CN118034228A - Intelligent vertical warehouse system based on AGV and control method thereof - Google Patents

Abstract

The invention discloses an intelligent vertical warehouse system based on an AGV and a control method thereof, wherein the intelligent vertical warehouse system comprises the following components: s1, setting light supplementing equipment, emitting laser with different wavelengths, and monitoring and adjusting the light intensity and the laser signal intensity of each position; s2, calculating and generating a library-standing path, distributing laser receivers with unique wavelengths for each AGV, and transmitting lasers with different wavelengths to guide the AGVs with the corresponding wavelengths to work along the library-standing path; s3, a pause area is established at the overlapping position of a plurality of AGV paths, and a pause signal is transmitted to correspond to the wavelength laser, so that the AGVs to be passed through stay in the pause area; s4, collecting relevant data of each AGV to be passed to generate a priority level, and adjusting the priority running sequence of the AGVs to be passed in real time; and S5, periodically segmenting the laser emission time according to the number of AGVs to be passed, and only allowing the emission of a single laser wavelength to designate the corresponding AGVs to pass preferentially in each time period. The invention can adapt to different environmental conditions, avoid path conflict and improve the transport efficiency of the AGV.

Description

An intelligent vertical warehouse system based on AGV and its control method

Technical Field

The present invention relates to the technical field of intelligent vertical warehouses, and in particular to an AGV-based intelligent vertical warehouse system and a control method thereof.

Background technique

The automated warehouse is a complex automated system consisting of three-dimensional shelves, rail-mounted aisle stackers, in-and-out pallet conveyor systems, size detection barcode reading systems, communication systems, automatic control systems, computer monitoring systems, computer management systems, and other auxiliary equipment such as wire and cable trays, distribution cabinets, pallets, adjustment platforms, steel structure platforms, etc. It uses first-class integrated logistics concepts, advanced control, bus, communication and information technology, and performs in-and-out operations through the coordinated actions of the above equipment.

In the manufacturing process, the storage, management, transportation and unloading of goods require a lot of manpower and material resources. Automated guided vehicles (AGVs) are becoming more and more important in the manufacturing industry because they can be combined with automated warehouses to automatically, accurately and quickly carry, store and pick goods, effectively improving space utilization and saving manpower and material resources.

AGV is an industrial vehicle that loads goods automatically or manually, drives automatically along a set route or pulls a cargo trolley to a designated location, and then loads and unloads goods automatically or manually. The running path and destination can be controlled by a management program, and the maneuverability is strong. Moreover, the route change of some guidance methods is very convenient and flexible, and the setting cost is low.

In practical applications, laser technology is usually used to navigate AGVs, but laser-guided AGVs have certain requirements for the environment. For example, the ground must be flat, free of debris, and without large-area reflections. If the environment does not meet the requirements, it may affect the accuracy and stability of the laser scanner, thereby affecting the navigation effect of the AGV. At the same time, the laser scanner of the laser-guided AGV is very sensitive to light. If there is strong light interference in the environment, it may affect the normal operation of the laser scanner, thereby affecting the navigation accuracy and stability of the AGV.

Summary of the invention

The present invention overcomes the deficiencies of the prior art and provides an AGV-based intelligent vertical warehouse system and a control method thereof.

To achieve the above object, the technical solution adopted by the present invention is: a control method of an intelligent vertical warehouse system based on AGV, comprising the following steps:

S1. Establish the same environmental conditions: set up several supplementary lighting devices in the vertical warehouse, emit lasers of different wavelengths from the top of the vertical warehouse, establish several monitoring points to monitor the light intensity and laser signal intensity at each position in the vertical warehouse, and adjust the supplementary lighting intensity and laser signal intensity at the corresponding monitoring points;

S2. Generate AGV path: After establishing the same environmental conditions at each position in the warehouse, calculate and generate the warehouse path, and assign a laser receiver with a unique wavelength to each AGV, emitting lasers of different wavelengths to guide the corresponding wavelength AGV to work along the warehouse path;

S3. Establish a pause area: establish a pause area at the intersection of several AGV paths, and emit a laser with a wavelength corresponding to the pause signal, so that several AGVs to be passed through all stay in the pause area;

S4, automatic priority allocation: collect the task data, status data, inventory data and time data of each AGV to be passed, generate the priority level, and adjust the priority driving order of the AGV to be passed in real time according to the priority judgment conditions;

S5. Time division: The laser emission time is segmented periodically according to the number of AGVs to be passed. In each time period, only a single laser wavelength is allowed to be emitted to specify the corresponding AGV to have priority passage, thereby achieving priority passage at the point where the paths overlap.

In a preferred embodiment of the present invention, in step S1, the specific steps of monitoring the light intensity at each position in the library are:

S11, the ambient light intensity monitoring unit collects the light intensity data at each monitoring point in real time according to a number of monitoring points established in advance, records the light intensity values collected at each monitoring point at different time points, and forms a light intensity change curve of the monitoring point; each monitoring point is provided with a light sensor and an optical power meter;

S12. Repeat the above operation for all monitoring points to obtain the light intensity change curve data of each monitoring point, and integrate the light intensity change curve data of all monitoring points into light intensity change data.

In a preferred embodiment of the present invention, in step S1, the specific steps of adjusting the fill light intensity and the laser signal intensity at the corresponding monitoring point are:

S13, transmitting the light intensity change data to the fill light illumination unit, which compares the current light intensity of each monitoring point with the set light intensity according to the light intensity change data, and compares the current laser signal intensity of each monitoring point with the set laser signal intensity;

S14, if the current light intensity of each monitoring point is less than the set light intensity, then add fill light to the monitoring point; if the current light intensity of each monitoring point is greater than the set light intensity, then reduce fill light to the monitoring point; adjust the light intensity of each fill light in real time to keep the light intensity at each monitoring point within the set range;

If the current laser signal strength of each monitoring point is less than the set laser signal strength, the laser emission power at the monitoring point position is increased; if the current laser signal strength of each monitoring point is greater than the set laser signal strength, the laser emission power at the monitoring point position is reduced.

In a preferred embodiment of the present invention, in step S2, when calculating and generating the warehouse path, it is necessary to take into account the path length factor, obstacle situation factor, AGV state factor, and AGV load factor.

In a preferred embodiment of the present invention, in step S4, the task data includes: the type of task currently carried by the AGV, the urgency of the task, and the destination of the task; the status data includes: the real-time power, running speed, and load condition of the AGV; the inventory data includes: the inventory quantity, type and distribution of goods in each cargo location in the warehouse; the time data includes: the time when the AGV requests passage, the current time, and the estimated time to complete the task.

In a preferred embodiment of the present invention, in step S3, the specific steps of establishing the pause area are:

S31. Collect relevant data: including shelf location, aisle width, intersection shape, real-time location and real-time speed information of each AGV;

By using an ultrasonic rangefinder to measure the position of each shelf relative to the coordinate system of the vertical warehouse, an accurate shelf location database can be obtained; at the same time, ultrasonic rangefinders are used to ensure that each channel has corresponding width data records; the width and intersection angle of the intersection are measured by a camera; the real-time position of each AGV is obtained by installing a GPS positioning module on the AGV, and real-time speed information is obtained by installing a speed sensor on the AGV;

S32. Based on the data collected in S31, combined with the AGV size and the AGV turning radius, the size and shape of the pause area are generated.

The present invention also provides an AGV-based intelligent vertical warehouse system, comprising: an environmental monitoring module, a laser emission module, an AGV laser receiving module, an overlap area planning module, and a control execution module, characterized in that:

The environmental monitoring module includes: a monitoring point establishment unit, an environmental light intensity monitoring unit, an environmental laser signal intensity monitoring unit, a fill light illumination unit, and a laser signal intensity adjustment unit;

The laser emission module includes: a wavelength adjustment unit and a laser emission unit;

The AGV laser receiving module includes: a laser receiving unit and a wavelength identification unit;

The overlap area planning module includes: a pause planning submodule, a priority planning submodule and a time planning submodule;

The control execution module includes: a path adjustment submodule, an environment adjustment submodule and an overlap area adjustment submodule.

In a preferred embodiment of the present invention, the pause planning submodule includes: a pause area generation unit and a pause laser emission unit; the priority planning submodule includes: an AGV priority setting unit and an AGV priority sorting unit; the time planning submodule includes: a time division unit, a laser-time matching emission unit and a time segment length adjustment unit.

In a preferred embodiment of the present invention, the path adjustment submodule includes: a path marking unit and a path planning unit; the environment adjustment submodule includes: a lighting adjustment unit and a laser signal intensity adjustment unit; the overlap area adjustment submodule includes: an AGV pause path guidance unit, an AGV pause position matching unit and an AGV priority path guidance unit.

In a preferred embodiment of the present invention, in the pause area generation unit, the vertical warehouse information includes: shelf location, channel width, intersection shape; the AGV information includes: the real-time location of each AGV, the real-time speed information of each AGV, the current expected path of each AGV, the AGV size, and the AGV turning radius.

The present invention solves the defects existing in the background technology and has the following beneficial effects:

The present invention provides an AGV-based intelligent vertical warehouse system and a control method thereof. By setting up supplementary lighting equipment and monitoring points, the vertical warehouse can adapt to different environmental conditions and ensure the stability of light intensity and laser signal intensity. When generating an AGV path, by allocating a laser receiver with a unique wavelength to each AGV, the vertical warehouse can flexibly guide different AGVs to work along different paths, which not only avoids path conflicts but also improves the transportation efficiency of AGVs.

The present invention adjusts the light intensity at various locations in the environment to be consistent. The consistent light intensity helps to ensure that the sensor can receive the laser signal with the same sensitivity at any location, thereby improving the accuracy of navigation. At the same time, the consistent light intensity can reduce the error of fluctuations in the signal intensity received by the laser sensor, ensuring that the AGV travels along the predetermined path, and at the same time ensuring that the AGV navigation system can maintain efficient operation under various conditions, thereby enhancing the adaptability of the system.

The present invention avoids the problem of collision or blockage when the paths of multiple AGVs overlap at certain positions by establishing a pause area; at the same time, automatic priority allocation is implemented at the path overlap point to ensure that high-priority AGVs have priority passage, thereby optimizing resource utilization; this dynamic adjustment strategy not only improves the overall operating efficiency of the warehouse, but also ensures the timely completion rate of urgent or important tasks.

The present invention arranges the laser emission time reasonably by setting a time division strategy, thereby avoiding laser interference between different AGVs; this time management method improves the orderliness of AGV passage and further improves the operating efficiency of the vertical warehouse.

The present invention sets up a fill light device in the vertical warehouse and monitors and adjusts the light and laser signal intensity to ensure that the AGV can receive stable and accurate navigation signals at different positions, which provides reliable environmental conditions for subsequent path generation; on this basis, the system can calculate the optimal AGV path, so that the AGV can avoid interference during transportation and improve transportation efficiency; at the same time, a laser receiver with a unique wavelength is allocated to each AGV, so that multiple AGVs can work together in the same space without interfering with each other.

The present invention combines the priority strategy with the time division strategy on the basis of setting the pause area. When multiple AGVs need to pass through a certain area at the same time, they will be guided to wait in the pause area. During the waiting period, the system will automatically assign priorities according to the AGV's tasks, status, inventory, time and other data. High-priority AGVs will have priority to pass, thereby ensuring that important or urgent tasks can be processed in a timely manner.

At the same time, the laser emission time is divided into periodic segments, and only a single wavelength of laser is allowed to pass in each time period, ensuring orderly passage at the points where paths overlap. This strategy avoids conflicts between AGVs and ensures transportation efficiency. At the same time, combined with priority allocation, the system can ensure that important tasks are given priority while achieving efficient coordination of the overall transportation process.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative work.

FIG1 is a system structure diagram of a preferred embodiment of the present invention;

FIG. 2 is a flow chart of a preferred embodiment of the present invention.

Detailed ways

The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

As shown in FIG1 , an AGV-based intelligent vertical warehouse system includes: an environment monitoring module, a laser emission module, an AGV laser receiving module, an overlap area planning module, and a control execution module.

Environmental monitoring modules include:

The monitoring point establishment unit is used to establish several monitoring points in the light intensity change area in the vertical library and record the corresponding coordinates;

The ambient light intensity monitoring unit is used to monitor the ambient light intensity changes in the vertical library according to a number of monitoring points and generate light intensity change data;

An environmental laser signal intensity monitoring unit is used to generate laser signal intensity variation data based on the signal intensity comparison of the laser emitted in the laser emission module;

The fill-in lighting unit is used to adjust the light intensity of the fill-in lighting equipment in real time according to the light intensity change data to ensure that the light intensity at each position in the vertical warehouse is the same;

The laser signal strength adjustment unit is used to adjust the signal strength of the laser transmitter in real time according to the laser signal strength change data to ensure that the laser signal strength at each position in the warehouse is the same.

In the monitoring point establishment unit, the areas where light intensity changes include: AGV path area, vertical warehouse corner area, vertical warehouse edge area, access door and window area, cargo storage area, and fill light equipment area.

In the area where light intensity changes, the specific number of monitoring points is set as follows:

In the AGV path area, several monitoring points are evenly distributed on the main channels and AGV paths to ensure that the light intensity is sufficient and evenly distributed;

In the corner area of the vertical warehouse, a monitoring point is set up in each corner of the vertical warehouse;

In the edge area of the vertical warehouse, several monitoring points are evenly arranged at the edge of the vertical warehouse;

In the area of doors and windows, a monitoring point is set at each corner of the door, a monitoring point is set at each corner of the window, and a monitoring point is set in the center of the door and window;

In the cargo storage area, a monitoring point is set at both ends and the center of each shelf, and a monitoring point is set at 1/4 and 3/4 of the length of each shelf, and at 1/4 and 3/4 of the height of each shelf;

In the fill light equipment area, a number of monitoring points are evenly distributed at the edge of the illumination range according to the illumination range projected by the fill light equipment.

In the ambient light intensity monitoring unit, the light intensity change data includes:

Light intensity change coordinates, used to determine the location of light intensity change in the vertical warehouse;

Light intensity value, indicating the light intensity at each position in the vertical library, in Lux;

Light intensity value sequence, which is the light intensity value sequence collected at different time points for each monitoring point;

The light intensity value sequences collected at each monitoring point at all time points are summarized to generate light intensity change data.

In the environmental laser signal intensity monitoring unit, the laser signal intensity change data includes:

Laser signal strength value: used to indicate the laser signal strength received at each monitoring point in the vertical warehouse, expressed in milliwatts (mW);

Laser signal intensity change coordinates: used to determine the specific location of the laser signal intensity change in the warehouse;

Laser signal intensity sequence: The laser signal intensity values collected at different time points for each monitoring point will form a sequence, which is used to reflect the change of laser signal intensity over time;

Laser signal quality indicators: including signal stability, signal-to-noise ratio, and signal distortion, which are used to evaluate the quality of laser signals;

The laser signal intensity sequences collected at each monitoring point at all time points are summarized to generate laser signal intensity change data.

The fill-light unit is used to adjust the light intensity of the fill-light device in real time according to the light intensity change data to ensure that the light intensity at each position in the vertical warehouse is the same.

The laser emission module comprises:

The wavelength adjustment unit is used to accurately adjust the wavelength of the laser to meet the usage requirements in different environments.

The laser emitting unit is used to emit the laser after the wavelength is adjusted so that the AGV laser receiving module can receive it.

Specifically, the wavelength adjustment unit includes a wavelength selector, a wavelength adjuster and a wavelength stabilizer. The wavelength selector is responsible for selecting the most suitable wavelength from multiple optional laser wavelengths; the wavelength adjuster is used to accurately adjust the wavelength of the laser to ensure that it meets the use requirements; the wavelength stabilizer is responsible for monitoring and stabilizing the wavelength of the laser to prevent wavelength drift caused by environmental changes or other factors.

The laser emission unit includes a laser generator, an optical lens and a laser emitter. The laser generator is responsible for generating laser light, and its performance determines the intensity, stability and reliability of the laser. The optical lens is used to adjust the divergence angle and spot shape of the laser to improve the transmission efficiency and recognition accuracy of the laser. The laser emitter is responsible for emitting the adjusted laser light.

In order to ensure the normal operation of the laser emission module, it is also necessary to perform regular maintenance and calibration. For example, the wavelength adjustment unit and the laser emission unit should be regularly checked and adjusted to ensure their stable and reliable performance; at the same time, the communication between the laser emission module and the AGV laser receiving module should be tested and calibrated to ensure accurate transmission and recognition of the laser signal.

The specific steps of wavelength adjustment by the wavelength adjustment unit are as follows:

Environmental analysis: First, the environmental monitoring module will analyze the current environment through the temperature sensors, humidity sensors and particle sensors set at the corners of the warehouse to collect temperature data, humidity data and dust data;

Wavelength selection: According to the result of environmental analysis, the wavelength selector selects the most suitable wavelength from multiple optional laser wavelengths as the preset target wavelength. The most suitable wavelength is selected by selecting a wavelength that is insensitive to temperature data, humidity data and dust data;

Precise adjustment: After selecting the appropriate wavelength, the wavelength adjuster will perform precise wavelength adjustment; the wavelength is changed by adjusting the current parameters and temperature parameters of the laser; the wavelength adjuster will automatically adjust these parameters according to a preset algorithm so that the wavelength of the laser reaches the preset target wavelength; wherein the preset algorithm is one of a linear interpolation algorithm or a lookup table algorithm;

Wavelength monitoring and stabilization: After adjusting the wavelength, the wavelength stabilizer will start working. It will continuously monitor the wavelength of the laser. If it finds that the wavelength has a tendency to drift, it will immediately make fine adjustments by changing the current parameters and temperature parameters to ensure that the wavelength of the laser always remains within the preset range;

For example, suppose that in a high temperature and high humidity environment, the environmental monitoring module detects that the ambient temperature is 40 degrees Celsius and the humidity is 90%. Based on this data, the wavelength selector selects a wavelength that is not very sensitive to changes in temperature and humidity, which is 1064 nanometers. The wavelength adjuster will accurately adjust the current and temperature of the laser based on this selection so that the wavelength of the laser reaches 1064 nanometers. Next, the wavelength stabilizer will continue to monitor the wavelength of the laser to ensure that the wavelength of the laser remains near 1064 nanometers when the ambient temperature and humidity change.

AGV laser receiving module includes:

The laser receiving unit is used to capture and receive the laser signal emitted by the laser emitting module.

The wavelength recognition unit is used to recognize the wavelength of the received laser signal and parse the corresponding instructions according to the wavelength information.

The laser receiving unit includes a photodetector, a signal amplifier and a filter. The photodetector is responsible for converting the received laser signal into an electrical signal; the signal amplifier is used to amplify the electrical signal to increase the signal amplitude and signal-to-noise ratio; the filter is used to filter out noise and interference in the signal to ensure the purity and stability of the signal.

The wavelength recognition unit includes a spectrum analyzer, a wavelength recognition algorithm, and a processor. The spectrum analyzer is used to analyze the spectral characteristics of the received laser signal to determine its wavelength; the wavelength recognition algorithm determines the source and type of the laser signal based on the wavelength information; the processor is responsible for executing the wavelength recognition algorithm and generating corresponding control instructions to guide the AGV to navigate and position.

The corresponding control instructions include: follow instructions and pause instructions. Each AGV has a unique follow wavelength and pause wavelength, which is convenient for one-to-one correspondence with the follow instructions and pause instructions received by each AGV.

The overlap area planning module includes: a pause planning submodule, a priority planning submodule, and a time planning submodule.

The suspension planning submodules include:

A pause area generating unit, used for generating a pause area according to the vertical warehouse information and the AGV information;

The pause laser emission unit is used to control the laser emission module to pause the emission of laser signals when the AGV enters the pause area; this is to ensure that the laser signal does not interfere with the navigation and positioning of other AGVs during the AGV pause.

In the pause area generation unit, the vertical warehouse information includes: shelf location, aisle width, and intersection shape.

AGV information includes: the real-time position of each AGV, the real-time speed information of each AGV, the current expected path of each AGV, the size of the AGV, and the turning radius of the AGV.

The priority planning submodules include:

The AGV priority setting unit is used to set a priority level for each AGV according to the performance status of the AGV and the current task information of the AGV.

The AGV priority sorting unit is used to determine which AGV should perform the task first when there is a task conflict caused by route overlap.

In the AGV priority setting unit, the performance status of the AGV includes: load condition, battery health and service life.

AGV current task information includes: current task urgency, current task importance,

For example, if there is an AGV responsible for transporting urgent orders or critical materials, this AGV will be given a higher priority; in addition, if an AGV has a heavy load or poor performance, the priority also needs to be adjusted to ensure that it can successfully complete the task.

The AGV priority sorting unit monitors the status and task status of each AGV in real time and dynamically sorts the AGVs according to the priority level. When a task conflict occurs, the sorting unit will use the scheduling algorithm to decide which AGV can perform the task or obtain resources first, and which AGV needs to wait or adjust the path based on the sorting results.

The scheduling algorithms include:

(1) Mathematical optimization model: one of linear programming, integer programming or dynamic programming;

(2) Machine learning algorithm: reinforcement learning or deep learning; by learning and analyzing historical data, the behavior and performance of AGVs can be predicted, and the priority of AGVs can be dynamically adjusted based on these prediction results;

(3) Heuristic search algorithm: It is one of the genetic algorithm, simulated annealing algorithm or ant colony algorithm; it can handle large-scale AGV scheduling problems and approach the optimal solution through gradual iteration and improvement.

The time planning submodule is responsible for managing and optimizing the running time of AGVs in the overlapped area, including:

The time division unit is used to divide the laser emission time into segments so that only one AGV passes in each time period.

The laser-time matching emission unit is used to sequentially match the laser emission time with the corresponding laser wavelength according to the priority order.

For example, the laser-time matching transmitting unit will adjust the transmitting time of the laser transmitting module according to the time segment information provided by the time division unit, so that the laser signal can be accurately sent to the AGV within the predetermined time period. At the same time, the laser-time matching transmitting unit will also adjust the transmitting frequency and intensity of the laser signal according to the priority and time planning of the AGV to ensure that the AGV can pass according to the priority and time planning.

The time segment length adjustment unit is used to dynamically adjust the length of each time segment according to the real-time AGV traffic, shorten the time segment length during peak traffic periods to expand throughput, and extend the time segment length during low traffic periods to improve resource utilization.

The control execution module includes: a path adjustment submodule, an environment adjustment submodule, and an overlap area adjustment submodule.

The path adjustment submodule includes:

The path marking unit is used to set and update the AGV's running path marking in the warehouse.

The path planning unit is responsible for planning the optimal operation path for the AGV through the path planning algorithm according to the location of the goods, the current location of the AGV and the actual situation of the warehouse; the path planning algorithm is one of the A* algorithm and the Dijkstra algorithm.

The environment adjustment submodules include:

The light adjustment unit is used to adjust the fill light intensity in real time according to the comparison result between the light intensity change data and the set light intensity.

The laser signal strength adjustment unit is used to adjust the signal strength of the laser transmitter in real time according to the comparison result between the laser signal strength adjustment unit and the set laser signal strength.

The overlap area adjustment submodule includes:

The AGV pause path guidance unit is used to guide the AGV when to pause in order to avoid collision when multiple AGVs are about to enter the overlapping area.

Specifically, based on the real-time position, speed, and mission destination of each AGV, the unit calculates the pause time and pause position of this AGV to ensure that there will be no conflict with other AGVs. When a suitable pause position is calculated, the unit sends a pause instruction to the AGV and guides it to the pause position.

AGV pause position matching unit, after the AGV reaches the designated pause position, the AGV pause position matching unit will further ensure that the AGV stops correctly at the designated position.

The unit detects the actual position of the AGV through a camera and compares it with the expected position. If the AGV position is found to be deviated, the unit sends an adjustment instruction to instruct the AGV to fine-tune its position through the AGV Pause Path Guidance Unit to ensure that it exactly matches the expected position.

The AGV priority path guidance unit is used to comprehensively consider the priority, destination, and current location of each AGV to plan the optimal path for each AGV. At the same time, the unit will monitor the operating status of the AGV in real time to ensure smooth passage along the planned path.

As shown in FIG2 , a control method of an AGV-based intelligent vertical warehouse system includes the following steps:

S1. Establish the same environmental conditions: set up several supplementary lighting devices in the vertical warehouse, emit lasers of different wavelengths from the top of the vertical warehouse, establish several monitoring points to monitor the light intensity and laser signal intensity at each position in the vertical warehouse, and adjust the supplementary lighting intensity and laser signal intensity at the corresponding monitoring points;

S2. Generate AGV path: After establishing the same environmental conditions at each position in the warehouse, calculate and generate the warehouse path, and assign a laser receiver with a unique wavelength to each AGV, emitting lasers of different wavelengths to guide the corresponding wavelength AGV to work along the warehouse path;

S3. Establish a pause area: establish a pause area at the intersection of several AGV paths, and emit a laser with a wavelength corresponding to the pause signal, so that several AGVs to be passed through all stay in the pause area;

S4, automatic priority allocation: collect the task data, status data, inventory data and time data of each AGV to be passed, generate the priority level, and adjust the priority driving order of the AGV to be passed in real time according to the priority judgment conditions;

S5. Time division: The laser emission time is segmented periodically according to the number of AGVs to be passed. In each time period, only a single laser wavelength is allowed to be emitted to specify the corresponding AGV to have priority passage, thereby achieving priority passage at the point where the paths overlap.

In step S1, the specific steps of monitoring the light intensity at each position in the library are:

S11, the ambient light intensity monitoring unit collects the light intensity data at each monitoring point in real time according to a number of monitoring points established in advance, records the light intensity values collected at each monitoring point at different time points, and forms a light intensity change curve of the monitoring point; each monitoring point is provided with a light sensor and an optical power meter;

S12. Repeat the above operation for all monitoring points to obtain the light intensity change curve data of each monitoring point, and integrate the light intensity change curve data of all monitoring points into light intensity change data.

In step S1, the specific steps of adjusting the fill light intensity and the laser signal intensity at the corresponding monitoring point are:

S13, transmitting the light intensity change data to the fill light illumination unit, which compares the current light intensity of each monitoring point with the set light intensity according to the light intensity change data, and compares the current laser signal intensity of each monitoring point with the set laser signal intensity;

S14, if the current light intensity of each monitoring point is less than the set light intensity, then add fill light to the monitoring point; if the current light intensity of each monitoring point is greater than the set light intensity, then reduce fill light to the monitoring point; adjust the light intensity of each fill light in real time to keep the light intensity at each monitoring point within the set range;

If the current laser signal strength of each monitoring point is less than the set laser signal strength, the laser emission power at the monitoring point position is increased; if the current laser signal strength of each monitoring point is greater than the set laser signal strength, the laser emission power at the monitoring point position is reduced.

In step S13, the steps for determining the light intensity are set as follows:

S131. Use a standard light source to calibrate the light intensity sensor to ensure that the data output by the sensor is accurate and reliable;

S132, recording the light intensity adjustment range of the fill light device, and comparing it with the recommended brightness range in the lighting standard, and setting the overlapping interval between the light intensity adjustment range and the recommended brightness range as the preliminary set value range;

S133, conduct multiple field tests within the initial set value range, record the measured light intensity of each monitoring point under different values, analyze the test data, screen out the value segments with small light intensity changes and close light intensity at each monitoring point, and delete the value segments with obviously insufficient or too high brightness, to generate a better set value range;

S134, selecting an intermediate value from the optimal range as the initial value setting, and performing short-term monitoring on the light intensity fluctuation of each monitoring point under the value. If the light intensity fluctuation is small, it is determined as the final setting value; if the light intensity fluctuation is large, the value needs to be further optimized;

S135, the optimization process is to increase or decrease the value within a better range to minimize the fluctuation of the light intensity at each monitoring point, and finally determine a value that makes the fill light system run most stably under this value as the final set value.

In step S13, the steps for determining the laser signal intensity are set as follows:

S136, summing up the maximum transmission powers of all laser transmitters, calculating an average of all the maximum transmission powers, and using the average as an initial laser signal intensity setting value;

S137, control all laser transmitters to emit lasers according to the initial laser signal intensity setting value, and test two indicators of the AGV, namely, the received signal rate and the received signal integrity. If the rate is too slow or the signal is missing, remove the maximum and minimum values of the maximum transmission power and recalculate the average;

S138, repeat steps S136-S137 until both indicators are met, and the initial laser signal intensity setting value at this time is the set laser signal intensity.

In step S2, when calculating and generating the warehouse path, it is necessary to consider the path length factor, obstacle situation factor, AGV state factor, and AGV load factor.

The path length factor refers to the shortest path required for the AGV to go from the starting point to the end point; the obstacle situation factor refers to whether there is cargo on the path. If there is stacked cargo on a path, it is necessary to bypass the path or choose another path; the AGV status factor refers to the energy consumption and battery life of the AGV. When calculating the path, a shorter path is chosen to extend battery life and reduce the number of charging times; the AGV load factor refers to whether the AGV carries cargo or the load. If the load is greater than 60% of the AGV's load-bearing capacity, the shortest path needs to be selected to complete the task.

For example, suppose there are 4 locations in the warehouse, namely A, B, C, and D. First, set the same environmental conditions at each location, including fill light equipment and monitoring points. Monitor the light intensity and laser signal intensity through the monitoring points, and adjust the fill light intensity and laser signal intensity according to the monitoring results to ensure the same environmental conditions.

Next, the AGV path is calculated based on the environmental conditions. Assume that the path is A→B→C→D, that is, the AGV needs to go from position A to position B, then to position C, and finally to position D. When generating the path, it is necessary to consider the path length factor, obstacle factor, AGV status factor, and AGV load factor.

Path length factor: Based on the layout and distance of the locations in the warehouse, calculate the shortest path from the starting point to the end point. For example, assuming that the distance from location A to location B is the shortest, the path length is 10 meters.

Obstacle situation factor: When calculating the path, it is necessary to consider whether there are stacked goods on the path. If there are stacked goods on the path from A to B, the AGV needs to bypass the path or choose another path. Assuming that there are stacked goods on the path from A to B, the AGV needs to choose another path, such as from A to C and then to B, with a path length of 15 meters.

AGV status factor: When calculating the path, you need to consider the AGV's energy consumption and battery life. In order to extend the battery life and reduce the number of charging times, try to choose a shorter path. Assuming that the AGV has low energy consumption and battery life, you need to choose a path from A to C and then to B, with a path length of 15 meters.

AGV load factor: Choose a suitable path based on the AGV's capacity and load. Assuming the AGV is carrying cargo and the load is 75% of the AGV's load capacity, you need to choose a path from A to B with a path length of 10 meters.

After comprehensively considering the factors of path length, obstacle situation, AGV status and AGV load, the final AGV path is generated. In this example, the final path is A→B→C→D, and the path length is 10 meters.

In step S3, the specific steps of establishing the pause area are:

S31. Collect relevant data: including shelf location, aisle width, intersection shape, real-time location and real-time speed information of each AGV;

By using an ultrasonic rangefinder to measure the position of each shelf relative to the coordinate system of the vertical warehouse, an accurate shelf position database can be obtained; at the same time, the ultrasonic rangefinder is used to ensure that each channel has a corresponding width data record;

The width and intersection angle of the intersection are measured by cameras;

The real-time position of each AGV is obtained by installing a GPS positioning module on the AGV, and the real-time speed information is obtained by installing a speed sensor on the AGV;

S32. Based on the data collected in S31, combined with the AGV size and the AGV turning radius, the size and shape of the pause area are generated.

The specific steps for generating the size and shape of the pause area are:

S321, predicting the possible stay time of each AGV in the pause area according to the real-time position and real-time speed data of each AGV;

S322, considering the maximum braking distance of the AGV, a rectangular area is extended backward with the AGV forward direction as the center, and the length and width of the rectangular area are the maximum braking distance of the AGV and the size of the AGV itself respectively;

S323, considering the minimum turning radius of the AGV, draw arcs at the four corners of the rectangular area, and the radius of the arc is the minimum turning radius of the AGV;

S324, combining the rectangular area and the arc areas at the four corners into an irregular polygonal area, which is the pause area where the AGV stays;

S325. According to the actual vertical warehouse structure, that is, the shelf position, necessary adjustments are made to the pause area to obtain the size and shape of the final pause area.

For example, suppose there are two main AGV paths in a smart warehouse, path A and path B, which intersect in a certain area to form a path overlap point. In order to effectively manage the passage of AGVs, a pause area needs to be established at this path overlap point:

(1) Determine the path overlap point: After analysis, it is found that path A and path B intersect in the middle area of the warehouse, forming a potential conflict point, namely the path overlap point;

(2) Design of pause area: Considering the size and driving speed of the AGV, a pause area is designed near the path overlap point. It is a circular area with a diameter of 5 meters, centered at the intersection of path A and path B.

(3) Emitting a pause signal: The pause laser emission unit on the top of the vertical warehouse emits a 150nm pause signal. When the AGV receives the laser signal, it will automatically slow down and stop in the pause area according to the preset program;

(4) Monitoring AGV location:

The AGV pause position matching unit detects the pause position of each AGV in real time through a camera, and compares it with the expected position through the AGV pause position matching unit. If the AGV position is found to be deviated, the AGV pause path guidance unit will send an adjustment instruction to guide the AGV to fine-tune its position to ensure that it fully matches the expected position;

(5) Adjust the AGV driving order:

When multiple AGVs enter the pause area at the same time, the AGV priority sorting unit will adjust their driving order according to their priority and status. For example, if AGV1 has a higher priority than AGV2, or the cargo of AGV1 is more urgent, then the AGV priority path guidance unit will let AGV1 leave the pause area first and continue to drive along path A. AGV2 will need to wait for a while until AGV1 leaves the pause area, and then continue to drive according to the new driving order.

In step S4, the task data includes: the type of task currently carried by the AGV, the urgency of the task, and the destination of the task.

Status data includes: real-time power, running speed, and load condition of AGV.

Inventory data includes: inventory quantity, cargo type and distribution of each cargo location in the warehouse. It is used to determine the urgency of the AGV's task. For example, if the inventory of a certain cargo location is low and the demand is high, the AGV going to that cargo location will be given a higher priority.

Time data includes: the time when the AGV requests passage, the current time, and the estimated time to complete the task; these data are used by the control system to determine the urgency and driving order of the AGV.

After collecting enough data, the AGV priority setting unit needs to generate the priority level of each AGV to be passed according to the data. The priority level can be generated by an algorithm, which is fuzzy logic or neural network.

After the priority is generated, the AGV priority sorting unit needs to adjust the priority driving order of the AGVs to be passed in real time according to the priority judgment conditions. For example, when a high-priority AGV arrives at the pause area, the waiting time of the low-priority AGV needs to be adjusted or its driving path needs to be changed to ensure that the high-priority AGV can pass first.

For example, in an intelligent warehouse, there are three AGVs (AGV1, AGV2, AGV3) that need to pass at the same time, and they each carry different tasks. In order to decide which AGV should have priority, the warehouse system will automatically assign priorities according to the steps of S4.

(1) Data collection

Task data:

AGV1: Responsible for transporting a batch of urgent order goods from warehouse A to the shipping area.

AGV2: needs to transport some regular goods from warehouse B to the picking area.

AGV3: Responsible for transporting returns from the receiving area to warehouse C.

Status data:

AGV1: The battery is sufficient, the running speed is normal, and the load is light.

AGV2: Medium battery level, normal speed, and moderate load.

AGV3: lower power, slightly slower running speed, heavier load.

Inventory data:

Warehouse A has low volume of urgent orders and urgent demand.

Warehouse B has a moderate volume of regular goods and stable demand.

Warehouse C has a high volume of returns that need to be processed as quickly as possible.

Time data:

The requested travel time of AGV1 is 10:00, and the estimated time to complete the task is 10:15.

AGV2's requested travel time is 10:02, and the estimated time to complete the task is 10:20.

AGV3's requested travel time is 10:03, and the estimated time to complete the task is 10:30.

(2) Priority generation

Based on the collected data, the AGV priority setting unit generates a priority level for each AGV. In this example, AGV1 is given the highest priority because it is responsible for the delivery of urgent order goods and the goods volume in warehouse A is low and the demand is urgent. AGV3 is given the second highest priority because it has a low battery and is responsible for handling a large number of returns. AGV2's tasks are relatively routine and there is no urgent demand, so it is given the lowest priority.

(3) Priority adjustment

When three AGVs arrive at the pause area at the same time, the AGV priority sorting unit adjusts their driving order according to the priority judgment conditions. In this example, the AGV priority sorting unit will first allow AGV1 to leave the pause area and continue to perform the task, followed by AGV3, and finally AGV2. If AGV1 encounters any obstacles or requires additional time during the passage, the AGV priority sorting unit can adjust the waiting time or driving path of other AGVs according to the actual situation.

(4) Real-time monitoring and adjustment

During the entire process, the AGV priority path guidance unit monitors the status and location of the three AGVs in real time and dynamically adjusts the priority and driving order according to the actual situation. For example, if AGV2 runs out of power during the waiting period, the control system may increase its priority so that it can complete charging and resume work as soon as possible.

When adjusting the priority and driving order, the AGV priority path guidance unit will ensure the safe distance between the three AGVs and avoid collisions. For example, if AGV1 and AGV3 request passage at the same time and their paths intersect, the control system will let AGV1 pass first and then adjust the driving path of AGV3 to avoid collision.

In step S5, priority passage is given to the overlapping parts of the paths. The specific steps are as follows:

S51, calculating the length of the time period T as a fixed value according to the number N of AGVs to be passed;

S52, divide the time period T into N small time periods evenly, and the length of each small time period is T/N seconds;

S53, according to the AGV priority order generated in S4, matching the N AGVs to N small time periods in order;

S54, in the first small time period, only the laser of the wavelength corresponding to the first AGV is emitted, so that it passes through the path overlap position first;

S55, in the second small time period, only the laser of the wavelength corresponding to the second AGV is emitted, so that it passes through the overlapping path first;

S56, and so on, only the corresponding AGV wavelength laser is emitted in each small time period to achieve passing in priority order;

S57. When a time period T ends, a new time period T begins, and steps S51-S56 are repeated to achieve real-time scheduling and management of multiple AGVs passing through overlapping paths.

For example, there are 4 AGVs waiting to pass, numbered AGV1, AGV2, AGV3, and AGV4. According to S4, their priority order is: AGV1>AGV2>AGV3>AGV4, then:

Set the time period T to 1 second; divide 1 second into 4 small time periods, each of which is 0.25 seconds;

Match AGVs to time periods based on priority order:

The first 0.25 second time period matches AGV1; the second 0.25 second time period matches AGV2; the third 0.25 second time period matches AGV3; and the fourth 0.25 second time period matches AGV4.

In the first 0.25 second time period, only the laser wavelength corresponding to AGV1 is emitted, allowing AGV1 to pass first; in the second 0.25 second time period, only the laser wavelength corresponding to AGV2 is emitted, allowing AGV2 to pass first; in the third 0.25 second time period, only the laser wavelength corresponding to AGV3 is emitted, allowing AGV3 to pass first; in the fourth 0.25 second time period, only the laser wavelength corresponding to AGV4 is emitted, allowing AGV4 to pass; at this time, the 1 second time period ends.

Then a new 1-second time period is started, and the above steps are repeated to enable the AGVs to pass through the overlapping paths in order of priority.

The above is based on the ideal embodiment of the present invention. Through the above description, relevant personnel can make various changes and modifications without departing from the technical concept of the present invention. The technical scope of the present invention is not limited to the content in the specification, and the technical scope must be determined according to the scope of the claims.

Claims (10)

1. The control method of the intelligent vertical warehouse system based on the AGV is characterized by comprising the following steps of:

S1, establishing the same environmental conditions: setting a plurality of light supplementing devices in the vertical warehouse, emitting lasers with different wavelengths from the top of the vertical warehouse, establishing a plurality of monitoring points to monitor the light intensity and the laser signal intensity of each position in the vertical warehouse, and adjusting the light supplementing intensity and the laser signal intensity at the corresponding monitoring points;

S2, generating an AGV path: after the same environmental condition is established at each position in the opposite warehouse, calculating and generating a warehouse-standing path, and distributing laser receivers with unique wavelengths for each AGV, and transmitting lasers with different wavelengths to guide the AGVs with corresponding wavelengths to work along the warehouse-standing path;

S3, establishing a pause area: a pause area is established at the overlapping position of the AGV paths, and a pause signal is transmitted to correspond to the wavelength laser, so that a plurality of AGVs to be passed through stay in the pause area;

S4, priority automatic allocation: collecting task data, state data, inventory data and time data of each AGV to be passed, generating priority levels, and adjusting the priority running sequence of the AGVs to be passed in real time according to priority judging conditions;

S5, time division: and (3) periodically segmenting the laser emission time according to the number of AGVs to be passed, and only allowing a single laser wavelength to be emitted to designate the corresponding AGVs to pass preferentially in each time period, thereby realizing the preferential pass at the position of the path overlapping.

2. The control method of the intelligent vertical warehouse system based on the AGV according to claim 1, wherein the control method comprises the following steps: in step S1, the specific steps of monitoring the light intensity at each position in the opposite bank are as follows:

s11, the environment light intensity monitoring unit collects light intensity data at each monitoring point in real time according to a plurality of preset monitoring points, and records the light intensity values collected at different time points of each monitoring point to form a light intensity change curve of the monitoring point; an illumination sensor and an optical power meter are arranged in each monitoring point;

And S12, repeating the operation on all the monitoring points to obtain the light intensity change curve data of each monitoring point, and integrating the light intensity change curve data of all the monitoring points into light intensity change data.

3. The control method of the intelligent vertical warehouse system based on the AGV according to claim 1, wherein the control method comprises the following steps: in step S1, the specific steps of adjusting the intensity of the light supplement and the intensity of the laser signal at the corresponding monitoring point are as follows:

S13, transmitting the light intensity change data to a light supplementing and illuminating unit, and comparing the current light intensity of each monitoring point with the set light intensity and comparing the current laser signal intensity of each monitoring point with the set laser signal intensity by the light supplementing and illuminating unit according to the light intensity change data;

S14, if the current light intensity of each monitoring point is smaller than the set light intensity, adding light supplementing to the position of the monitoring point; if the current light intensity of each monitoring point is larger than the set light intensity, reducing light supplementing to the position of the monitoring point; the light intensity of each light supplementing lamp is adjusted in real time, and the light intensity at each monitoring point is kept within a set range;

If the current laser signal intensity of each monitoring point is smaller than the set laser signal intensity, increasing the laser emission power of the position of the monitoring point; and if the current laser signal intensity of each monitoring point is greater than the set laser signal intensity, reducing the laser emission power of the position of the monitoring point.

4. The control method of the intelligent vertical warehouse system based on the AGV according to claim 1, wherein the control method comprises the following steps: in step S2, path length factors, obstacle situation factors, AGV status factors, and AGV load factors need to be considered in calculating and generating the library path.

5. The control method of the intelligent vertical warehouse system based on the AGV according to claim 1, wherein the control method comprises the following steps: in step S4, the task data includes: the type of the task, the emergency degree of the task and the destination of the task which are currently carried by the AGV; the status data includes: real-time electric quantity, running speed and load condition of the AGV; the inventory data includes: stock quantity, cargo types and distribution conditions of all cargo positions in the warehouse; the time data includes: including the time the AGV requested to pass, the current time, the time the task is expected to complete.

6. The control method of the intelligent vertical warehouse system based on the AGV according to claim 1, wherein the control method comprises the following steps: in step S3, the specific steps of establishing the pause area are:

S31, collecting related data: the automatic control system comprises a shelf position, a channel width, an intersection shape, real-time position and real-time speed information of each AGV;

By measuring the position of each shelf relative to the vertical coordinate system using an ultrasonic rangefinder, an accurate shelf position database can be obtained; simultaneously, an ultrasonic range finder is used for measuring to ensure that each channel has corresponding width data record; measuring the width and the crossing angle of the crossing by a camera; acquiring real-time positions of each AGV by installing a GPS positioning module on the AGV, and acquiring real-time speed information by installing a speed sensor on the AGV;

S32, based on the collected data in S31, the size and the shape of the pause area are generated by combining the size of the AGV and the steering radius of the AGV.

7. An intelligent vertical warehouse system based on an AGV, comprising: the system comprises an environment monitoring module, a laser emission module, an AGV laser receiving module, a superposition area planning module and a control executing module, and is characterized in that:

the environmental monitoring module includes: the system comprises a monitoring point establishing unit, an environment light intensity monitoring unit, an environment laser signal intensity monitoring unit, a light supplementing unit and a laser signal emphasis and adjustment unit;

The laser emission module includes: a wavelength adjusting unit and a laser emitting unit;

AGV laser receiving module includes: a laser receiving unit and a wavelength identifying unit;

The overlapping area planning module comprises: a pause planning sub-module, a priority planning sub-module and a time planning sub-module;

the control execution module includes: the system comprises a path adjustment sub-module, an environment adjustment sub-module and a superposition area adjustment sub-module.

8. The intelligent vertical warehouse system based on an AGV of claim 7, wherein: the pause planning submodule includes: a pause region generating unit and a pause laser emitting unit; the priority planning submodule includes: an AGV priority setting unit and an AGV priority sorting unit; the time planning submodule includes: the device comprises a time dividing unit, a laser-time matching transmitting unit and a time segment length adjusting unit.

9. The intelligent vertical warehouse system based on an AGV of claim 7, wherein: the path adjustment submodule includes: a path marking unit and a path planning unit; the environment adjustment submodule includes: an illumination adjustment unit and a laser signal intensity adjustment unit; the overlapping region adjustment submodule includes: the AGV pauses the route guiding unit, AGV pauses the position matching unit and AGV priority route guiding unit.

10. The intelligent vertical warehouse system based on an AGV of claim 8, wherein: in the suspension area generating unit, the library information includes: shelf position, channel width, intersection shape; the AGV information includes: real-time position of each AGV, real-time speed information of each AGV, current expected path of each AGV, AGV size, and AGV steering radius.