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CN-122024500-A - AGV vehicle intersection passing speed control method and system

CN122024500ACN 122024500 ACN122024500 ACN 122024500ACN-122024500-A

Abstract

A method for controlling the speed of the intersection of AGV vehicles includes such steps as calculating the limited acceleration of the vehicles based on their current load and/or current electric quantity when the initial intersection time is less than the detected time threshold, calculating the time required for regulating the target speed based on their current speed and limited acceleration, calculating the accelerating distance of the vehicles, calculating the time for reaching the intersection based on the comparison between the accelerating distance and the distance to the intersection, and issuing the speed regulating command. The speed of the two vehicles meeting is regulated based on factors such as the vehicle load, the current electric quantity, the surrounding area speed limit, the vehicle speed upper limit and the like, so that the passing efficiency of the vehicles is improved while the two AGV vehicles are ensured not to collide.

Inventors

  • QIU ZIBIN
  • LIN QI
  • LI YINGXIN
  • CHEN ZUNHUANG
  • ZHU PING

Assignees

  • 林德（中国）叉车有限公司

Dates

Publication Date
20260512
Application Date
20241112

Claims (10)

  1. 1. The method for controlling the intersection passing speed of the AGV is characterized by comprising the following steps of: Acquiring initial intersection time of two AGV vehicles to an intersection point; If the initial intersection time is smaller than the detected time threshold value, respectively calculating corresponding limited acceleration based on the current load and/or the current electric quantity of the two AGV vehicles; Calculating the time required for adjusting to the corresponding target speed based on the current speeds and the limited accelerations of the two AGV vehicles respectively; Based on the time required for adjusting to the target speed, respectively calculating the corresponding acceleration distances of the two AGV vehicles; If the acceleration distance is smaller than the distance to the junction, calculating the time to reach the junction based on the first acceleration time and the uniform speed time of the corresponding AGV vehicle, otherwise, calculating the time to reach the junction based on the second acceleration time of the corresponding AGV vehicle; If the time that the first AGV arrives at the intersection is smaller than the time that the second AGV arrives at the intersection, the speed of the first AGV is adjusted to be the target speed of the first AGV, the speed of the second AGV is adjusted to be the speed considering the time allowance, otherwise, the speed of the first AGV is adjusted to be the speed considering the time allowance, and the speed of the second AGV is adjusted to be the target speed of the second AGV.
  2. 2. The method for controlling the intersection passing speed of AGV vehicles according to claim 1, wherein the step of obtaining the initial intersection time of two AGV vehicles to the intersection point comprises the following steps: the initial intersection time is calculated by dividing the distance from the first AGV to the intersection point by the current speed of the first AGV, or the initial intersection time is calculated by dividing the distance from the second AGV to the intersection point by the current speed of the second AGV.
  3. 3. The method of claim 1 wherein the limited acceleration is inversely proportional to the current load of the AGV vehicle and directly proportional to the current charge of the AGV vehicle.
  4. 4. The method for controlling the intersection passing speed of AGV vehicles according to claim 1, wherein the corresponding limited acceleration is calculated based on the current load and/or the current electric quantity of the two AGV vehicles, respectively, as follows: alimit(EA,mA)=amax A ·(1-α A ·(mA/mmax A )-β A ·(Emin A /EA)) alimit(EB,mB)=amax B ·(1-α B ·(mB/mmax B )-β B ·(Emin B /EB)) Where alimit (EA, mA) represents the limited acceleration of the first AGV vehicle, amax A represents the maximum acceleration of the first AGV vehicle when the first AGV vehicle is empty and full of power, alpha A represents the adjustment factor for controlling the degree of influence of the load of the first AGV vehicle on the limited acceleration, mA represents the current load of the first AGV vehicle, mmax A represents the maximum load capacity of the first AGV vehicle, beta A represents the adjustment factor for controlling the degree of influence of the power of the first AGV vehicle on the limited acceleration, emin A represents the lower limit of the power of the first AGV vehicle, EA represents the current power of the first AGV vehicle, alimit (EB, mB) represents the limited acceleration of the second AGV vehicle, amax B represents the maximum acceleration of the second AGV vehicle when the second AGV vehicle is empty and full of power, alpha B represents the adjustment factor for controlling the degree of influence of the load of the second AGV vehicle on the limited acceleration, mB represents the current load of the second AGV vehicle, mmax B represents the maximum load capacity of the second AGV vehicle, beta B represents the adjustment factor for controlling the degree of influence of the second AGV vehicle on the limited acceleration, emin represents the current electric quantity of the second AGV vehicle.
  5. 5. The method for controlling the speed of intersection of two AGV vehicles according to claim 1, wherein the time required for adjusting to the corresponding target speed is calculated based on the current speeds and the limited accelerations of the two AGV vehicles, respectively, comprising: the Target speed VA (Target) of the first AGV vehicle and the Target speed VB (Target) of the second AGV vehicle are calculated, respectively, as follows: VA(Target)=min(Vlimit,VAmax) VB(Target)=min(Vlimit,VBmax) wherein Vlimit represents the speed limit of the surrounding area, VAmax represents the maximum speed upper limit of the first AGV vehicle, VBmax represents the maximum speed upper limit of the second AGV vehicle; the time TAu required for the first AGV to adjust to VA (Target) and the time TBu required for the second AGV to adjust to VB (Target) are calculated as follows: TAu=(VA(Target)-VA)/alimit(EA,mA) TBu=(VB(Target)-VB)/alimit(EB,mB) where VA represents the current speed of the first AGV, VB represents the current speed of the second AGV, alimit (EA, mA) represents the limited acceleration of the first AGV, and alimit (EB, mB) represents the limited acceleration of the second AGV.
  6. 6. The method for controlling the speed of intersection of two AGV vehicles according to claim 1, wherein the respective acceleration distances of the two AGV vehicles are calculated based on the time required for adjustment to the target speed, comprising: based on the time TAu required for the first AGV to adjust to the target speed, the acceleration distance dAu of the first AGV is calculated as follows: dAu=VA.TAu+0.5.alimit(EA,mA).TAu 2 Wherein VA represents the current speed of the first AGV vehicle and alimit (EA, mA) represents the limited acceleration of the first AGV vehicle; based on the time TBu required for the second AGV vehicle to adjust to the target speed, the acceleration distance dBu of the second AGV vehicle is calculated as follows: dBu=VB.TBu+0.5.alimit(EB,mB).TBu 2 Where VB denotes the current speed of the second AGV vehicle and alimit (EB, mB) denotes the limited acceleration of the second AGV vehicle.
  7. 7. The method for controlling the intersection passing speed of AGV vehicles according to claim 1, wherein if the acceleration distance is smaller than the distance to the intersection, the time to reach the intersection is calculated based on the first acceleration time and the uniform velocity time of the corresponding AGV vehicle, otherwise, the time to reach the intersection is calculated based on the second acceleration time of the corresponding AGV vehicle, and the method specifically comprises: If the acceleration distance of the first AGV is smaller than the distance to the junction, calculating the time to reach the junction based on the first acceleration time and the uniform speed time of the first AGV, otherwise, calculating the time to reach the junction based on the second acceleration time of the first AGV; And if the acceleration distance of the second AGV is smaller than the distance to the junction, calculating the time to reach the junction based on the second acceleration time and the uniform speed time of the second AGV, otherwise, calculating the time to reach the junction based on the second acceleration time of the second AGV.
  8. 8. The method for controlling the speed of intersection of AGV vehicles according to claim 7, wherein the time TA for the first AGV vehicle to reach the intersection is calculated based on the sum of the first acceleration time and the constant velocity time of the first AGV vehicle, and is expressed as follows: TA=TA acceleration+TA constant speed= (VA (Target) -VA)/alimit (EA, mA) + (dA-dAu)/VA (Target) Wherein VA (Target) represents a Target speed of the first AGV vehicle, VA represents a current speed of the first AGV vehicle, alimit (EA, mA) represents a limited acceleration of the first AGV vehicle, dA represents a distance from the first AGV vehicle to the junction, and dAu represents an acceleration distance of the first AGV vehicle; And calculating the time TB of the second AGV to reach the junction point based on the sum of the second acceleration time and the uniform speed time of the second AGV, wherein the time TB is expressed as follows: Tb=tb acceleration+tb uniform speed= (VB (Target) -VB)/alimit (EB, mB) + (dB-dBu)/VB (Target) Wherein VB (Target) represents the Target speed of the second AGV, VB represents the current speed of the second AGV, alimit (EB, mB) represents the limited acceleration of the second AGV, dB represents the distance from the second AGV to the junction, and dBu represents the acceleration distance of the second AGV.
  9. 9. The method for controlling the speed of intersection of AGV vehicles according to claim 1, wherein the speed of the first AGV vehicle taking into account the time margin is expressed as follows: VA adjust =min(alimit(EA,mA),dA/(TB+Te)) Wherein VA adjust represents the speed to which the first AGV vehicle is to be regulated, alimit (EA, mA) represents the limited acceleration of the first AGV vehicle, dA represents the distance from the first AGV vehicle to the junction, TB represents the time for the second AGV vehicle to reach the junction, te represents a preset time margin; the speed of the second AGV taking into account the time margin is expressed as follows: VB adjust =min(alimit(EB,mB),dB/(TA+Te)) Wherein VB adjust represents the speed to which the second AGV vehicle is to be regulated, alimit (EB, mB) represents the limited acceleration of the second AGV vehicle, dB represents the distance from the second AGV vehicle to the junction, TA represents the time for the first AGV vehicle to reach the junction, and Te represents the preset time margin.
  10. 10. An AGV vehicle junction passing speed control system comprising: The initial intersection time acquisition module is used for acquiring the initial intersection time of the two AGV vehicles to the intersection point; The limited acceleration calculation module is used for judging that if the initial intersection time is smaller than the detected time threshold value, corresponding limited acceleration is calculated based on the current load and/or the current electric quantity of the two AGV vehicles respectively; the target speed adjustment time calculation module is used for respectively calculating the time required for adjusting to the corresponding target speed based on the current speeds and the limited accelerations of the two AGV vehicles; The acceleration distance calculation module is used for calculating the acceleration distances corresponding to the two AGV vehicles respectively based on the time required by adjusting to the target speed; The system comprises a junction time calculation module, a control module and a control module, wherein the junction time calculation module is used for judging that if the acceleration distance is smaller than the distance to the junction, the time to reach the junction is calculated based on the first acceleration time and the uniform speed time of the corresponding AGV vehicle; and the speed adjusting module is used for judging that if the time for the first AGV to reach the junction is smaller than the time for the second AGV to reach the junction, adjusting the speed of the first AGV to be the target speed of the first AGV, adjusting the speed of the second AGV to be the speed considering the time allowance, otherwise, adjusting the speed of the first AGV to be the speed considering the time allowance, and adjusting the speed of the second AGV to be the target speed of the second AGV.

Description

AGV vehicle intersection passing speed control method and system Technical Field The application relates to the technical field of vehicle dispatching, in particular to a method and a system for controlling the intersection passing speed of AGV vehicles. Background In a place where an AGV is used, there is often an interaction between two or more AGV vehicle paths, i.e., two or more AGV vehicles may travel to the same task junction. Referring to FIG. 1, a schematic diagram of two AGV paths is shown, where dA represents the distance from the first AGV A to the junction and dB represents the distance from the first AGV B to the junction. In the path planning process of the existing AGV, when a background dispatching system detects that collision risks exist in two AGV, an instruction is sent to control one AGV to wait in situ, the other AGV preferentially passes at the original speed, and the passing efficiency is low due to the processing mode. Disclosure of Invention In order to solve the technical problems, the invention provides a method and a system for controlling the speed of the intersection passing of AGV vehicles, which are used for adjusting the speeds of two intersection vehicles based on factors such as the load of the vehicles, the current electric quantity, the speed limit of surrounding areas, the upper limit of the speed of the vehicles and the like, realizing the rapid alternate passing of the two vehicles after the speed adjustment without waiting for the passing of the other vehicle in situ, and improving the passing efficiency of the vehicles while ensuring that the two AGV vehicles do not collide. The invention adopts the following technical scheme: A control method for the intersection passing speed of AGV vehicles comprises the following steps: Acquiring initial intersection time of two AGV vehicles to an intersection point; If the initial intersection time is smaller than the detected time threshold value, respectively calculating corresponding limited acceleration based on the current load and/or the current electric quantity of the two AGV vehicles; Calculating the time required for adjusting to the corresponding target speed based on the current speeds and the limited accelerations of the two AGV vehicles respectively; Based on the time required for adjusting to the target speed, respectively calculating the corresponding acceleration distances of the two AGV vehicles; If the acceleration distance is smaller than the distance to the junction, calculating the time to reach the junction based on the first acceleration time and the uniform speed time of the corresponding AGV vehicle, otherwise, calculating the time to reach the junction based on the second acceleration time of the corresponding AGV vehicle; If the time that the first AGV arrives at the intersection is smaller than the time that the second AGV arrives at the intersection, the speed of the first AGV is adjusted to be the target speed of the first AGV, the speed of the second AGV is adjusted to be the speed considering the time allowance, otherwise, the speed of the first AGV is adjusted to be the speed considering the time allowance, and the speed of the second AGV is adjusted to be the target speed of the second AGV. Preferably, the method for acquiring the initial intersection time of two AGV vehicles to the intersection point specifically comprises the following steps: the initial intersection time is calculated by dividing the distance from the first AGV to the intersection point by the current speed of the first AGV, or the initial intersection time is calculated by dividing the distance from the second AGV to the intersection point by the current speed of the second AGV. Preferably, the limited acceleration is inversely proportional to the current load of the AGV vehicle and directly proportional to the current charge of the AGV vehicle. Preferably, based on the current load and/or current power of the two AGV vehicles, the corresponding limited acceleration is calculated, as follows: alimit(EA,mA)=amaxA·(1-αA·(mA/mmaxA)-βA·(EminA/EA)) alimit(EB,mB)=amaxB·(1-αB·(mB/mmaxB)-βB·(EminB/EB)) Where alimit (EA, mA) represents the limited acceleration of the first AGV vehicle, amax A represents the maximum acceleration of the first AGV vehicle when the first AGV vehicle is empty and full of power, alpha A represents the adjustment factor for controlling the degree of influence of the load of the first AGV vehicle on the limited acceleration, mA represents the current load of the first AGV vehicle, mmax A represents the maximum load capacity of the first AGV vehicle, beta A represents the adjustment factor for controlling the degree of influence of the power of the first AGV vehicle on the limited acceleration, emin A represents the lower limit of the power of the first AGV vehicle, EA represents the current power of the first AGV vehicle, alimit (EB, mB) represents the limited acceleration of the second AGV vehicle, amax