CN109613896A - A kind of dispatching method and device for multiple automatic navigation vehicles - Google Patents
A kind of dispatching method and device for multiple automatic navigation vehicles Download PDFInfo
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- CN109613896A CN109613896A CN201811387274.5A CN201811387274A CN109613896A CN 109613896 A CN109613896 A CN 109613896A CN 201811387274 A CN201811387274 A CN 201811387274A CN 109613896 A CN109613896 A CN 109613896A
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- 230000005611 electricity Effects 0.000 claims abstract description 59
- 238000012423 maintenance Methods 0.000 claims abstract description 34
- 230000004044 response Effects 0.000 claims description 10
- 230000002159 abnormal effect Effects 0.000 abstract description 13
- 230000032258 transport Effects 0.000 description 8
- 230000000903 blocking effect Effects 0.000 description 4
- 238000007726 management method Methods 0.000 description 4
- 125000004122 cyclic group Chemical group 0.000 description 3
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
- G05B19/41865—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by job scheduling, process planning, material flow
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/32—Operator till task planning
- G05B2219/32252—Scheduling production, machining, job shop
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/60—Electric or hybrid propulsion means for production processes
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Abstract
The present invention provides a kind of dispatching methods and device for multiple automatic navigation vehicles, it include: when there is no new carrying task, for the automatic navigation vehicle without normally executing carrying task, according to the working condition and/or electricity of the automatic navigation vehicle, distributes the automatic navigation vehicle and execute an autotask；The autotask includes rest task, and/or charging tasks, and/or maintenance task；The execution of the autotask completes point in the edge zone for carrying region.The present invention passes through the abnormal AGV for executing carrying task of rational management, the traffic jam for making it not cause to carry region, to improve the whole handling efficiency of more AGV.
Description
Technical field
The present invention relates to automatic navigation vehicle transport field, espespecially a kind of dispatching method and dress for multiple automatic navigation vehicles
It sets.
Background technique
Automatic navigation vehicle (Automated Guided Vehicle, abbreviation AGV) is to grow up the fifties in last century
Intelligent transfer robot has become the key equipment in modern industry automatic Material Handling System.It is presently allocated to self-navigation
The task of vehicle is mainly transported goods.When more AGV are when the same area transports goods, reasonable distribution task, which becomes, is removed
Transport the key of efficiency.If not distributing other tasks after AGV unsnatches goods, break bulk point can be accounted for always, lead to other AGV not
Break bulk point unloading can be arrived.In addition, AGV may be just in situ when AGV occurs abnormal in walking or picking, Discharging Process
To, if the location of the AGV is on major trunk roads, it is easy to lead to traffic jam, influence the carrying task of other AGV.
More automatic navigation vehicles are reasonably thus dispatched, make more automatic navigation vehicles that completion carrying task efficiently be cooperateed with to become needs at present
It solves the problems, such as.
Summary of the invention
The object of the present invention is to provide a kind of dispatching methods and device for multiple automatic navigation vehicles, pass through rational management
The abnormal AGV for executing carrying task, the traffic jam for making it not cause to carry region, so that the entirety for improving more AGV is removed
Transport efficiency.
Technical solution provided by the invention is as follows:
A kind of dispatching method for multiple automatic navigation vehicles, comprising: when there is no it is new carry task when, for it is no just
The automatic navigation vehicle for often executing carrying task distributes described automatic according to the working condition and/or electricity of the automatic navigation vehicle
Navigation vehicle executes an autotask；The autotask includes rest task, and/or charging tasks, and/or maintenance task；
The execution of the autotask completes point in the edge zone for carrying region.
In the above-mentioned technical solutions, by the abnormal AGV for executing carrying task of rational management, it is made not cause to carry area
The traffic jam in domain, to improve the whole handling efficiency of more AGV.
It is further preferred that the working condition and/or electricity according to the automatic navigation vehicle, is distributed described automatic
It includes: to distribute the self-navigation when the working condition exception of the automatic navigation vehicle that navigation vehicle, which executes an autotask,
Vehicle executes maintenance task, and the task status that the automatic navigation vehicle is arranged is that can not interrupt.
In the above-mentioned technical solutions, maintenance task is distributed to the AGV of working condition exception, not only can solve operation irregularity
Problem can also avoid obstruction from carrying the traffic in region, to avoid influencing the normal operation of other AGV, improve more AGV's
Whole handling efficiency.
It is further preferred that the working condition and/or electricity according to the automatic navigation vehicle, is distributed described automatic
Navigation vehicle executes an autotask further include: and available free when the electricity of the automatic navigation vehicle is lower than the first preset threshold
Charge point when, the task status distributed the automatic navigation vehicle and execute charging tasks, and the automatic navigation vehicle is arranged is not
It can interrupt.
In the above-mentioned technical solutions, charging tasks are distributed to the AGV of low battery, it not only can be to avoid this kind of AGV subsequent
It is out of power suddenly during carrying task, enable more AGV continual execution transport operation for a long time, can also avoid blocking
Carry the traffic in region.
It is further preferred that the working condition and/or electricity according to the automatic navigation vehicle, is distributed described automatic
Navigation vehicle executes an autotask further include: when the working condition of the automatic navigation vehicle is normal, and electricity is not less than first
Preset threshold is lower than the second preset threshold, and when available free charge point, distributes the automatic navigation vehicle and execute charging tasks,
And the task status that the automatic navigation vehicle is arranged is that can interrupt.
In the above-mentioned technical solutions, charging tasks are distributed to the AGV of middle electricity, can not only guarantees that its subsequent execution is carried
Task has enough electricity, picking point or break bulk point can also be discharged as early as possible after it completes carrying task, so that other AGV
The point can be gone to complete picking or unloading task, to improve whole handling efficiency.
It is further preferred that the working condition and/or electricity according to the automatic navigation vehicle, is distributed described automatic
Navigation vehicle executes an autotask further include: when the working condition of the automatic navigation vehicle is normal, and to be higher than second pre- for electricity
If threshold value, and when available free break point, it distributes the automatic navigation vehicle and executes rest task, and the automatic navigation vehicle is set
Task status be can interrupt.
In the above-mentioned technical solutions, rest task is distributed to the AGV of high electricity, it can be after it completes carrying task as early as possible
Picking point or break bulk point are discharged, allows other AGV that the point is gone to complete picking or unloading task, to improve whole carrying
Efficiency.
It is further preferred that further include: when there is a new carrying task, and select a task status for can interrupt from
When dynamic navigation vehicle, the automatic navigation vehicle is notified to interrupt its current task；After receiving the success response of the automatic navigation vehicle,
It distributes the automatic navigation vehicle and executes new carrying task.
In the above-mentioned technical solutions, it can be interrupted by task, make AGV that need not complete to go to execute new post again to current task
Business, can reduce the task switching time of AGV in this way, improve working efficiency.
It is further preferred that described when there is a new carrying task, and select a task status for can interrupt oneself
When dynamic navigation vehicle, notifying the automatic navigation vehicle to interrupt its current task includes: and described newly to remove when there is a new carrying task
The terminal of first subtask of fortune task is not occupied, and selects a task status for the automatic navigation vehicle that can interrupt
When, notify the automatic navigation vehicle to interrupt its current task.
In the above-mentioned technical solutions, the road of new first subtask for carrying task is first judged in the new carrying task of distribution
Whether line is occupied, to actively avoid executing new AGV and other AGV collision for carrying task in planning, improves and carries effect
Rate.
The present invention also provides a kind of dispatching devices for multiple automatic navigation vehicles, comprising: scheduler module, for that ought not deposit
When newly carrying task, for the automatic navigation vehicle without normally executing carrying task, according to the work of the automatic navigation vehicle
State and/or electricity distribute the automatic navigation vehicle and execute an autotask；The autotask include rest task and/
Or charging tasks, and/or maintenance task；The execution of the autotask completes point in the edge zone for carrying region.
In the above-mentioned technical solutions, by the abnormal AGV for executing carrying task of rational management, it is made not cause to carry area
The traffic jam in domain, to improve the whole handling efficiency of more AGV.
It is further preferred that the scheduler module, is further used for when there is no new carrying task, for abnormal
The automatic navigation vehicle for executing carrying task distributes the automatic navigation vehicle when the working condition exception of the automatic navigation vehicle
The task status for executing maintenance task, and the automatic navigation vehicle being arranged is that can not interrupt.
In the above-mentioned technical solutions, maintenance task is distributed to the AGV of working condition exception, not only can solve operation irregularity
Problem can also avoid obstruction from carrying the traffic in region, to avoid influencing the normal operation of other AGV, improve more AGV's
Whole handling efficiency.
It is further preferred that the scheduler module, is further used for when there is no new carrying task, for abnormal
The automatic navigation vehicle for executing carrying task when the electricity of the automatic navigation vehicle is lower than the first preset threshold, and available free fills
When electricity point, the task status distributed the automatic navigation vehicle and execute charging tasks, and the automatic navigation vehicle is arranged is that can not beat
It is disconnected.
In the above-mentioned technical solutions, charging tasks are distributed to the AGV of low battery, it not only can be to avoid this kind of AGV subsequent
It is out of power suddenly during carrying task, enable more AGV continual execution transport operation for a long time, can also avoid blocking
Carry the traffic in region.
A kind of dispatching method and device for multiple automatic navigation vehicles provided through the invention, can bring with down toward
It is few a kind of the utility model has the advantages that
1, the present invention is by the abnormal AGV for executing carrying task of rational management, the traffic for making it not cause to carry region
Obstruction, to improve the whole handling efficiency of more AGV；
2, the present invention is by distributing charging tasks to AGV, it is ensured that and more AGV can be worked without interruption for a long time,
To improve the whole handling efficiency of more AGV.
Detailed description of the invention
Below by clearly understandable mode, preferred embodiment is described with reference to the drawings, one kind is led automatically for multiple
The dispatching method of airline and above-mentioned characteristic, technical characteristic, advantage and its implementation of device are further described.
Fig. 1 is a kind of flow chart of one embodiment of dispatching method for multiple automatic navigation vehicles of the invention；
Fig. 2 is a kind of flow chart of another embodiment of dispatching method for multiple automatic navigation vehicles of the invention；
Fig. 3 is a kind of flow chart of another embodiment of dispatching method for multiple automatic navigation vehicles of the invention；
Fig. 4 is a kind of flow chart of another embodiment of dispatching method for multiple automatic navigation vehicles of the invention；
Fig. 5 is a kind of flow chart of another embodiment of dispatching method for multiple automatic navigation vehicles of the invention；
Fig. 6 is a kind of flow chart of another embodiment of dispatching method for multiple automatic navigation vehicles of the invention；
Fig. 7 is a kind of flow chart of another embodiment of dispatching method for multiple automatic navigation vehicles of the invention；
Fig. 8 is a kind of flow chart of another embodiment of dispatching method for multiple automatic navigation vehicles of the invention；
Fig. 9 is a kind of structural representation of one embodiment of dispatching device for multiple automatic navigation vehicles of the invention
Figure.
Drawing reference numeral explanation:
100. scheduler module.
Specific embodiment
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, Detailed description of the invention will be compareed below
A specific embodiment of the invention.It should be evident that drawings in the following description are only some embodiments of the invention, for
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings other
Attached drawing, and obtain other embodiments.
To make simplified form, part related to the present invention is only schematically shown in each figure, they are not represented
Its practical structures as product.In addition, there is identical structure or function in some figures so that simplified form is easy to understand
Component only symbolically depicts one of those, or has only marked one of those.Herein, "one" is not only indicated
" only this ", can also indicate the situation of " more than one ".
In one embodiment of the invention, as shown in Figure 1, a kind of dispatching method for multiple automatic navigation vehicles, packet
It includes:
Step S100 is when there is no new carrying task, for the automatic navigation vehicle without normally executing carrying task, root
According to the working condition and/or electricity of the automatic navigation vehicle, distributes the automatic navigation vehicle and execute an autotask；It is described from
Dynamic task includes rest task, and/or charging tasks, and/or maintenance task；The execution of the autotask is completed point and is being carried
The edge zone in region.
Specifically, the subsequent abbreviation AGV of automatic navigation vehicle.AGV without normally executing carrying task refers to that normal execute is removed
AGV other than fortune task, the AGV including unallocated carrying task always are completed carrying task, not yet distribute new carrying task
AGV, and execute carrying task in there is abnormal AGV.If carrying task there is currently no new, for not holding normally
The AGV of row carrying task distributes it and executes an autotask.Autotask, i.e., non-carrying task, including rest task, fill
Electric task and maintenance task.Rest task is that break point is rested, and charging tasks are that charge point charges, and maintenance task is to tie up
Repair a maintenance.Break point, charge point, maintenace point can be removed in the edge zone for carrying region to avoid no normally execute in this way
The AGV of fortune task carries the carrying task of other AGV of regional effect because staying in, to influence whole handling efficiency.
Introduce two kinds of embodiments.Mode 1, after each AGV has executed normal carrying task, system is to AGV starting one
A timer, duration empirically configure.An interruption is initiated when the timer expiry, system responds the interruption, if this
When do not carry task newly, then according to the working condition of the AGV and/or electricity, distribute the AGV go execute an autotask；
If the timer has not timed out, system is assigned with a new carrying task to the AGV again, then stops the timer.Mode 2,
System starts a timer, checks institute either with or without the AGV of normal execution carrying task, when being not present according to the timer period
When new carrying task, according to the working condition and/or electricity of each AGV, distributes the AGV and go to execute one automatic
Business.
In another embodiment of the present invention, as shown in Fig. 2, a kind of dispatching method for multiple automatic navigation vehicles,
Include:
Step S200 when there is no it is new carry task when, for the automatic navigation vehicle of no normally execution carrying task, when
It when the working condition exception of the automatic navigation vehicle, distributes the automatic navigation vehicle and executes maintenance task, and be arranged described automatic
The task status of navigation vehicle is that can not interrupt；The maintenace point is in the edge zone for carrying region.
Specifically, AGV working condition includes following situations extremely: situation 1, system judges that AGV is loaded, but break bulk point is gone to unload
Find that break bulk point has cargo, leads to not unload when goods；Situation 2, system judges AGV zero load, but AGV sensor but detects
It is available in stock to AGV, it may be possible to sensor fault.For the AGV of working condition exception, need to restore after manually overhauling normally to make
Industry not only can solve operation irregularity problem so distributing maintenance task to this kind of AGV, and obstruction can also be avoided to carry region
Traffic.When this kind of AGV is carrying out maintenance task, task status is that can not interrupt, and means that other tasks cannot be beaten
Break the maintenance task, can just go to execute other tasks after only completing the maintenance task.
In another embodiment of the present invention, as shown in figure 3, a kind of dispatching method for multiple automatic navigation vehicles,
Include:
Step S300 when there is no it is new carry task when, for the automatic navigation vehicle of no normally execution carrying task, when
The electricity of the automatic navigation vehicle is lower than the first preset threshold, and when available free charge point, distributes the automatic navigation vehicle and hold
Row charging tasks, and the task status that the automatic navigation vehicle is arranged is that can not interrupt；The charge point is on the side for carrying region
Margin zone.
Specifically, the first preset threshold is arranged based on experience, when electricity is lower than the threshold value, AGV is easy to or the short time
After can not work normally.So when electricity is lower than the first preset threshold, and when available free charge point, it distributes this kind of AGV and goes to fill
Electricity, not only can be out of power suddenly during subsequent handling task to avoid this kind of AGV, and this kind of AGV obstruction can also be avoided to carry
The traffic in region.
In another embodiment of the present invention, as shown in figure 4, a kind of dispatching method for multiple automatic navigation vehicles,
Include:
Step S400 when there is no it is new carry task when, for the automatic navigation vehicle of no normally execution carrying task, when
The working condition of the automatic navigation vehicle is normal, and electricity is not less than the first preset threshold, is lower than the second preset threshold, and free
When the charge point in spare time, distributes the automatic navigation vehicle and execute charging tasks, and the task status that the automatic navigation vehicle is arranged is
It can interrupt；The charge point is in the edge zone for carrying region.
Specifically, if its electricity is not less than the first preset threshold, but being lower than second after AGV has executed carrying task
Preset threshold, and when available free charge point, it gives its to distribute charging tasks, can not only guarantee that its subsequent execution is carried task and had
Enough electricity can also discharge picking point or break bulk point as early as possible, allow other AGV that the point is gone to complete picking or unloading
Task.
In another embodiment of the present invention, as shown in figure 5, a kind of dispatching method for multiple automatic navigation vehicles,
Include:
Step S500 when there is no it is new carry task when, for the automatic navigation vehicle of no normally execution carrying task, when
The working condition of the automatic navigation vehicle is normal, and electricity is higher than the second preset threshold, and when available free break point, distributes institute
The task status stated automatic navigation vehicle and execute rest task, and the automatic navigation vehicle is arranged is that can interrupt；The break point exists
Carry the edge zone in region.
Specifically, after AGV has executed carrying task, if its electricity is also relatively more, when being higher than second threshold, to its point
With rest task, picking point or break bulk point can be discharged as early as possible, other AGV are gone, and the point completes picking or unloading is appointed
Business.
In another embodiment of the present invention, as shown in fig. 6, a kind of dispatching method for multiple automatic navigation vehicles,
Include:
The AGV of all unallocated tasks is formed the first task to be allocated by all movable AGV of step S110 cyclic check
AGV table.
Step S210 traverses the first task AGV table to be allocated, when there is no it is new carry task when, to meeting following conditions
AGV distributes an autotask:
When the working condition exception of AGV, distributes the AGV and execute maintenance task, and the task status of the AGV is set
For that can not interrupt；The maintenace point is in the edge zone for carrying region；
When the working condition of AGV is normal, and the electricity of AGV is lower than the first preset threshold, and when available free charge point, point
The task status for executing charging tasks with the AGV, and the AGV being arranged is that can not interrupt；The charge point is carrying region
Edge zone；
Step S310 updates the first task AGV table to be allocated, obtains the second task AGV table to be allocated；
Step S410 traverses the second task AGV table to be allocated, when there is no it is new carry task when, to meeting following conditions
AGV distributes an autotask:
When the working condition of AGV is normal, and electricity not less than the first preset threshold, be lower than the second preset threshold, and it is free
When the charge point in spare time, the task status distributed the AGV and execute charging tasks, and the AGV is arranged is that can interrupt；
Step S510 updates the second task AGV table to be allocated, obtains third task AGV table to be allocated；
Step S610 traverses third task AGV table to be allocated, when there is no new carrying task, to each AGV distribution one
A autotask:
When available free break point, distributes the AGV and execute rest task, and the task status that the AGV is arranged is
It can interrupt；
When available free charge point, distributes the AGV and execute charging tasks, and the task status that the AGV is arranged is
It can interrupt.
Specifically, the precondition of the present embodiment, carries operating area and needs to meet: number+charge point of break point
The number of number > AGV, a break point can only rest for an AGV, and a charge point can only charge for an AGV.
System starts the timer of a cycle, all movable AGV of regular check, by all unallocated tasks
AGV forms a first task AGV table to be allocated.The AGV of unallocated task refers to both without normally executing carrying task, does not also have
There is the AGV of distribution autotask.
Judged for each AGV in the AGV table, when there is no it is new carry task when, to meeting following conditions
AGV distributes an autotask: if AGV working condition is abnormal, distributing maintenance task to it, and it is not that task status, which is arranged,
It can interrupt；If AGV electricity is lower than first threshold, and when available free charge point, then its is given to distribute charging tasks, and be arranged and appoint
Business state is that can not interrupt.Later, the AGV for having distributed autotask is removed from the first task AGV table to be allocated, obtains second
Task AGV table to be allocated.
The second task AGV table to be allocated is traversed, when there is no new carrying task, is distributed to the AGV for meeting following conditions
One autotask: when the working condition of AGV is normal, and the electricity of AGV lower than second threshold, be not less than first threshold, and have
When the charge point of free time, then its is given to distribute charging tasks, and it is that can interrupt that task status, which is arranged,.Later, from second to be allocated
The AGV for having distributed autotask is removed in business AGV table, obtains third task AGV table to be allocated.
Third task AGV table to be allocated is traversed, when there is no newly task is carried, distributes one automatic to each AGV
Business: when available free break point, distribution AGV goes to execute rest task, and it is that can interrupt that its task status, which is arranged,；It is free when not being
Not busy break point, but when available free charge point, distribution AGV goes to execute charging tasks, and it is that can interrupt that its task status, which is arranged,.
So far, the task distribution of more AGV is completed.Deng timer expiry next time, repeated according still further to above-mentioned steps.
Being meant that and can stopping being currently executing for task can be interrupted, is exited from being currently executing for task
Come, for example, task status is that the AGV that can be interrupted currently is executing charging tasks, if system has new carrying task, which can
It goes to execute new carrying task to be immediately finished current charging tasks in the case where system indicates.
As a deformation of the present embodiment, step S210~step S610 also could alternatively be: traversal first is to be allocated
Task AGV table distributes an autotask to the AGV for meeting following conditions: when the work of AGV when there is no new carrying task
When making abnormal state, the task status distributed the AGV and execute maintenance task, and the AGV is arranged is that can not interrupt；The dimension
It repairs a little in the edge zone for carrying region；The described first task AGV table to be allocated is updated, the second task AGV table to be allocated is obtained；
Traverse the second task AGV table to be allocated, when carrying task there is no new, and when available free charge point, according to electricity from as low as
High sequence, the task status that distribution AGV executes charging tasks, and the AGV is arranged are that can not interrupt；The charge point is being removed
Transport the edge zone in region；The described second task AGV table to be allocated is updated, third task AGV table to be allocated is obtained；Traverse third
Task AGV table to be allocated, when carrying task there is no new, and when available free break point, distribution AGV executes rest task, and
The task status that the AGV is arranged is that can interrupt.
The present embodiment has carried out the distribution of autotask to the AGV of various unallocated tasks, avoids this kind of AGV blocking and removes
The traffic for transporting region, to avoid influencing whole handling efficiency.
In another embodiment of the present invention, as shown in fig. 7, a kind of dispatching method for multiple automatic navigation vehicles,
Include:
On the basis of previous embodiment, increase following steps:
Step S710 when there is a new carrying task, and select a task status for can interrupt automatic navigation vehicle when,
The automatic navigation vehicle is notified to interrupt its current task；After receiving the success response of the automatic navigation vehicle, distribution is described certainly
Dynamic navigation vehicle executes new carrying task.
Specifically, all normal AGV for executing carrying task, task status are that can not interrupt.The working condition of AGV has
2 kinds, one is Idle state, for example carry task and be completed, and not yet distribute the AGV of autotask；A kind of operating conditions, for example divided
AGV with the task of carrying or autotask.The task status of AGV has 2 kinds, one is can interrupt, for example has distributed autotask,
But the autotask can interrupt；One is can not interrupt, for example it is carrying out the task status of the AGV of carrying task.
Being meant that and can stopping being currently executing for task can be interrupted, is exited from being currently executing for task
Come.When there is a new carrying task, the AGV that a working condition is Idle state, or one working condition of selection can choose
For operating conditions and AGV that task can interrupt；If selecting working condition for the AGV of Idle state, system if, directly issues carrying and appoints
Business；If select a working condition for operating conditions and AGV that task can interrupt, system, which first issues, interrupts instruction, and notice should
AGV interrupts its current task, for example an AGV for being carrying out rest task, the AGV go on the road of break point, receive
After interrupting instruction, break point is gone in stopping, interrupting success response to system feedback, and system is reallocated new after receiving success response
Carrying task, which directly goes to carry point from current point after receiving new carrying task, when can reduce the walking of AGV in this way
Between, improve working efficiency.
In another embodiment of the present invention, as shown in figure 8, a kind of dispatching method for multiple automatic navigation vehicles,
Include:
On the basis of previous embodiment, increase following steps:
Step S720 when there is a new carrying task, and the terminal of first subtask of the new carrying task not by
It occupies, and selects a task status for the automatic navigation vehicle that can interrupt；After receiving the success response of the automatic navigation vehicle,
It distributes the automatic navigation vehicle and executes new carrying task.
Specifically, when there is a new carrying task, system is by calculating needs one task status of the mission dispatching
When the AGV that can be interrupted, before being issued to the AGV and interrupting instruction, the terminal of new first subtask for carrying task of first judgement
Whether occupied by other AGV and (is not occupied and refers to that the terminal of new first subtask for carrying task is not accounted for by other AGV
, and also without other AGV on the road for go this terminal), if be not occupied, which is issued and interrupts instruction；
If be occupied, which is not issued and interrupt instruction, which continues to execute original task, waits system path planning next time
System goes to judge again whether the terminal for newly carrying first subtask of task is still occupied by other AGV when calculating.In this way
It can bump against to avoid the new AGV and other AGV for carrying task is executed.
In another embodiment of the present invention, as shown in figure 9, a kind of dispatching device for multiple automatic navigation vehicles,
Include:
Scheduler module 110, for normally executing leading automatically for carrying task for no when there is no new carrying task
Airline distributes the automatic navigation vehicle and executes one automatic according to the working condition and/or electricity of the automatic navigation vehicle
Business；The autotask includes rest task, and/or charging tasks, and/or maintenance task；The execution of the autotask is complete
At point in the edge zone for carrying region.
Specifically, referring to the normal AGV executed other than carrying task, including one without the AGV for normally executing carrying task
The AGV of straight unallocated carrying task is completed carrying task, the not yet new AGV for carrying task of distribution, and executes carrying task
It is middle abnormal AGV occur.If carrying task there is currently no new, for the AGV without normally executing carrying task, it is distributed
Execute an autotask.Autotask, i.e., non-carrying task, including rest task, charging tasks and maintenance task.Rest is appointed
Business is that break point is rested, and charging tasks are that charge point charges, and maintenance task is that maintenace point repairs.Break point, charge point,
Maintenace point can carry area because staying in avoid without the AGV for normally executing carrying task in this way in the edge zone for carrying region
Domain influences the carrying task of other AGV, to influence whole handling efficiency.
Introduce two kinds of embodiments.Mode 1, after each AGV has executed normal carrying task, system is to AGV starting one
A timer, duration empirically configure.An interruption is initiated when the timer expiry, system responds the interruption, if this
When do not carry task newly, then according to the working condition of the AGV and/or electricity, distribute the AGV go execute an autotask；
If the timer has not timed out, system is assigned with a new carrying task to the AGV again, then stops the timer.Mode 2,
System starts a timer, checks institute either with or without the AGV of normal execution carrying task, when being not present according to the timer period
When new carrying task, according to the working condition and/or electricity of each AGV, distributes the AGV and go to execute one automatic
Business.
In another embodiment of the present invention, as shown in figure 9, a kind of dispatching device for multiple automatic navigation vehicles
100, comprising:
Scheduler module 110, for normally executing leading automatically for carrying task for no when there is no new carrying task
Airline distributes the automatic navigation vehicle and executes maintenance task, and institute is arranged when the working condition exception of the automatic navigation vehicle
The task status for stating automatic navigation vehicle is that can not interrupt；The maintenace point is in the edge zone for carrying region.
Specifically, AGV working condition includes following situations extremely: situation 1, system judges that AGV is loaded, but break bulk point is gone to unload
Find that break bulk point has cargo, leads to not unload when goods；Situation 2, system judges AGV zero load, but AGV sensor but detects
It is available in stock to AGV, it may be possible to sensor fault.For the AGV of working condition exception, need to restore after manually overhauling normally to make
Industry not only can solve operation irregularity problem so distributing maintenance task to this kind of AGV, and this kind of AGV obstruction can also be avoided to remove
Transport the traffic in region.When this kind of AGV is carrying out maintenance task, task status is that can not interrupt, and means other tasks
The maintenance task cannot be interrupted, can just go to execute other tasks after only completing the maintenance task.
In another embodiment of the present invention, as shown in figure 9, a kind of dispatching device for multiple automatic navigation vehicles
100, comprising:
Scheduler module 110, for normally executing leading automatically for carrying task for no when there is no new carrying task
Airline is distributed and described is led automatically when the electricity of the automatic navigation vehicle is lower than the first preset threshold, and when available free charge point
Airline executes charging tasks, and the task status that the automatic navigation vehicle is arranged is that can not interrupt；The charge point is carrying area
The edge zone in domain.
Specifically, the first preset threshold is arranged based on experience, when electricity is lower than the threshold value, AGV is easy to or the short time
After can not work normally.So when electricity is lower than the first preset threshold, and when available free charge point, it distributes this kind of AGV and goes to fill
Electricity, not only can be out of power suddenly during subsequent handling task to avoid this kind of AGV, and this kind of AGV obstruction can also be avoided to carry
The traffic in region.
In another embodiment of the present invention, as shown in figure 9, a kind of dispatching device for multiple automatic navigation vehicles
100, comprising:
Scheduler module 110, for normally executing leading automatically for carrying task for no when there is no new carrying task
Airline, when the working condition of the automatic navigation vehicle is normal, and electricity not less than the first preset threshold, be lower than the second default threshold
Value, and when available free charge point, it distributes the automatic navigation vehicle and executes charging tasks, and appointing for the automatic navigation vehicle is set
Business state is that can interrupt；The charge point is in the edge zone for carrying region.
Specifically, if its electricity is not less than the first preset threshold, but being lower than second after AGV has executed carrying task
Preset threshold, and when available free charge point, it gives its to distribute charging tasks, can not only guarantee that its subsequent execution is carried task and had
Enough electricity can also discharge picking point or break bulk point as early as possible, allow other AGV that the point is gone to complete picking or unloading
Task.
In another embodiment of the present invention, as shown in figure 9, a kind of dispatching device for multiple automatic navigation vehicles
100, comprising:
Scheduler module 110, for normally executing leading automatically for carrying task for no when there is no new carrying task
Airline, when the working condition of the automatic navigation vehicle is normal, and electricity is higher than the second preset threshold, and available free break point
When, the task status distributed the automatic navigation vehicle and execute rest task, and the automatic navigation vehicle is arranged is that can interrupt；It is described
Break point is in the edge zone for carrying region.
Specifically, after AGV has executed carrying task, if its electricity is also relatively more, when being higher than second threshold, to its point
With rest task, picking point or break bulk point can be discharged as early as possible, other AGV are gone, and the point completes picking or unloading is appointed
Business.
In another embodiment of the present invention, as shown in figure 9, a kind of dispatching device for multiple automatic navigation vehicles
100, comprising:
Scheduler module 110 is used for all movable AGV of cyclic check, by the AGV of all unallocated tasks composition first to
Distribution task AGV table；Traverse the first task AGV table to be allocated, when there is no it is new carry task when, to meeting following conditions
AGV distributes an autotask: when the working condition exception of AGV, distributing the AGV and executes maintenance task, and described in setting
The task status of AGV is that can not interrupt；The maintenace point is in the edge zone for carrying region；When the working condition of AGV is normal, and
The electricity of AGV is lower than the first preset threshold, and when available free charge point, distributes the AGV and executes charging tasks, and institute is arranged
The task status for stating AGV is that can not interrupt；The charge point is in the edge zone for carrying region；Update described first to be allocated
Business AGV table, obtains the second task AGV table to be allocated；The second task AGV table to be allocated is traversed, when there is no new carrying task,
Distribute an autotask to the AGV for meeting following conditions: when the working condition of AGV is normal, and electricity is default not less than first
Threshold value is lower than the second preset threshold, and when available free charge point, distributes the AGV and executes charging tasks, and described in being arranged
The task status of AGV is that can interrupt；The described second task AGV table to be allocated is updated, third task AGV table to be allocated is obtained；Time
Third task AGV table to be allocated is gone through, when there is no new carrying task, distributes an autotask to each AGV: when available free
Break point when, the task status distributed the AGV and execute rest task, and the AGV is arranged is that can interrupt；When available free
When charge point, the task status distributed the AGV and execute charging tasks, and the AGV is arranged is that can interrupt.
Specifically, the precondition of the present embodiment, carries operating area and needs to meet: number+charge point of break point
The number of number > AGV, a break point can only rest for an AGV, and a charge point can only charge for an AGV.
System starts the timer of a cycle, all movable AGV of regular check, by all unallocated tasks
AGV forms a first task AGV table to be allocated.The AGV of unallocated task refers to both without normally executing carrying task, does not also have
There is the AGV of distribution autotask.
Judged for each AGV in the AGV table, when there is no it is new carry task when, to meeting following conditions
AGV distributes an autotask: if AGV working condition is abnormal, distributing maintenance task to it, and it is not that task status, which is arranged,
It can interrupt；If AGV electricity is lower than first threshold, and when available free charge point, then its is given to distribute charging tasks, and be arranged and appoint
Business state is that can not interrupt.Later, the AGV for having distributed autotask is removed from the first task AGV table to be allocated, obtains second
Task AGV table to be allocated.
The second task AGV table to be allocated is traversed, when there is no new carrying task, is distributed to the AGV for meeting following conditions
One autotask: when the working condition of AGV is normal, and the electricity of AGV lower than second threshold, be not less than first threshold, and have
When the charge point of free time, then its is given to distribute charging tasks, and it is that can interrupt that task status, which is arranged,.Later, from second to be allocated
The AGV for having distributed autotask is removed in business AGV table, obtains third task AGV table to be allocated.
Third task AGV table to be allocated is traversed, when there is no newly task is carried, distributes one automatic to each AGV
Business: when available free break point, distribution AGV goes to execute rest task, and it is that can interrupt that its task status, which is arranged,；It is free when not being
Not busy break point, but when available free charge point, distribution AGV goes to execute charging tasks, and it is that can interrupt that its task status, which is arranged,.
So far, the task distribution of more AGV is completed.Deng timer expiry next time, repeated according still further to above-mentioned steps.
Being meant that and can stopping being currently executing for task can be interrupted, is exited from being currently executing for task
Come, for example, task status is that the AGV that can be interrupted currently is executing charging tasks, if system has new carrying task, which can
It goes to execute new carrying task to be immediately finished current charging tasks in the case where system indicates.
A deformation as the present embodiment, or: scheduler module is used for all movable AGV of cyclic check, will
The AGV of all unallocated tasks forms the first task AGV table to be allocated；The first task AGV table to be allocated is traversed, when there is no new
When carrying task, an autotask is distributed to the AGV for meeting following conditions: when the working condition exception of AGV, described in distribution
AGV executes maintenance task, and the task status that the AGV is arranged is that can not interrupt；The maintenace point is at the edge for carrying region
Area；The described first task AGV table to be allocated is updated, the second task AGV table to be allocated is obtained；Traverse the second task to be allocated
AGV table, according to the sequence of electricity from low to high, distributes AGV and holds when carrying task there is no new, and when available free charge point
Row charging tasks, and the task status that the AGV is arranged is that can not interrupt；The charge point is in the edge zone for carrying region；
The described second task AGV table to be allocated is updated, third task AGV table to be allocated is obtained；Third task AGV table to be allocated is traversed,
When carrying task there is no new, and when available free break point, distribution AGV executes rest task, and the task of the AGV is arranged
State is that can interrupt.
The present embodiment has carried out the distribution of autotask to the AGV of various unallocated tasks, avoids this kind of AGV blocking and removes
The traffic for transporting region, to avoid influencing whole handling efficiency.
In another embodiment of the present invention, as shown in figure 9, a kind of dispatching device for multiple automatic navigation vehicles
100, comprising:
On the basis of previous embodiment, the scheduler module, being further used for working as has a new carrying task, and selects
When to select a task status be the automatic navigation vehicle that can be interrupted, the automatic navigation vehicle is notified to interrupt its current task；When receiving
After the success response of the automatic navigation vehicle, distributes the automatic navigation vehicle and execute new carrying task.
Specifically, all normal AGV for executing carrying task, task status are that can not interrupt.The working condition of AGV has
2 kinds, one is Idle state, for example carry task and be completed, and not yet distribute the AGV of autotask；A kind of operating conditions, for example divided
AGV with the task of carrying or autotask.The task status of AGV has 2 kinds, one is can interrupt, for example has distributed autotask,
But the autotask can interrupt；One is can not interrupt, for example it is carrying out the task status of the AGV of carrying task.
Being meant that and can stopping being currently executing for task can be interrupted, is exited from being currently executing for task
Come.When there is a new carrying task, the AGV that a working condition is Idle state, or one working condition of selection can choose
For operating conditions and AGV that task can interrupt；If selecting working condition for the AGV of Idle state, system if, directly issues carrying and appoints
Business；If select a working condition for operating conditions and AGV that task can interrupt, first issues and interrupt instruction, notify the AGV
Interrupt its current task, for example an AGV for being carrying out rest task, the AGV go on the road of break point, receive and interrupt
After instruction, break point is gone in stopping, interrupting success response to system feedback, and system is after receiving success response, new carry of reallocating
Task, the AGV directly go to carry point from current point after receiving new carrying task, can reduce the travel time of AGV in this way, mention
High working efficiency.
In another embodiment of the present invention, as shown in figure 9, a kind of dispatching device for multiple automatic navigation vehicles,
Include:
On the basis of previous embodiment, the scheduler module, being further used for working as has a new carrying task, and institute
The terminal for stating new first subtask for carrying task is not occupied, and a task status is selected to lead automatically for what can be interrupted
When airline, the automatic navigation vehicle is notified to interrupt its current task；After receiving the success response of the automatic navigation vehicle, distribution
The automatic navigation vehicle executes new carrying task.
Specifically, when there is a new carrying task, system is by calculating needs one task status of the mission dispatching
When the AGV that can be interrupted, before being issued to the AGV and interrupting instruction, the terminal of new first subtask for carrying task of first judgement
Whether occupied by other AGV and (is not occupied and refers to that the terminal of new first subtask for carrying task is not accounted for by other AGV
, and also without other AGV on the road for go this terminal), if be not occupied, which is issued and interrupts instruction；
If be occupied, which is not issued and interrupt instruction, which continues to execute original task, waits system path planning next time
System goes to judge again whether the terminal for newly carrying first subtask of task is still occupied by other AGV when calculating.In this way
It can bump against to avoid the new AGV and other AGV for carrying task is executed.
It should be noted that above-described embodiment can be freely combined as needed.The above is only of the invention preferred
Embodiment, it is noted that for those skilled in the art, in the premise for not departing from the principle of the invention
Under, several improvements and modifications can also be made, these modifications and embellishments should also be considered as the scope of protection of the present invention.
Claims (10)
1. a kind of dispatching method for multiple automatic navigation vehicles characterized by comprising
When there is no new carrying task, for the automatic navigation vehicle without normally executing carrying task, led automatically according to described
The working condition and/or electricity of airline distribute the automatic navigation vehicle and execute an autotask；The autotask includes stopping
Breath task, and/or charging tasks, and/or maintenance task；The execution of the autotask completes point in the border land for carrying region
Band.
2. the dispatching method according to claim 1 for multiple automatic navigation vehicles, which is characterized in that described according to institute
The working condition and/or electricity for stating automatic navigation vehicle, distributing one autotask of the automatic navigation vehicle execution includes:
When the working condition exception of the automatic navigation vehicle, distributes the automatic navigation vehicle and execute maintenance task, and institute is set
The task status for stating automatic navigation vehicle is that can not interrupt.
3. the dispatching method according to claim 1 for multiple automatic navigation vehicles, which is characterized in that described according to institute
The working condition and/or electricity for stating automatic navigation vehicle distribute the automatic navigation vehicle and execute an autotask further include:
When the electricity of the automatic navigation vehicle is lower than the first preset threshold, and when available free charge point, distributes and described leads automatically
Airline executes charging tasks, and the task status that the automatic navigation vehicle is arranged is that can not interrupt.
4. the dispatching method according to claim 1 for multiple automatic navigation vehicles, which is characterized in that described according to institute
The working condition and/or electricity for stating automatic navigation vehicle distribute the automatic navigation vehicle and execute an autotask further include:
When the working condition of the automatic navigation vehicle is normal, and electricity not less than the first preset threshold, be lower than the second preset threshold,
And when available free charge point, distributes the automatic navigation vehicle and execute charging tasks, and the task of the automatic navigation vehicle is set
State is that can interrupt.
5. the dispatching method according to claim 1 for multiple automatic navigation vehicles, which is characterized in that described according to institute
The working condition and/or electricity for stating automatic navigation vehicle distribute the automatic navigation vehicle and execute an autotask further include:
When the working condition of the automatic navigation vehicle is normal, and electricity is higher than the second preset threshold, and when available free break point,
The task status distributed the automatic navigation vehicle and execute rest task, and the automatic navigation vehicle is arranged is that can interrupt.
6. the dispatching method according to claim 4 or 5 for multiple automatic navigation vehicles, which is characterized in that further include:
When there is a new carrying task, and select a task status for can interrupt automatic navigation vehicle when, notify described automatic
Navigation vehicle interrupts its current task；
After receiving the success response of the automatic navigation vehicle, distributes the automatic navigation vehicle and execute new carrying task.
7. the dispatching method according to claim 6 for multiple automatic navigation vehicles, which is characterized in that described working as has one
A new carrying task, and select a task status for can interrupt automatic navigation vehicle when, notify the automatic navigation vehicle to interrupt
Its current task includes:
When there is a new carrying task, and the terminal of first subtask of the new carrying task is not occupied, and is selected
When one task status is the automatic navigation vehicle that can be interrupted, the automatic navigation vehicle is notified to interrupt its current task.
8. a kind of dispatching device for multiple automatic navigation vehicles characterized by comprising
Scheduler module is used for when there is no new carrying task, for the automatic navigation vehicle without normally executing carrying task, root
According to the working condition and/or electricity of the automatic navigation vehicle, distributes the automatic navigation vehicle and execute an autotask；It is described from
Dynamic task includes rest task, and/or charging tasks, and/or maintenance task；The execution of the autotask is completed point and is being carried
The edge zone in region.
9. the dispatching device according to claim 8 for multiple automatic navigation vehicles, it is characterised in that:
The scheduler module, be further used for when there is no it is new carry task when, for it is no normally execute carrying task from
Dynamic navigation vehicle distributes the automatic navigation vehicle and executes maintenance task, and set when the working condition exception of the automatic navigation vehicle
The task status for setting the automatic navigation vehicle is that can not interrupt.
10. the dispatching device according to claim 8 for multiple automatic navigation vehicles, it is characterised in that:
The scheduler module, be further used for when there is no it is new carry task when, for it is no normally execute carrying task from
Dynamic navigation vehicle, when the electricity of the automatic navigation vehicle is lower than the first preset threshold, and when available free charge point, distribution it is described from
Dynamic navigation vehicle executes charging tasks, and the task status that the automatic navigation vehicle is arranged is that can not interrupt.
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Application publication date: 20190412 |