CN-120540297-B - Automatic wharf transport area AGV control method, system, equipment and medium

CN120540297BCN 120540297 BCN120540297 BCN 120540297BCN-120540297-B

Abstract

The invention relates to an automatic wharf transport area AGV control method, system, equipment and medium, which specifically comprise the steps that S1, an A-ECS system acquires vehicle condition information and running speed v of an AGV in real time through a vehicle information module and a weight sensing module, acquires position information of the AGV in real time through communication between magnetic nail coordinates of a wharf area and a vehicle-mounted antenna of the AGV, S2, the A-ECS system checks whether the AGV meets working requirements according to task instructions sent by a wharf operating system, and S3, when the AGV meets the working requirements, the A-ECS system plans a path of the AGV through a preset method and controls the AGV to run according to the planned path. According to the invention, the technical problems that the traditional control method depends on fixed path planning and a simple obstacle avoidance algorithm, and is difficult to adapt to complex and changeable wharf environments and high-strength operation demands are solved by means of acquiring the vehicle condition and position information of the AGV in real time, dynamically checking tasks, planning paths, accurately controlling the running of the AGV and the like.

Inventors

LI YONGCUI
SUN HONG
YAN ZHE
CHEN QIANG
LIU YAOHUI
LI BO
ZHANG XIAO
HAN RUI
LIU RONGRONG
Ge Xiubo
WANG XUE

Assignees

青岛港国际股份有限公司
青岛新前湾集装箱码头有限责任公司

Dates

Publication Date: 20260512
Application Date: 20250513

Claims (9)

1. An automated dock transport zone AGV control method, comprising: S1, an A-ECS system acquires vehicle condition information and running speed v of an AGV in real time through a vehicle information module and a weight sensing module, and acquires position information of the AGV in real time through communication between magnetic nail coordinates of a wharf area and an AGV vehicle-mounted antenna, wherein the AGV comprises a vehicle information module, a weight sensing module, a vehicle-mounted antenna and an information receiving and transmitting module; s2, the A-ECS system checks whether the AGV meets the working requirements according to the received task instruction sent by the wharf operating system to the AGV; s3, when the AGV meets the working requirement, the A-ECS system plans the path of the AGV through a preset method and controls the AGV to run according to the planned path; planning a path of the AGV through a preset method and controlling the AGV to run according to the planned path, and specifically comprising the following steps: S301, creating an initial empty AGV locking area storage queue for storing an [ timestamp, locking area ] key value pair of an AGV, wherein the timestamp is , T is a preset time interval, and n is the number of storage queues for the departure time of the AGV; S302, calculating the target head direction of the AGV according to the current head direction of the AGV and the single-box and double-box target door direction, calculating the shortest path of the AGV to the target point according to the target head direction of the AGV and the target point of the task, and dividing the path into a plurality of lengths according to the area swept by the outer contour of the AGV The method comprises the steps of (1) storing a coordinate space formed by the initial coordinates and the final coordinates of the magnetic nails corresponding to each section of locking area as a locking area into a [ timestamp, locking area ] key value pair, wherein v is the running speed of the AGV; s303, traversing all other AGV storage queues in sequence according to the sequence of time stamps, when one key value pair exists, the other key value pair is equal to the time stamp thereof and the coordinate space of a locking area is overlapped, storing the previous key value pair of the key value pair into the locking area storage queue, taking the initial coordinate of the key value pair as a starting point, taking a target place as an end point, taking the coordinate space of the overlapped other key value pair as an obstacle, re-planning a path according to a manual potential field function, forming a plurality of key value pairs by a new path according to the method, and storing the key value pair into the locking area storage queue; S304, repeating the operation until the planned path reaches the target site, and operating the AGV to run according to the path corresponding to the storage queue of the locking area; And S305, deleting the key value pair corresponding to the failure time stamp in the storage queue when the time stamp is invalid and the time stamp is earlier than the real time in the running process of the AGV.
2. The automated dock transport zone AGV control method of claim 1 wherein the vehicle condition information includes an amount of power, tire pressure, load status and fault information of the AGV.
3. The automated dock transport region AGV control method of claim 1 or claim 2, wherein checking whether the AGV meets the operational requirements comprises: s201, checking task information by an A-ECS system, and acquiring a target position and a job type of a task instruction; S202, judging whether the AGV meets working conditions according to the electric quantity of the AGV, tire pressure and fault information, if so, performing the next step, and if the electric quantity is lower than a preset threshold value, or the tire pressure is lower than the preset threshold value, or if the AGV has a fault, replacing the AGV to execute tasks; s203, judging the operation type of the AGV, executing S204 if the AGV receives the box, and executing S205 if the AGV sends the box; s204, judging whether a task condition is met according to the load state of the AGV, executing S206 if the AGV is in an empty load state or 1 20-ruler box, judging that the task is failed if the load is 2 20-ruler boxes or 1 40-ruler box/45-ruler box, and replacing the AGV by the A-ECS system to execute the task; s205, judging whether the AGV is in a heavy load state or not according to the load state of the AGV, if so, executing S206, and if the AGV is in an idle load state, judging that the task fails, and informing a worker to check and reassign the task by the A-ECS system; s206, confirming that the AGV meets the working requirements.
4. The automated dock transport zone AGV control method of claim 1 wherein the shape of the lock zone formed according to the area swept by the outer contour of the AGV comprises: In the straight-going locking area generated in the straight-going path, in the turning locking area generated in the turning path, in the diagonal locking area generated in the diagonal path, and in the turning locking area generated in the turning path.
5. The automated dock transport zone AGV control method of claim 1, further comprising: When the magnetic nails contained in the continuous n storage queues are detected by the AGV navigation positioning antenna, the AGV works normally, when the magnetic nails contained in the continuous n storage queues are not detected by the AGV navigation positioning antenna, the A-ECS system controls the AGV to decelerate and adjust to a normal working state, when the magnetic nails contained in the continuous n+1 storage queues are not detected by the AGV navigation positioning antenna, the A-ECS system controls the AGV to stop in an emergency mode, and the AGV and the surrounding range are defined as forbidden areas, and the maintenance of workers is notified.
6. The automated dock transport zone AGV control method of claim 5, further comprising: The AGV is further provided with a laser anti-collision system, when the laser anti-collision system of the AGV does not detect that the roadblock exists, the AGV works normally, when the laser anti-collision system of the AGV detects that the roadblock exists, the A-ECS system controls the AGV to stop in an emergency mode, and the AGV and the surrounding range are defined as forbidden areas, and workers are informed of the fact that the roadblock is eliminated.
7. An automated dock transport zone AGV control system, the system comprising: The system comprises an information acquisition unit, an information acquisition unit and an information transmission unit, wherein the A-ECS system acquires vehicle condition information and running speed v of an AGV in real time through a vehicle information module and a weight sensing module, and acquires position information of the AGV in real time through communication between magnetic nail coordinates of a wharf area and an AGV vehicle-mounted antenna; The A-ECS system checks whether the AGV meets the working requirement according to the received task instruction sent by the wharf operating system to the AGV; When the AGV meets the working requirement, the A-ECS system plans the path of the AGV through a preset method and controls the AGV to run according to the planned path; planning a path of the AGV through a preset method and controlling the AGV to run according to the planned path, and specifically comprising the following steps: Creating an initial empty AGV locking area storage queue for storing an [ time stamp, locking area ] key value pair of the AGV, wherein the time stamp is , T is a preset time interval, and n is the number of storage queues for the departure time of the AGV; Calculating the target head direction of the AGV according to the current head direction of the AGV and the single-box and double-box target door direction, calculating the shortest path of the AGV to the target point according to the target head direction of the AGV and the target point of the task, and dividing the path into a plurality of lengths according to the area swept by the outer contour of the AGV The method comprises the steps of (1) storing a coordinate space formed by the initial coordinates and the final coordinates of the magnetic nails corresponding to each section of locking area as a locking area into a [ timestamp, locking area ] key value pair, wherein v is the running speed of the AGV; Traversing the storage queues of all other AGVs in sequence according to the sequence of the time stamps, when one key value pair exists, the other key value pair is equal to the time stamp of the key value pair and the coordinate space of the locking area is overlapped, storing the key value pair before the key value pair into the storage queue of the locking area, taking the initial coordinate of the key value pair as a starting point, taking the target place as an end point, taking the coordinate space of the other overlapped key value pair as an obstacle, re-planning a path according to a manual potential field function, forming a plurality of key value pairs by the new path according to the method, and storing the key value pair into the storage queue of the locking area; Repeating the operation until the planned path reaches the target site, and operating the AGV to run according to the path corresponding to the storage queue of the locking area; And in the running process of the AGV, when the time stamp is invalid and the time stamp is earlier than the real time, deleting the key value pair corresponding to the invalid time stamp in the storage queue.
8. An automated dock transport zone AGV control apparatus, the apparatus comprising: At least one processor; And a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the steps of the method of any one of claims 1-6.
9. A non-volatile computer storage medium storing computer executable instructions for automated dock transport zone AGV control, the computer executable instructions configured to: the steps of the method of any one of claims 1-6 can be implemented.

Description

Automatic wharf transport area AGV control method, system, equipment and medium Technical Field The invention relates to the technical field of automatic transport of wharf, in particular to an automatic wharf transport area AGV control method, system, equipment and medium. Background With the rapid development of industrial automation and logistics technology, an automated dock is taken as an important component of a modern port, and the transportation efficiency and the intelligent level of the automated dock are directly related to the overall competitiveness of the port. In an automated dock, an automatic guided vehicle (Automated Guided Vehicle, AGV) is used as a key device to bear the horizontal transportation task of containers from a quay crane to a storage yard, and the performance and the control method of the automatic guided vehicle directly influence the operation efficiency and the safety of the dock. The traditional wharf transportation system mostly adopts a manual or semi-automatic mode, and has the problems of low efficiency, high cost, high safety risk and the like. The AGV is used as an automatic carrying tool, has the advantages of high automation degree, good flexibility, stable operation and the like, and can remarkably improve the operation efficiency and safety of a wharf. However, precise control and path planning of the AGV is critical to achieving efficient operation thereof. Currently, the control method of the AGV depends on a fixed path planning and a simple obstacle avoidance algorithm, and is difficult to adapt to complex and changeable wharf environments and high-strength operation demands. In order to solve the above problems, a more intelligent and efficient control method for an AGV is needed, which relies on an a-ECS system (horizontal transport intelligent control system) to obtain vehicle condition information and position information of the AGV in real time, dynamically plan a path according to a task instruction, and ensure that the AGV runs accurately according to the planned path. Disclosure of Invention The invention aims to provide an automatic wharf transport area AGV control method, an automatic wharf transport area AGV control system, automatic wharf transport area AGV control equipment and medium, which are used for solving the technical problems that a traditional control method depends on fixed path planning and a simple obstacle avoidance algorithm, and is difficult to adapt to complex and changeable wharf environments and high-strength operation demands. In order to achieve the above object, the present invention provides the following technical solutions: The automatic wharf transport area AGV control method comprises the steps that S1, an A-ECS system obtains vehicle condition information and running speed v of an AGV in real time through a vehicle information module and a weight sensing module, and obtains position information of the AGV in real time through communication between magnetic nail coordinates of a wharf area and an AGV vehicle-mounted antenna, wherein the AGV comprises a vehicle information module, a weight sensing module, the vehicle-mounted antenna and an information receiving and transmitting module, S2, the A-ECS system checks whether the AGV meets working requirements according to task instructions sent by a wharf operating system, and S3, when the AGV meets the working requirements, the A-ECS system plans a path of the AGV through a preset method and controls the AGV to run according to the planned path. Further, the vehicle condition information includes an electric quantity of the AGV, tire pressure, load state and fault information. Further, checking whether the AGV meets the working requirements specifically includes: The method comprises the steps of S201, checking task information by an A-ECS system, obtaining a target position and an operation type of a task instruction, S202, judging whether the AGV meets working conditions according to electric quantity of the AGV, if yes, carrying out the next step, if the electric quantity is lower than a preset threshold value, or the electric pressure is lower than the preset threshold value, or the AGV fails, replacing the AGV to execute tasks, S203, judging the operation type of the AGV, if the AGV is received, executing S204, if the AGV is received, executing S205, judging whether the task conditions are met according to the loading state of the AGV, executing S206, if the AGV is in an empty state or in 1 20-meter box, judging that the task fails, if the AGV is in 2 20-meter boxes or in 1-meter box/45-meter box, replacing and executing the task, S205, judging whether the AGV is in a reloaded state according to the loading state of the AGV, if the AGV is in the empty state, judging the task failure, and notifying a worker to check and reassign the task, and confirming that the AGV meets working requirements. S301, creating an initial empty AGV locking area storage queue for storing an