follows: The material type of each AGV device is determined from the material information. The materials are sorted from high to low according to their fragility and importance. Materials with high fragility and importance are transported as quickly as possible. Construct a formula for analyzing the evaluation coefficient of material type, and derive the evaluation coefficient of material type based on the analysis. The formula for analyzing the evaluation coefficient of the material type is as follows: In the formula, This represents the ranking of the fragility of the material type for the m-th AGV device. This represents the ranking of material importance corresponding to the material type of the m-th AGV device. This represents the weighting factor corresponding to the fragility of the material type of the m-th AGV device. α1 represents the weighting factor corresponding to the importance of the material type of the m-th AGV equipment, and α2 represents the correction factor corresponding to the material type evaluation coefficient.

6. The traffic control method based on the parallel operation of multiple AGVs as described in claim 3, characterized in that, The specific analysis method for the task type evaluation coefficient is as follows: The task type of each AGV device is determined from the material information. It is determined whether it is a periodic routine task or an emergency task. For AGV devices with periodic routine tasks, they are ranked the same. For AGV devices with emergency tasks, they are sorted from high to low according to the urgency of the task. The AGV devices with high urgency are transported as soon as possible. Construct a formula for analyzing the evaluation coefficient of task type, and derive the evaluation coefficient of task type based on the analysis. The formula for analyzing the evaluation coefficient of the task type is as follows: In the formula, This indicates the urgency ranking of the task corresponding to the m-th AGV device. α represents the ranking value of the periodic routine task corresponding to the m-th AGV device, f1 represents the probability of an emergency task, f1 = 0 or 1, and α3 represents the correction factor corresponding to the task type evaluation coefficient.

7. The traffic control method based on the parallel operation of multiple AGVs as described in claim 3, characterized in that, The specific analysis method for the waiting time evaluation coefficient is as follows: The waiting time of each AGV device is determined from the equipment information, and those with long waiting times are transported as quickly as possible. Construct an analysis formula for the waiting time evaluation coefficient, and derive the waiting time evaluation coefficient based on its analysis. The formula for analyzing the waiting time evaluation coefficient is as follows: In the formula, t m α represents the waiting time for the m-th AGV device, and α4 represents the correction factor corresponding to the waiting time evaluation coefficient.

8. The traffic control method based on the parallel operation of multiple AGVs as described in claim 1, characterized in that, The automatic charging strategy is as follows: when the AGV device's power level is lower than the specified power threshold, the AGV device automatically performs the charging task; when the AGV device's power level is not lower than the specified power threshold, the AGV device automatically performs the charging task at the specified time point.

9. The traffic control method based on the parallel operation of multiple AGVs as described in claim 5, characterized in that, The method for obtaining the fragility and importance of material types is as follows: Obtain historical transportation data for each material type; Based on the physical characteristics of the material type and transportation history data, analyze the probability of damage for each material type. Obtain expert opinions on the fragility of material types; Based on the probability of damage and the data on vulnerability to damage, the vulnerability of material types is analyzed. Obtain historical data on the importance of each material type in the supply chain; Obtain expert opinions on the importance of material types; The importance of each material type is determined by analyzing historical data on its importance in the supply chain and opinion data on its importance.

10. A traffic control system based on the parallel operation of multiple AGVs, characterized in that, The traffic control system based on the parallel operation of multiple AGVs includes: an information collection module, a transport material evaluation module, and a priority passage execution module; The information acquisition module is used to acquire equipment information and material information for each AGV device. The transport material evaluation value module is used to derive the transport material evaluation value based on equipment information and material information. If the transport material evaluation value is greater than zero, it is determined that the AGV equipment cannot transport the material to the destination, and the AGV equipment is replaced to transport the material. At the same time, an automatic charging strategy is implemented for the AGV equipment that cannot transport the material to the destination. If the transport material evaluation value is less than zero, it is determined that the AGV equipment can transport the material to the destination, and the AGV equipment performs material transport. The priority passage execution module is used to obtain a monitoring data evaluation value at the intersection based on the equipment information and material information of the AGV equipment, and to obtain a priority passage assessment value based on the monitoring data evaluation value. AGV equipment with a high priority passage assessment value is given priority passage.

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