CN108563219A - A kind of AGV preventing collision methods - Google Patents
A kind of AGV preventing collision methods Download PDFInfo
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- CN108563219A CN108563219A CN201711477965.XA CN201711477965A CN108563219A CN 108563219 A CN108563219 A CN 108563219A CN 201711477965 A CN201711477965 A CN 201711477965A CN 108563219 A CN108563219 A CN 108563219A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
- G05D1/0289—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling with means for avoiding collisions between vehicles
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
- G05D1/0291—Fleet control
- G05D1/0293—Convoy travelling
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Abstract
The invention discloses a kind of AGV preventing collision methods, by delimiting evacuation area for each bus stop point of parking area；The pose data and target for obtaining all AGV stop website；The evacuation sector width that website is stopped based on target generates dynamic evacuation area；When AGV enters its corresponding dynamic and avoids area, judge whether dynamic evacuation area is seizure condition；If the dynamic evacuation area is seizure condition, the original places AGV wait for, avoid colliding；If the dynamic evacuation area is unoccupied state, AGV continues to travel, and occupies dynamic evacuation area, and dynamic evacuation area is switched to seizure condition；After AGV drives into target stop website, dynamic evacuation area is switched to idle state, in order to which other AGV are used, to improve the operational efficiency of space availability ratio and AGV；Therefore, AGV preventing collision methods of the invention had not only been avoided and had been collided between AGV, but also improved space availability ratio, improved the operational efficiency of AGV.
Description
Technical field
The invention belongs to AGV technical fields, specifically, being to be related to a kind of AGV preventing collision methods.
Background technology
AGV is increasingly taken seriously as high flexibility logistics equipment in modern industrial production field, and inertial navigation
AGV is a kind of relatively new product again, and the previous generation magnetic stripes that compare navigate for AGV and electromagnetic navigation AGV, inertial navigation
AGV provides a kind of higher logistics' settlement scheme of degree of flexibility.
With the increase of the application amount of inertial navigation AGV, gradually it is exposed there are one serious problem：More AGV
In the efficient free scheduling problem of intensive station.
For AGV when driving into or being driven out to stop website, space is larger needed for operation, when especially retreating storage, needs first to get over
The stop website looked over so as to check, then retrogressing of turning.Therefore each to stop that website is required to be kept away in order to avoid clashing in operation
Allow area all will be very big.And the stop website in this region is very intensive, it is impossible to delimit independent large size for each station
Static state evacuation area, therefore, if realizing that whole region delimitation can only be one by evacuation control by existing preventing collision method
Area is avoided, then when there are more AGV to need simultaneously when this region executes task, since evacuation control problem leads to can only have one
Platform AGV can seriously be reduced in this regional activity, production efficiency.
Invention content
The present invention provides a kind of AGV preventing collision methods, improve AGV operational efficiency.
In order to solve the above technical problems, the present invention is achieved using following technical proposals：
A kind of AGV preventing collision methods, including:
Evacuation area delimited for each bus stop point of parking area；
The pose data and target for obtaining all AGV stop website；
The evacuation sector width that website is stopped based on target generates dynamic evacuation area；
When AGV enters its corresponding dynamic and avoids area, judge whether dynamic evacuation area is seizure condition；
If so, the original places AGV wait for；
If it is not, then AGV continues to travel, dynamic evacuation area is occupied, and dynamic evacuation area is switched to seizure condition；AGV is sailed
After entering target stop website, dynamic evacuation area is switched to idle state.
Further, the evacuation sector width that website is stopped based on target generates dynamic evacuation area, specifically includes：
Judge whether the width in the evacuation area of target stop website meets width required when AGV drives into；
If so, the evacuation area that target is stopped to website generates dynamic evacuation area；
If it is not, target is then stopped website and its neighbouring evacuation area generation dynamic evacuation area for stopping website.
Further, when AGV needs are driven out to current stop website, the method further includes following step：
Dynamic evacuation area is generated based on the current evacuation sector width for stopping website；
Judge whether dynamic evacuation area is seizure condition；
If so, the original places AGV wait for；
If it is not, then AGV is travelled, dynamic evacuation area is occupied, and dynamic evacuation area is switched to seizure condition；AGV is driven out to this
When dynamic evacuation area, dynamic evacuation area is switched to idle state.
Further, described that dynamic evacuation area is generated based on the current evacuation sector width for stopping website, it specifically includes：
Judge whether the width in the current evacuation area for stopping website meets width required when AGV is driven out to；
If so, the current evacuation area for stopping website is generated dynamic evacuation area；
If it is not, then stopping website and its neighbouring evacuation area generation dynamic evacuation area for stopping website by current.
Further, when the dynamic of seizure condition evacuation area is switched to idle state, judge that the dynamic is waited for avoid
Whether the quantity of the AGV in area is more than 1；
If so, according to preset priority rule, the AGV with highest priority occupies dynamic evacuation area, and will
Dynamic evacuation area is switched to seizure condition, other AGV continue original place and wait for.
Preferably, the evacuation area for each stopping website all has pre-locked list；When the corresponding dynamics of AGV avoid Qu Weizhan
When with state, which waits for, and the prelock in the evacuation area included by the number write-in corresponding dynamic evacuation area by the AGV
Determine in list；When AGV, which occupies the dynamic, avoids area, the number of the AGV is eliminated in pre-locked list；If in pre-locked list
AGV number quantity be more than 1, then judge to wait for the quantity of the AGV in dynamic evacuation area more than 1.
Further, the method further includes：
Interval is laid with multiple queue-type driving evacuation areas in driving region；
When AGV drives a vehicle the first setpoint distance of boundary for avoiding area apart from queue-type, whether queue-type driving evacuation area is judged
For seizure condition；
If so, the original places AGV wait for；
If it is not, then AGV continues to travel, queue-type driving evacuation area is occupied, and queue-type driving evacuation area is switched to and is accounted for
Use state；After AGV is driven out to queue-type driving evacuation area, queue-type driving evacuation area is switched to idle state.
Further, when the queue-type of seizure condition driving evacuation area is switched to idle state, judge to wait for the team
Whether the quantity of the AGV in column driving evacuation area is more than 1；
If so, according to preset priority rule, the AGV with highest priority continues to travel, and occupies the queue-type
Driving evacuation area, and queue-type driving evacuation area is switched to seizure condition, other AGV continue original place and wait for.
Further, the method further includes：
The static evacuation area of route intersection region setting in driving region；
In second setpoint distance of boundary in the static evacuation area of AGV distances, judge whether the AGV quantity in static state evacuation area is big
In equal to setting quantity；
If it is not, then AGV continues to travel, area is avoided into static state；
If so, the original places AGV wait for；AGV quantity in the static evacuation area of detection；When the AGV quantity in static evacuation area is less than
When setting quantity, judge whether the quantity for waiting for the AGV in static state evacuation area is more than 1；
If so, according to preset priority rule, the AGV with highest priority continues to travel, and is kept away into the static state
Area, other AGV is allowed to continue original place and wait for；
If it is not, the AGV in static state evacuation area is then waited for continue to travel, area is avoided into the static state.
Preferably, the width for being located at the evacuation area of the stop website at parking area both ends is more than the evacuation of other parking websites
The width in area.
Compared with prior art, the advantages and positive effects of the present invention are：The AGV preventing collision methods of the present invention, by stop
Each bus stop point in vehicle region delimit evacuation area；The pose data and target for obtaining all AGV stop website；Based on target
The evacuation sector width for stopping website generates dynamic evacuation area；When AGV enters its corresponding dynamic and avoids area, judge that this is dynamically kept away
Area is allowed whether to be seizure condition；If the dynamic evacuation area is seizure condition, the original places AGV wait for, avoid colliding；If this is dynamic
It is unoccupied state that state, which avoids area, then AGV continues to travel, and occupies dynamic evacuation area, and dynamic evacuation area is switched to and is accounted for
Use state；After AGV drives into target stop website, dynamic evacuation area is switched to idle state, in order to which other AGV are used,
To improve the operational efficiency of space availability ratio and AGV；Therefore, AGV preventing collision methods of the invention had both avoided and had occurred between AGV
Collision, and space availability ratio is improved, improve the operational efficiency of AGV.
After the specific implementation mode of the present invention is read in conjunction with the figure, the other features and advantages of the invention will become more clear
Chu.
Description of the drawings
Fig. 1 is the flow chart of one embodiment of AGV preventing collision methods proposed by the present invention；
Fig. 2 is the flow chart of another embodiment of AGV preventing collision methods proposed by the present invention；
Fig. 3 is the flow chart of another embodiment of AGV preventing collision methods proposed by the present invention；
Fig. 4 is the flow chart of the further embodiment of AGV preventing collision methods proposed by the present invention；
Fig. 5 is the schematic diagram when stop website of the parking area in Fig. 1 delimit evacuation area；
Fig. 6 is that the bus stop point of the parking area in Fig. 5 delimit the schematic diagram behind evacuation area；
Fig. 7 is the schematic diagram in the queue-type driving evacuation area in the driving region in Fig. 5；
Fig. 8 is the schematic diagram in the static evacuation area in the driving region in Fig. 5.
Specific implementation mode
In order to make the purpose , technical scheme and advantage of the present invention be clearer, below with reference to drawings and examples,
Invention is further described in detail.
Inertial navigation AGV generally has following feature：Inertial navigation AGV is to carry out control operation based on virtual route
, i.e. there is a global virtual map inside inertial navigation AGV in fact, AGV is by the data of the equipment such as gyroscope come real
When calculate current relative position and posture.Once after AGV has received mission bit stream, there is off-line working ability.AGV
Ontology be usually fitted with the contactless safety sensor such as infrared, laser, ultrasonic wave.
The present embodiment illustrates the specific steps of preventing collision method by taking inertial navigation AGV as an example.Certainly, the present embodiment
Preventing collision method be not limited to inertial navigation AGV, be also applied for other AGV.
The AGV preventing collision methods of the present embodiment specifically include following step, shown in Figure 1.
Step S11：Evacuation area delimited for each bus stop point of parking area.
The whole service region of AGV include parking area A and driving region B, it is shown in Figure 5.Parking area A includes more
A stop website, each website of stopping have unique number, are stored in database.For example, stopping website 12, stopping website
200, stop website 201 ..., stop website 223, it is shown in Figure 5.
The evacuation area of an independent rectangle delimited for each bus stop point.The size in area is avoided according to stop website spacing
Design, and with reference to data such as length, the width of AGV.Avoiding area also has unique number, is stored in database.By bus stop
Point number is bound with corresponding evacuation area number.
If two are stopped, website is opposite to be laid, and can be that opposite two bus stop points, one rectangle of delimitation avoids area, i.e.,
It stops website for two and corresponds to an evacuation area, shown in Figure 6, dotted rectangle show evacuation area.Website is stopped by two
The corresponding same evacuation area number of number binding.
Shown in Fig. 6, stops website 200 and 201 and bound with corresponding evacuation area A101, stop 202 He of website
203 bind with corresponding evacuation area A102 ... ..., stop website 222 and 223 and are bound with corresponding evacuation area A112.Bus stop
Point 12 is bound with evacuation area A100 alone due to not stopping website in opposite.In figure 6, the intermediate passage for parking area
Track, both sides are to stop website.
When according to tricycle structure AGV, since it does not support to rotate in place, for stopping positioned at parking area both ends
The width in the evacuation area divided that pulls in is more than the width in the evacuation area of other parking websites, stops in order to which AGV drives into or sails out of
Can shift to an earlier date when vehicle region or delay calculating can use evacuation area, it is ensured that not have collision.
Step S12：The pose data and target for obtaining all AGV stop website.
Pose monitoring is carried out to all AGV, obtains the data such as the current locations AGV, current deflection, and obtain AGV's
Task, including task start site number, planning driving path, target stop site number etc..
Step S13：The evacuation sector width that website is stopped based on target generates dynamic evacuation area.
The evacuation sector width that website is stopped according to the length of AGV, driving path, target generates dynamic evacuation area, to meet
The traffic space demand of AGV.General tricycle structure AGV generally uses fall back method and enter target stop website, therefore, it is necessary to
Space is larger.
The step specifically includes following step：
Step S131：Judge whether the width in the evacuation area of target stop website meets width required when AGV drives into.
If so, thening follow the steps S132：The evacuation area that target is stopped to website generates dynamic evacuation area, that is, only leans on target
The space requirement that AGV drives into target stop website can be met by stopping the evacuation area of website, without occupying extraneous region, to improve
Space availability ratio and AGV operational efficiency.
If it is not, thening follow the steps S133：Target is stopped into website and its neighbouring evacuation area for stopping website generates dynamic and keeps away
Allow area.That is, the evacuation area for only stopping website by target cannot be satisfied the driving demand of AGV, in order to avoid collision, it is also necessary to neighbouring
The space requirement that AGV drives into target stop website can just be met by stopping the evacuation area cooperation of website.
That is, the dynamic evacuation area includes at least the evacuation area that target stops website, it is also possible to further include neighbouring stop
By the evacuation area of website, at this point, dynamic evacuation area is the combination in several evacuation areas.For example, dynamic evacuation area includes that target is stopped
The evacuation area of each 2 stops website in the evacuation area of website and its both sides, that is, include 5 evacuation areas, it is 5 evacuation that dynamic, which avoids area,
The combination in area.
Step S14：When AGV enters its corresponding dynamic and avoids area, judge whether dynamic evacuation area is seizure condition.
In the present embodiment, dynamic evacuation area includes seizure condition and idle state two states.When dynamic evacuation area packet
Include multiple evacuation areas, be it is multiple evacuation areas combination when, when in combination exist some evacuation area be seizure condition when, then this dynamically
Evacuation area is seizure condition；Only when all evacuation areas in combination are idle state, the state in the dynamic evacuation area is
It is idle state.
When AGV enters corresponding dynamic and avoids area, or in AGV area boundary setpoint distance is avoided apart from corresponding dynamic
（Such as 200mm；Or 0mm, i.e. AGV are located on dynamic evacuation area boundary）When, judge whether dynamic evacuation area is seizure condition.
If it is not, thening follow the steps S15.
If so, thening follow the steps S16.
Step S15：Since dynamic evacuation area is idle state, AGV continues to travel, and occupies dynamic evacuation area, and should
Dynamic evacuation area is switched to seizure condition；After AGV drives into target stop website, dynamic evacuation area is switched to idle state,
Discharge dynamic evacuation area.
Step S16：Since dynamic evacuation area is seizure condition, the original places AGV wait for, avoid colliding.Moreover, inspection in real time
Survey the state that dynamic avoids area.
The AGV preventing collision methods of the present embodiment, by delimiting evacuation area for each bus stop point of parking area；It obtains all
The pose data and target of AGV stop website；The evacuation sector width that website is stopped based on target generates dynamic evacuation area；
When AGV enters its corresponding dynamic evacuation area, judge whether dynamic evacuation area is seizure condition；If dynamic evacuation Qu Weizhan
With state, then the waiting of the original places AGV, avoids colliding；If the dynamic evacuation area is unoccupied state, AGV continues to travel, account for
Area is avoided with the dynamic, and dynamic evacuation area is switched to seizure condition；After AGV drives into target stop website, by the dynamic
Evacuation area is switched to idle state, in order to which other AGV are used, to improve the operational efficiency of space availability ratio and AGV；Therefore,
The AGV preventing collision methods of the present embodiment had not only been avoided and had been collided between AGV, but also improved space availability ratio, improved AGV's
Operational efficiency.
The AGV preventing collision methods of the present embodiment, the evacuation sector width that website is stopped based on target are generated dynamic evacuation area, that is, existed
Have and just generate dynamic evacuation area when stop demand, does not generate dynamic evacuation area when not stopping task, avoid useless calculating, from
And improve computational efficiency.
When the original places AGV wait for, the state in corresponding occupied dynamic evacuation area is detected in real time, and executes step S17：
Judge whether the dynamic evacuation area of seizure condition is switched to idle state.
If so, executing step S18：Judge whether the quantity for waiting for the AGV in dynamic evacuation area is more than 1.
If so, explanation there are multiple AGV that the dynamic is waited for avoid area, S19 is thened follow the steps：According to preset priority
Rule, AGV of the selection with highest priority is travelled in all AGV for waiting for the dynamic evacuation area, occupies dynamic evacuation
Area, and dynamic evacuation area is switched to seizure condition, other AGV continue original place and wait for, and congestion is avoided to collide.
If it is not, only there are one AGV, and the dynamic to be waited for avoid area for explanation, S20 is thened follow the steps：Wait for dynamic evacuation area
AGV is travelled, and occupies dynamic evacuation area, and dynamic evacuation area is switched to seizure condition.
In the present embodiment, the evacuation area for each stopping website all has pre-locked list；When the corresponding dynamic evacuation of AGV
When area is seizure condition, which waits for, and all included by the number write-in corresponding dynamic evacuation area by the AGV keep away
It allows in the pre-locked list in area；When AGV, which occupies the dynamic, avoids area, the number of the AGV is eliminated in pre-locked list.If pre-
The AGV number quantity locked in list is more than 1, then judges that the quantity for waiting for the AGV in dynamic evacuation area is more than 1.Pre-locked row
The design of table, convenient for judging the quantity for the AGV for waiting for the dynamic to avoid area.
That is, when AGV needs to occupy certain dynamic evacuation area, the number corresponding to AGV can be written to corresponding
In the pre-locked list in all evacuation areas included by dynamic evacuation area；When AGV, which occupies the dynamic, avoids area, in pre-locked row
The number of the AGV is eliminated in table, or empties all pre-locked lists when reacquiring the pose data of all AGV.
Each evacuation area includes with properties：
（1）Avoid area's number：It is an integer, is the identity ID for avoiding area, generally according to sequentially writing, meeting and data when use
Site number is stopped in library to be bound.
（2）It is main to account for AGV numbers：It is the number of the current AGV for occupying right-of-way completely.
（3）Regional location is the coordinate in region：It is a pair of of planar point, for identifying a rectangular area, i.e. rectangular area
Two diagonal points.
（4）Go out inbound type：It is inbound, outbound, empty.Indicate that AGV occupies the purpose in the region.
（5）Avoid area's nexus index number：Target when AGV needs inbound stops the number in the evacuation area of website, and AGV needs
The number in the current evacuation area for stopping website when outbound.
It is assumed that the AGV that AGV numbers are 1（Referred to as No. 1 AGV）It is carrying out task, needs to enter the stop website in figure and compiles
Number be 211 stop website, i.e., target stop website be 211；The evacuation sector width generation dynamic that website is stopped based on target is kept away
Area, dynamic is allowed to avoid the evacuation area that area includes stop website 211 and its neighbouring stop website 209,207,213,215, that is, move
It includes 5 evacuation areas that state, which avoids area, and the number in 5 evacuation areas is A104, A105, A106, A107, A108.Enter in No. 1 AGV
When dynamic evacuation area, judge that dynamic avoids whether area is seizure condition.
If dynamic evacuation area is not seizure condition, No. 1 AGV continues to travel, and occupies dynamic evacuation area, 5 are avoided
The master in area accounts for AGV number attributes and is set as AGV numbers 1, and dynamic evacuation area is switched to seizure condition, area is avoided by 5
Nexus index number is set as stopping 211 corresponding evacuation area number A106 of website, and the inbound type that goes out that 5 evacuation areas are arranged is
Inbound.No. 1 AGV drives into after target stops website, and the masters in 5 evacuation areas account for AGV number attributes and are set as that sky, nexus index number sets
It is set to sky, dynamic evacuation area is switched to idle state.
If dynamic evacuation area is seizure condition, No. 1 original place AGV waits for, and AGV numbers 1, which are respectively written into 5, avoids area
In pre-locked list.Moreover, No. 2 AGV, No. 3 AGV, No. 4 AGV are also in 5 evacuation areas for waiting for the dynamic evacuation area, AGV numbers
2, AGV numbers 3, AGV numbers 4 are also written in the pre-locked list in 5 evacuation areas.Sharing 4 AGV at this time waits for this dynamically to keep away
Allow area.
When dynamic evacuation area is switched to idle state, according to preset priority rule, selection has highest excellent
No. 2 AGV of first grade occupy dynamic evacuation area, and AGV numbers 2 are deleted in pre-locked list, and the setting of AGV number attributes is accounted for by main
For AGV numbers 2.No. 1 AGV, No. 3 AGV, No. 4 AGV continue original place and wait for.
Preset priority rule can set priority according to AGV numbers size, can also be according to etc.
The length of time is waited for set priority, or priority is set according to the acquisition time order and function of AGV pose data.
In the multiple AGV for waiting for the dynamic evacuation area, some AGV wait for all evacuation areas in dynamic evacuation area,
Some AGV wait for the part evacuation area in dynamic evacuation area（Such as one of evacuation area）, sky is switched in the evacuation area of waiting
When not busy state, the AGV of highest priority preferentially occupies required evacuation area.
In the present embodiment, when AGV needs are driven out to current stop website, it is also desirable to generate dynamic evacuation area and therefore keep away
Method is allowed to further include following step, it is shown in Figure 2.
Step S31：Dynamic evacuation area is generated based on the current evacuation sector width for stopping website.
Dynamic evacuation area is generated according to the length of AGV, driving path, the current evacuation sector width for stopping website, to meet
The traffic space demand of AGV.
The step specifically includes following step：
Step S311：Judge whether the width in the current evacuation area for stopping website meets width required when AGV is driven out to.
If so, thening follow the steps S312：The current evacuation area for stopping website is generated into dynamic evacuation area, that is, only lean on current
The space requirement that AGV is driven out to current stop website can be met by stopping the evacuation area of website, without occupying extraneous region, to improve
Space availability ratio and AGV operational efficiency.
If it is not, thening follow the steps S313：The current evacuation area generation dynamic for stopping website and its neighbouring stop website is kept away
Allow area.That is, the driving demand of AGV is only cannot be satisfied by the current evacuation area for stopping website, in order to avoid collision, it is also necessary to neighbouring
The space requirement that AGV is driven out to current stop website can just be met by stopping the evacuation area cooperation of website.
That is, the dynamic evacuation area includes at least the current evacuation area for stopping website, it is also possible to further include neighbouring stop
By the evacuation area of website.
Step S32：Judge whether dynamic evacuation area is seizure condition.
In the present embodiment, dynamic evacuation area includes seizure condition and idle state two states.
If it is not, executing step S33.
If so, executing step S34.
Step S33：Since dynamic evacuation area is idle state, AGV is started running, occupies dynamic evacuation area, and should
Dynamic evacuation area is switched to seizure condition；When AGV is driven out to dynamic evacuation area, dynamic evacuation area is switched to idle state,
Discharge dynamic evacuation area.In order to which other AGV are used, space availability ratio and AGV operational efficiency are improved.
Step S34：Since dynamic evacuation area is seizure condition, the original places AGV wait for, avoid colliding.Moreover, inspection in real time
Survey the state that dynamic avoids area.
Using the above method, collided with other AGV when AGV not only having been avoided to sail out of current stop website, but also improve sky
Between utilization rate, improve the operational efficiency of AGV.
When the original places AGV wait for, the state in corresponding occupied dynamic evacuation area is detected in real time, and executes step S35：
Judge whether the dynamic evacuation area of seizure condition is switched to idle state.
If so, executing step S36：Judge whether the quantity for waiting for the AGV in dynamic evacuation area is more than 1.
If so, explanation there are multiple AGV that the dynamic is waited for avoid area, S37 is thened follow the steps：According to preset priority
Rule, AGV of the selection with highest priority is started running in the AGV that all waiting dynamics avoid area（Highest priority
AGV may be to sail out of current stop website, it is also possible to drive into target and stop website）, dynamic evacuation area is occupied, and this is moved
State evacuation area is switched to seizure condition, other AGV continue original place and wait for, and congestion is avoided to collide.
If it is not, only there are one AGV, and the dynamic to be waited for avoid area for explanation, S38 is thened follow the steps：Wait for dynamic evacuation area
AGV is started running, occupies dynamic evacuation area, and dynamic evacuation area is switched to seizure condition.
It in order to improve AGV in the operational efficiency of region B of driving a vehicle, and avoids collision, is spaced on the route in driving region B
Multiple queue-type driving evacuation areas are laid with, shown in Figure 7, dotted rectangle show queue-type driving evacuation area B101.
Queue-type driving evacuation area is generally laid on the major trunk roads in driving region.Therefore, the preventing collision method of the present embodiment, under further including
Step is stated, it is shown in Figure 3.
Step S41：When AGV drives a vehicle the first setpoint distance of boundary for avoiding area apart from queue-type, the queue-type row is judged
Vehicle avoids whether area is seizure condition.
In the present embodiment, queue-type driving evacuation area includes seizure condition and idle state two states.
It drives a vehicle apart from queue-type in AGV and avoids the first setpoint distance of area boundary（As 200mm or 0mm, i.e. AGV are located at team
On column driving evacuation area boundary）When, judge whether queue-type driving evacuation area is seizure condition.
If it is not, thening follow the steps S42.
If so, thening follow the steps S43.
Step S42：Since queue-type drives a vehicle evacuation area as idle state, AGV continues to travel, and occupies queue-type driving and keeps away
It allows area, and the queue-type evacuation area that drives a vehicle is switched to seizure condition；After AGV is driven out to queue-type driving evacuation area, by the team
Column driving evacuation area is switched to idle state.
Step S43：Since queue-type drives a vehicle evacuation area as seizure condition, the original places AGV wait for；It avoids colliding.Moreover,
The state in detection queue-type driving evacuation area in real time.
By above-mentioned design, AGV had not only been improved in the operational efficiency in region of driving a vehicle, but also avoid collision.
When the original places AGV wait for, the state in occupied queue-type driving evacuation area is detected in real time, and executes step S44：
Judge whether the queue-type driving evacuation area of seizure condition is switched to idle state.
If so, executing step S45：Judge whether the quantity for waiting for the AGV in queue-type driving evacuation area is more than 1.
If so, explanation there are multiple AGV to wait for queue-type driving evacuation area, S46 is thened follow the steps：According to preset
Priority rule, AGV of the selection with highest priority is after continuing in the AGV in all waiting queue-types driving evacuation area
It sails, occupies queue-type driving evacuation area, and queue-type driving evacuation area is switched to seizure condition, other AGV continue former
Ground waits for, and congestion is avoided to collide.
If it is not, only there are one AGV to wait for queue-type driving evacuation area for explanation, S47 is thened follow the steps：Wait for the queue-type
The AGV in driving evacuation area continues to travel, and occupies queue-type driving evacuation area, and queue-type driving evacuation area is switched to and is accounted for
Use state.
Queue-type driving evacuation section planning is on a major trunk roads, and two AGV in same direction are also required to generate
Evacuation, i.e. rear car need to enter back into evacuation area after waiting for front truck to leave, and avoid conflicting.
In step S46, preset priority rule is when waiting for queue-type driving evacuation area according to AGV
Between length set priority, the AGV stand-by period is longer, then the priority of AGV is higher.
In addition, queue-type evacuation area can also be arranged on the intermediate through lane of parking area, can be avoided with dynamic
Area, which exists, to intersect, and still, the priority ratio dynamic evacuation area that queue-type avoids area is high, that is, is occupied when queue-type evacuation area is in
When state, the dynamic evacuation area intersected with it is also configured as seizure condition, and corresponding AGV is avoided to drive into or sail out of dynamic evacuation
Area.
Similarly, queue-type evacuation area is also likely to be present with following static evacuation areas and intersects, and still, queue-type avoids area
It is high that priority ratio static state avoids area, that is, when queue-type evacuation area is in seizure condition, the static state intersected with it avoids Qu Yeshe
It is set to seizure condition, corresponding AGV is avoided to drive into or sail out of static state evacuation area.
In order to improve AGV in the operational efficiency of the route intersection region of driving region B, congestion is avoided to collide, in driving area
The route intersection region of domain B is provided with static evacuation area, shown in Figure 8, and dotted rectangle show static evacuation area B102.
Therefore, the preventing collision method of the present embodiment further includes following step, shown in Figure 4.
Step S51：In second setpoint distance of boundary in the static evacuation area of AGV distances, judge in static state evacuation area
Whether AGV quantity is more than or equal to setting quantity.
Second setpoint distance is configured according to actual demand, and such as the second setpoint distance is 200mm.Or second setting away from
From being 0, i.e. when AGV is located on static evacuation area boundary, judge whether the AGV quantity in static state evacuation area is more than or equal to setting
Quantity.Setting quantity is chosen as 2, i.e., static evacuation area can allow have 2 AGV to enter simultaneously.
If it is not, static evacuation area can also accommodate AGV to explanation at this time, S52 is thened follow the steps：AGV continues to travel, into meditation
State avoids area.
If so, static evacuation area cannot accommodate AGV to explanation again at this time, S53 is thened follow the steps：The original places AGV wait for, and examine in real time
Survey the AGV quantity in static evacuation area.When the AGV quantity in static evacuation area is less than setting quantity, step S54 is executed：Sentence
Whether the disconnected quantity for waiting for the AGV in static state evacuation area is more than 1.
If so, explanation there are multiple AGV that the static state is waited for avoid area, S55 is thened follow the steps：According to preset priority
Rule, AGV of the selection with highest priority continues to travel in the AGV that all waiting static state avoid area, into the static state
Area is avoided, other AGV continue original place and wait for, and congestion is avoided to collide.
If it is not, only there are one AGV, and the static state to be waited for avoid area for explanation, S56 is thened follow the steps：Wait for static state evacuation area
AGV continues to travel, and area is avoided into the static state.
Using this design method, control enters the AGV quantity in static evacuation area, and evacuation collides, and improves AGV's
Operational efficiency, and control simply, reliably, calculating speed is fast.
The AGV preventing collision methods of the present embodiment stop website based on target or currently stop keeping away for website in parking area
It allows sector width to generate dynamic evacuation area, i.e., just generates dynamic evacuation area when having stop demand or sailing out of demand, needed without task
Dynamic evacuation area is not generated when asking, useless calculating is avoided, improves computational efficiency；When dynamic evacuation area is seizure condition
The original places AGV wait for, and when dynamic evacuation area is unoccupied state, AGV occupies dynamic evacuation area, had both avoided and has occurred between AGV
Collision, and space availability ratio is improved, improve the evacuation efficiency and operational efficiency of AGV；It is set on the route in driving region
It sets queue-type driving and avoids area, the original places AGV wait for when queue-type driving evacuation area is seizure condition, when queue-type driving evacuation
AGV occupies the queue-type driving evacuation area when area is idle state, not only avoids collision, but also improve operations of the AGV in driving region
Efficiency；The route intersection region in driving region is provided with static evacuation area, control enters the quantity in static evacuation area, both avoided
Collision, and AGV is improved in the operational efficiency in region of driving a vehicle.Therefore, the AGV preventing collision methods of the present embodiment had both improved AGV and had stopped
Operational efficiency in vehicle region, and improve operational efficiency of the AGV in driving region.
The above embodiments are merely illustrative of the technical solutions of the present invention, rather than is limited；Although with reference to aforementioned reality
Applying example, invention is explained in detail, for those of ordinary skill in the art, still can be to aforementioned implementation
Technical solution recorded in example is modified or equivalent replacement of some of the technical features；And these are changed or replace
It changes, the spirit and scope for claimed technical solution of the invention that it does not separate the essence of the corresponding technical solution.
Claims (10)
1. a kind of AGV preventing collision methods, it is characterised in that：Including:
Evacuation area delimited for each bus stop point of parking area；
The pose data and target for obtaining all AGV stop website；
The evacuation sector width that website is stopped based on target generates dynamic evacuation area；
When AGV enters its corresponding dynamic and avoids area, judge whether dynamic evacuation area is seizure condition；
If so, the original places AGV wait for；
If it is not, then AGV continues to travel, dynamic evacuation area is occupied, and dynamic evacuation area is switched to seizure condition；AGV is sailed
After entering target stop website, dynamic evacuation area is switched to idle state.
2. according to the method described in claim 1, it is characterized in that：The evacuation sector width that website is stopped based on target is generated
Dynamic evacuation area, specifically includes：
Judge whether the width in the evacuation area of target stop website meets width required when AGV drives into；
If so, the evacuation area that target is stopped to website generates dynamic evacuation area；
If it is not, target is then stopped website and its neighbouring evacuation area generation dynamic evacuation area for stopping website.
3. according to the method described in claim 1, it is characterized in that：When AGV needs are driven out to current stop website, the method
It further include following step：
Dynamic evacuation area is generated based on the current evacuation sector width for stopping website；
Judge whether dynamic evacuation area is seizure condition；
If so, the original places AGV wait for；
If it is not, then AGV is travelled, dynamic evacuation area is occupied, and dynamic evacuation area is switched to seizure condition；AGV is driven out to this
When dynamic evacuation area, dynamic evacuation area is switched to idle state.
4. according to the method described in claim 3, it is characterized in that：It is described to be generated based on the current evacuation sector width for stopping website
Dynamic evacuation area, specifically includes：
Judge whether the width in the current evacuation area for stopping website meets width required when AGV is driven out to；
If so, the current evacuation area for stopping website is generated dynamic evacuation area；
If it is not, then stopping website and its neighbouring evacuation area generation dynamic evacuation area for stopping website by current.
5. according to the method described in claim 1, it is characterized in that：When the dynamic evacuation area of seizure condition is switched to idle state
When, judge whether the quantity for waiting for the AGV in dynamic evacuation area is more than 1；
If so, according to preset priority rule, the AGV with highest priority occupies dynamic evacuation area, and will
Dynamic evacuation area is switched to seizure condition, other AGV continue original place and wait for.
6. according to the method described in claim 5, it is characterized in that：Each evacuation area for stopping website all has pre-locked row
Table；
When AGV corresponding dynamic evacuation area is seizure condition, which waits for, and the write-in of the number of the AGV is corresponding dynamic
State avoids in the pre-locked list in the evacuation area included by area；When AGV, which occupies the dynamic, avoids area, disappear in pre-locked list
Except the number of the AGV；
If the AGV number quantity in pre-locked list is more than 1, judge that the quantity for waiting for the AGV in dynamic evacuation area is more than 1.
7. according to the method described in claim 1, it is characterized in that：The method further includes：
Interval is laid with multiple queue-type driving evacuation areas in driving region；
When AGV drives a vehicle the first setpoint distance of boundary for avoiding area apart from queue-type, whether queue-type driving evacuation area is judged
For seizure condition；
If so, the original places AGV wait for；
If it is not, then AGV continues to travel, queue-type driving evacuation area is occupied, and queue-type driving evacuation area is switched to and is accounted for
Use state；After AGV is driven out to queue-type driving evacuation area, queue-type driving evacuation area is switched to idle state.
8. according to the method described in claim 7, it is characterized in that：When the queue-type driving evacuation area of seizure condition is switched to sky
When not busy state, judge whether the quantity for waiting for the AGV in queue-type driving evacuation area is more than 1；
If so, according to preset priority rule, the AGV with highest priority continues to travel, and occupies the queue-type
Driving evacuation area, and queue-type driving evacuation area is switched to seizure condition, other AGV continue original place and wait for.
9. according to the method described in claim 1, it is characterized in that：The method further includes：
The static evacuation area of route intersection region setting in driving region；
In second setpoint distance of boundary in the static evacuation area of AGV distances, judge whether the AGV quantity in static state evacuation area is big
In equal to setting quantity；
If it is not, then AGV continues to travel, area is avoided into static state；
If so, the original places AGV wait for；AGV quantity in the static evacuation area of detection；When the AGV quantity in static evacuation area is less than
When setting quantity, judge whether the quantity for waiting for the AGV in static state evacuation area is more than 1；
If so, according to preset priority rule, the AGV with highest priority continues to travel, and is kept away into the static state
Area, other AGV is allowed to continue original place and wait for；
If it is not, the AGV in static state evacuation area is then waited for continue to travel, area is avoided into the static state.
10. method according to any one of claim 1 to 9, it is characterised in that：Bus stop positioned at parking area both ends
The width in the evacuation area of point is more than the width in the evacuation area of other parking websites.
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| CN111781919B (en) * | 2019-04-12 | 2024-09-24 | 北京京东乾石科技有限公司 | Driving method and device for sharing map by multiple automatic driving devices |
| CN111781919A (en) * | 2019-04-12 | 2020-10-16 | 北京京东尚科信息技术有限公司 | Driving method and device for multiple automatic driving devices to share map |
| CN109985815A (en) * | 2019-04-16 | 2019-07-09 | 上海快仓智能科技有限公司 | The efficient AGV packages system distinguished based on cold and hot door |
| CN110142763A (en) * | 2019-05-12 | 2019-08-20 | 深圳市普渡科技有限公司 | Robot cover parking scheme |
| CN110209485A (en) * | 2019-06-05 | 2019-09-06 | 青岛海通胜行智能科技有限公司 | The dynamic preventing collision method of multirobot when a kind of work compound |
| CN112256010A (en) * | 2019-07-04 | 2021-01-22 | 北京京东乾石科技有限公司 | Dispatching method and device for automatic guided vehicle and storage medium |
| CN112466111A (en) * | 2019-09-09 | 2021-03-09 | 北京京东乾石科技有限公司 | Vehicle running control method and device, storage medium and electronic equipment |
| CN112541648A (en) * | 2019-09-23 | 2021-03-23 | 北京京东乾石科技有限公司 | Method and device for scheduling vehicle charging |
| CN112748719A (en) * | 2019-10-16 | 2021-05-04 | 北京京东乾石科技有限公司 | Method and device for controlling a transport vehicle |
| CN110989582B (en) * | 2019-11-26 | 2023-06-09 | 北京卫星制造厂有限公司 | Multi-AGV automatic avoiding type intelligent scheduling method based on path pre-occupation |
| CN110989582A (en) * | 2019-11-26 | 2020-04-10 | 北京卫星制造厂有限公司 | Automatic avoidance type intelligent scheduling method for multiple AGV based on path pre-occupation |
| CN111026128A (en) * | 2019-12-27 | 2020-04-17 | 芜湖哈特机器人产业技术研究院有限公司 | Avoidance method of multi-laser AGV |
| CN111026128B (en) * | 2019-12-27 | 2022-07-26 | 芜湖哈特机器人产业技术研究院有限公司 | Avoidance method of multi-laser AGV |
| WO2022022741A1 (en) * | 2020-07-31 | 2022-02-03 | 杭州海康机器人技术有限公司 | Agv traffic control method, system, device, and storage medium |
| CN114495531A (en) * | 2021-12-17 | 2022-05-13 | 广东嘉腾机器人自动化有限公司 | AGV single machine traffic management method, electronic equipment and storage medium |
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