CN106249738A - A kind of AGV Contents in brief Intelligent Dynamic Scheduling method under workshop condition - Google Patents

Abstract

AGV Contents in brief Intelligent Dynamic Scheduling method under the open a kind of workshop condition of the present invention, including: set up workshop based on Agent AGV scheduling model；Obtain processing initial schedule sequence the input database of workpiece based on genetic algorithm；Device A gent inquiry data base obtains transport task and obtains the list of fault-free AGV at management Agent, initiates bid, discharges transport task；AGV Agent participates in submitting a tender based on beat mechanism, avoids many equipment to cause AGV poor quality competitive bidding in the case of concurrently submitting a tender according to beat mechanism；AGV bid result is estimated by device A gent；AGV Agent receives competitive bidding result, and makes next step planning；If there is AGV fault disturbance, management Agent is responsible for processing these disturbances.The present invention have effectively achieved the real-time intelligent dynamic dispatching of multi-work piece under Workshop Production environment, multitask.

Description

A kind of AGV Contents in brief Intelligent Dynamic Scheduling method under workshop condition

Technical field

The present invention relates to AGV task scheduling technique field, AGV Contents in brief Intelligent Dynamic Scheduling side under especially a kind of workshop condition Method.

Background technology

Automatic guided vehicle (Automated Guided Vehicle, AGV) is the automatic transportation equipment of a kind of intelligence, All trades and professions are all widely used, and especially carry the important task of transmitting workpiece in manufacture system, its management and running efficiency The production efficiency of whole manufacture system will be directly affected.Hence setting up a kind of efficient, healthy and strong workshop AGV dispatching patcher is to realize The important prerequisite of workshop high efficiency production.And at present research to workshop AGV scheduling problem there is problems in that (1) tradition mostly Workshop AGV scheduling be all centralized scheduling, all of decision making process has a upper strata central controller to realize.Work as task amount When all increasing with AGV quantity, there is amount of calculation excessive, the problem such as the most long.(2) by Shop Floor as a static state System, have ignored the uncertain factor in production process.Due to the appearance of the disturbance factors such as AGV fault, rush order, make Scheduling result under static environment lost efficacy, the shut-down wait of having to of manufacture system reschedules.Therefore appoint carrying out workshop AGV During business scheduling, it is necessary to these disturbance situations are taken in.In a word, existing workshop AGV scheduling model the most all uses concentration Formula control mode, and manufacture system is greatly simplified, ignore the impact that AGV is dispatched by disturbance factor, therefore, with actual workshop Dispatch environment difference is bigger, it is impossible to adapt to being actually needed of reality Workshop Production.

Summary of the invention

It is an object of the invention to, by a kind of AGV Contents in brief Intelligent Dynamic Scheduling method under workshop condition, solve background above The problem that technology segment is mentioned.

For reaching this purpose, the present invention by the following technical solutions:

A kind of AGV Contents in brief Intelligent Dynamic Scheduling method under workshop condition, it comprises the steps:

Step S101, foundation workshop based on Agent (agency) AGV scheduling model, including warehouse Agent (warehouse generation Reason), lathe Agent (lathe agency), AGV Agent (AGV agency) and management Agent (administration agent)；

Step S102, the initial schedule sequence obtaining processing workpiece based on genetic algorithm input database；

Step S103, device A gent inquiry data base obtains transport task and obtains fault-free AGV at management Agent List, initiates bid, discharges transport task；

Step S104, AGV Agent participate in submitting a tender based on beat mechanism, avoid many equipment concurrently to submit a tender according to beat mechanism In the case of cause AGV poor quality competitive bidding；

AGV bid result is estimated by step S105, device A gent, and introduces threshold strategies to guarantee that task completes Cost；

Step S106, AGV Agent receives competitive bidding result, and makes next step planning；

If occurring AGV fault disturbance in step S107 step S13-S106, management Agent is responsible for carrying out these disturbances Process.

Especially, described step S101 specifically includes: warehouse, lathe and AGV are abstracted into by workshop AGV scheduling model Agent, and define and its physical entity Agent one to one function, go out particularly as follows: warehouse Agent is responsible for discharging workpiece Storehouse, and receive completion workpiece warehouse-in, the function of lathe Agent is while completing processing tasks, subsequent handling be transported Task is released to AGV Agent and transports to complete following process, and the function of AGV Agent is by warehouse Agent and lathe Agent The task of release is submitted a tender by bidding mechanism, and completes transport task；Meanwhile, define abstract Agent: management Agent, It survives in whole scheduling whole process and is responsible for AGV Agent registration management and processing AGV fault disturbance；Though workpiece is thing Reason entity, is not intended as the Agent of autonomy, but the most constantly flows as flow of information, when workpiece starts to add man-hour Flow of information flows, and stops flowing after work pieces process；Agent shared data bank, but for single Agent, it does not has Overall situation authority, therefore, Agent can only inquire about and revise self relevant information, and must cooperate the completeest with other Agent Become AGV scheduling.

Especially, in described step S104, the content of beat mechanism specifically includes:

Beat is a time interval, totally two timing nodes, and start node is the initiation timing node taking turns bid, End node is the timing node signed a contract, and once beat starts, and would not be interrupted, until beat terminates；When a joint Tender in bat is just when evaluated, and new tender will not be assessed at once, but puts into tender task-set, until Beat terminates just can all take out and assess in the new beat of the next one；Tender task-set is used for being stored in a beat receipts The tender arrived, the start node of new beat is the end node of a upper beat.

Especially, described step S104 specifically includes:

Step S1041, AGV Agent extract tender data, including pickup point, the workpiece information of transport, transport purpose Ground；

Step S1042, AGV Agent inquire about tender task-set, obtain tender quantity to be assessed in task-set；

If step S1043 tender quantity is not equal to zero, illustrate that AGV is in a beat, then tender is inserted Tender task-set, waits assessment in next beat；If tender quantity is equal to zero, then this tender insertion tender is appointed It is engaged in collecting and opening a beat immediately tender being estimated；

Step S1044, based on core algorithm, draw bid；

Step S1045, formulation tender document, content includes that the workpiece information transported, pickup point, destination, workpiece fill the earliest The load time, the arrival time；

Step S1046, AGV Agent send tender document to tenderer Agent；

Step S1047, AGV Agent receive competitive bidding result, remove tender information relevant in tender task-set also Open new beat, extract whole tasks that a beat infects in bidding documents task-set and repeat step S1045 and step S1046 draws the bid of each task, and then AGV Agent chooses the task of minimum bid from self-view Participate in competitive bidding, and abandon other tasks；If period receives new tender, then insertion tender task-set etc. are to be assessed；

Step S1048, repetition step S1047.

Especially, described step S1044 specifically includes:

Step S10441, AGV Agent inquiry data base obtains self status information, including AGV physical location, to be transported Workpiece number and the transit information of each workpiece；

Step S10442, determine bid calculate function:

$ELT=\left\{\begin{array}{cc}t+\mathrm{\Δ}t(CL,PCP),& t>EPT\\ t+max\{\mathrm{\Δ}t(CL,PCP),(EPT-t)\},& t\≤EPT\end{array}\right.---\left(1\right)$

$ELT=\left\{\begin{array}{cc}EFT+\mathrm{\Δ}t(NL,PCP),& EFT>EPT\\ EFT+max\{\mathrm{\Δ}t(NL,PCP),(EPT-EFT)\},& EFT\≤EPT\end{array}\right.---\left(2\right)$

If AGV is idle, i.e. when having calculated task relative according to formula (1) when AGV workpiece to be transported number is equal to zero Between；If calculated the relative time of task when the busy i.e. AGV workpiece to be transported number of AGV is more than zero according to formula (2)；Wherein ELT is the AGV loading time the earliest to task, and CL is AGV current location point, and PCP is the gatehead of workpiece, under NL AGV One impact point, EPT is the pickup time the earliest of workpiece, and EFT is AGV free time the earliest, and t represents current time, function Δ t (position A, position B) represent AGV from position A to the time to be spent for position B.

Especially, described step S105 specifically includes:

Step S1051, device A gent receive AGV Agent tender document；

Step S1052, extraction tender document data, including competitive bidding Agent title, task is offered；

Step S1053, judge system in all tender documents of AGV of scheduling that participate in the most all to reach mailbox, the most then Order down performs, and otherwise performs step S1051, step S1052, step S1053；

Step S1054, device A gent, from self-view, choose the bid of the optimal bid i.e. lowest bid of book scheme Book；

Step S1055, determine optimal bid books and newspapers valency whether less than the threshold value set, if being carried out subsequent step, otherwise This takes turns competitive bidding calcellation, again calls for bid competitive bidding failed tasks and performs step S103；

Step S1056, to competitive bidding success Agent send competitive bidding success message, to remaining Agent send competitive bidding unsuccessfully disappear Breath；

Step S1057, execution step S103.

Especially, described step S106 specifically includes:

If step S1061 AGV receives competitive bidding results messages, then delete the relevant tender information in tender task-set And open new beat；

If step S1062 AGV competitive bidding success and workpiece number to be transported are equal to zero, then it is immediately performed workpiece transport task, no Then insertion task relief area etc. are pending；If AGV competitive bidding obtains rush order transport task, then after completing current transportation task Preferential transport hot job is also prolonged after task to be transported；If AGV competitive bidding failure, then continue the state before competitive bidding.

Especially, described step S107 specifically includes:

Step S1071, system are run and are started to initialize management Agent, all of AGV in management Agent Accreditation System Agent；

AGV fault disturbance information make corresponding disturbance treatment in step S1072, real-time acquisition system, specifically includes: For AGV fault, first AGV is deleted from register list, the most again discharge the transport task of fault AGV, treat AGV fault Repair, AGV is added to again register list and participates in scheduling；AGV Agent name in device A gent acquisition request register list Dan Shi, passes to list device A gent and initiates bid release transport task for it.

Under the workshop condition that the present invention proposes AGV Contents in brief Intelligent Dynamic Scheduling method establish one effective between equipment and AGV Distributed intelligence dynamic scheduling system, have effectively achieved multi-work piece under Workshop Production environment, multitask real-time intelligent dynamic Scheduling.When in the face of concurrently bid, AGV fault, rush order, it is possible to effectively promote AGV production scheduling efficiency.The present invention passes through Introduce software entity " Agent " and set up distributed AI system based on Agent, solving AGV under centralized Control and adjust The impact that AGV is dispatched by the drawback of degree method and the disturbance of AGV fault and rush order, it is achieved that AGV intelligence under workshop condition Can, dispatch dynamically.

Accompanying drawing explanation

AGV Contents in brief Intelligent Dynamic Scheduling method flow diagram under the workshop condition that Fig. 1 provides for the embodiment of the present invention；

The workflow diagram of the device A gent release transport task that Fig. 2 provides for the embodiment of the present invention；

The workflow diagram of tender is processed under the AGV beat mechanism that Fig. 3 provides for the embodiment of the present invention；

The core algorithm flow chart of the AGV bid that Fig. 4 provides for the embodiment of the present invention；

The management Agent workflow diagram that Fig. 5 provides for the embodiment of the present invention.

Detailed description of the invention

For the ease of understanding the present invention, below with reference to relevant drawings, the present invention is described more fully.In accompanying drawing Give presently preferred embodiments of the present invention.But, the present invention can realize in many different forms, however it is not limited to institute herein The embodiment described.On the contrary, provide the purpose of these embodiments be make to the disclosure understand more thorough Comprehensively.It should be noted that unless otherwise defined, all of technology used herein and scientific terminology with belong to the present invention's The implication that those skilled in the art are generally understood that is identical.The term used the most in the description of the invention is simply In order to describe the purpose of specific embodiment, it is not intended that in limiting the present invention.Term as used herein " and/or " include one Individual or the arbitrary and all of combination of multiple relevant Listed Items.

Refer to shown in Fig. 1, AGV Contents in brief Intelligent Dynamic Scheduling method stream under the workshop condition that Fig. 1 provides for the embodiment of the present invention Cheng Tu.

In the present embodiment, under workshop condition, AGV Contents in brief Intelligent Dynamic Scheduling method specifically includes following steps:

Step S101, foundation workshop based on Agent AGV scheduling model, including warehouse Agent, lathe Agent, AGV Agent and management Agent.

Warehouse, lathe and AGV are abstracted into Agent by workshop AGV scheduling model, and define and its physical entity one a pair The Agent function answered, particularly as follows: warehouse Agent is responsible for discharging workpiece outbound, and receives completion workpiece warehouse-in, lathe Agent's Function is while completing processing tasks, subsequent handling transport task will be released to AGV Agent transport follow-up to complete Processing, the function of AGV Agent is the task that warehouse Agent and lathe Agent discharges to be submitted a tender by bidding mechanism, and Complete transport task；Meanwhile, defining abstract Agent: management Agent, it survives in whole scheduling whole process and is responsible for AGV AGV fault disturbance is also processed by Agent registration management；Though workpiece is physical entity, it is not intended as the Agent of autonomy, But the most constantly flow as flow of information, when workpiece starts to add flow of information flowing in man-hour, stop after work pieces process Fluid stopping is moved；Agent shared data bank, but for single Agent, it does not have an overall authority, therefore, Agent can only inquire about and Revise self relevant information, and must and other Agent cooperate and jointly complete AGV scheduling.

Though workpiece is physical entity, it is not intended as the Agent of autonomy, but does not stops as flow of information Dynamic；Concretely comprise the following steps:

S1011, build Java development environment: jdk1.8.0；Agent exploitation, operation platform: JADE4.3.3 are installed；

S1012, write on the basis of step 1.1 Java code create Agent, including 1 warehouse Agent, 4 lathes Agent, 2 AGV Agent and 1 management Agent, wherein containing a registration table in management Agent, in record system Trouble-free AGV, and obtain fault-free AGV list for inquiry during lathe Agent and warehouse Agent bid

S1013, establishment, registering communication body are used for encapsulation of data library inquiry result and realize communication exchanges between Agent；

S1014, establishment Agent run and rely on data base, comprise data below table in storehouse, particularly as follows:

Asrspaln: be used for preserving each workpiece outbound order information, is responsible for inquiry by warehouse Agent and discharges；

Agvgantt: transporting and workpiece Gantt chart information to be transported for preserving AGV；

Agvgantt1: for preserving the Gantt chart information of AGV transmitting workpiece；

Machineplan: processing and workpiece Gantt chart information to be processed for preserving lathe Agent；

Machineplan1: for preserving the Gantt chart information of lathe finished work；

Agvtable: as a tender task-set, the bid that AGV Agent receives in one beat of storage Book.

Step S102, based on genetic algorithm, draw the initial schedule sequence of processing workpiece, the i.e. processing machine of each operation of workpiece The outbound order of bed and workpiece initial process, and by initial schedule sequence input database.

Step S103, device A gent inquiry data base obtains transport task and obtains fault-free AGV at management Agent List, initiates bid, discharges transport task.

As in figure 2 it is shown, step S103 specifically includes following steps:

Step S1031, device A gent inquiry data base, it is judged that with or without workpiece to be transported, if not having, then etc. to be transported The arrival of task；If there being workpiece to be transported, then extract the information in data base and be packaged into bid, tender includes with Lower field information:

Id_workpiece: workpiece number

Id_process: operation number

Id_machine: machining tool is numbered, here the most corresponding lathe Agent numbering

Priority: processing priority

ProcessTime: process time

Step S1032, acquisition fault-free AGV list；

Step S1033, transmission tender are to fault-free AGV.

Step S104, AGV Agent participate in submitting a tender based on beat mechanism, avoid many equipment concurrently to submit a tender according to beat mechanism In the case of cause AGV poor quality competitive bidding.

As it is shown on figure 3, the content of beat mechanism specifically includes: beat is a time interval, and totally two timing nodes, open Beginning node is the initiation timing node taking turns bid, and end node is the timing node signed a contract, and once beat starts, just It is without interruption, until beat terminates；When the tender in a beat is just when evaluated, new tender will not be stood Carve assessment, but put into tender task-set, until beat terminates just can all take out and assess in the new beat of the next one；Recruit Bidding documents task-set is for being stored in a beat tender received, and the start node of new beat is the end joint of a upper beat Point.

Described step S104 specifically includes:

Step S1041, AGV Agent extract tender data, including pickup point, the workpiece information of transport, transport purpose Ground；

Step S1042, AGV Agent inquire about tender task-set, obtain tender quantity to be assessed in task-set；

If step S1043 tender quantity is not equal to zero, illustrate that AGV is in a beat, then tender is inserted Tender task-set, waits assessment in next beat；If tender quantity is equal to zero, then this tender insertion tender is appointed It is engaged in collecting and opening a beat immediately tender being estimated；

Step S1044, based on core algorithm, draw bid, specifically include:

Step S10441, AGV Agent inquiry data base obtains self status information, including AGV physical location, to be transported Workpiece number and the transit information of each workpiece；

Step S10442, the status information inquired according to step S10441 determine that bid calculates function:

$ELT=\left\{\begin{array}{cc}t+\mathrm{\Δ}t(CL,PCP),& t>EPT\\ t+max\{\mathrm{\Δ}t(CL,PCP),(EPT-t)\},& t\≤EPT\end{array}\right.---\left(1\right)$

$ELT=\left\{\begin{array}{cc}EFT+\mathrm{\Δ}t(NL,PCP),& EFT>EPT\\ EFT+max\{\mathrm{\Δ}t(NL,PCP),(EPT-EFT)\},& EFT\≤EPT\end{array}\right.---\left(2\right)$

Below in conjunction with Fig. 4 the price calculation process of AGV done and analyzes:

If AGV is idle, i.e. when having calculated task relative according to formula (1) when AGV workpiece to be transported number is equal to zero Between；If calculated the relative time of task when the busy i.e. AGV workpiece to be transported number of AGV is more than zero according to formula (2)；

Wherein, ELT (Earlist Loading Time): the AGV loading time the earliest to task；

CL (Current Location): AGV current location point, PCP is the gatehead of workpiece；

NL (Next Location): the next impact point of AGV；

EPT (Earlist Picking Time): the pickup time the earliest of workpiece

EFT (Earlist Free Time): AGV free time the earliest；

T: represent the current time；

Function Δ t (position A, position B) represent AGV from position A to the time to be spent for position B.

Step S1045, formulation tender document, content includes that the workpiece information transported, pickup point, destination, workpiece fill the earliest The load time, the arrival time；

Step S1046, AGV Agent send tender document to tenderer Agent；

Step S1047, AGV Agent receive competitive bidding result, remove tender information relevant in tender task-set also Open new beat, extract whole tasks that a beat infects in bidding documents task-set and repeat step S1045 and step S1046 draws the bid of each task, and then AGV Agent chooses the task of minimum bid from self-view Participate in competitive bidding, and abandon other tasks；If period receives new tender, then insertion tender task-set etc. are to be assessed；

Step S1048, repetition step S1047.

AGV bid result is estimated by step S105, device A gent, and introduces threshold strategies to guarantee that task completes Cost, specifically include:

Step S1051, device A gent receive AGV Agent tender document；

Step S1052, extraction tender document data, including competitive bidding AGV Agent title id_agv, task quotation result；

Step S1053, judge system in all tender documents of AGV of scheduling that participate in the most all to reach mailbox, the most then Order down performs, and otherwise performs step S1051, step S1052, step S1053；

Step S1054, device A gent, from self-view, choose the bid of the optimal bid i.e. lowest bid of book scheme Book；

Step S1055, determine optimal bid books and newspapers valency whether less than the threshold value set, if being carried out subsequent step, otherwise This takes turns competitive bidding calcellation, again calls for bid competitive bidding failed tasks and performs step S103；

Step S1056, to competitive bidding success Agent send competitive bidding success message, to remaining Agent send competitive bidding unsuccessfully disappear Breath, the particular content of two of which type of message is as follows:

Id_agv: competitive bidding AGV numbering

Id_workpiece: workpiece number

Id_process: operation number

State: competitive bidding state outcome, two kinds of selection: true represent competitive bidding success, and false represents competitive bidding failure.

Step S1057, execution step S103.

Step S106, AGV Agent receives competitive bidding result, and makes next step planning, specifically includes:

If step S1061 AGV receives competitive bidding results messages, then delete the relevant tender information in tender task-set And open new beat；Beat performs process as shown in Figure 3；

If step S1062 AGV competitive bidding success and workpiece number to be transported are equal to zero, then it is immediately performed workpiece transport task also Transmitting notice device A gent workpiece after transporting destination to and transport information to, arrival workpiece is located by device A gent accordingly Reason: if lathe Agent, then accept processing tasks, and discharge the transport task of next process, if warehouse Agent then connects Put in storage by workpiece；If AGV workpiece to be transported number is more than zero, then insertion task relief area etc. are pending；If AGV competitive bidding obtains promptly Order shipment task, then preferential transport hot job prolonging after task to be transported after completing current transportation task；If AGV is competing Mark unsuccessfully, then continue the state before competitive bidding.

If occurring AGV fault disturbance in step S107 step S13-S106, management Agent is responsible for carrying out these disturbances Process.

Management Agent runs on the overall process of system call, and its responsibility is the status information of monitoring AGV, and by fault AGV Delete register list, for device A gent release transport task time obtain the list of non-faulting AGV, its workflow as it is shown in figure 5, Specifically include:

Step S1071, system are run and are started to initialize management Agent, all of AGV in management Agent Accreditation System Agent；

AGV fault disturbance information make corresponding disturbance treatment in step S1072, real-time acquisition system, specifically includes: For AGV fault, first AGV is deleted from register list, the most again discharge the transport task of fault AGV, treat AGV fault Repair, AGV is added to again register list and participates in scheduling；AGV Agent name in device A gent acquisition request register list Dan Shi, passes to list device A gent and initiates bid release transport task for it.

The present invention interacts by between distributed intelligence body, and responds rush order and AGV fault disturbance AGV Contents in brief Intelligent Dynamic Scheduling under workshop condition is realized with process.Technical scheme by introduce software entity " Agent " and Set up distributed AI system based on Agent, solve drawback and the AGV event of AGV dispatching method under centralized Control The impact that AGV dispatch by barrier and the disturbance of rush order, it is achieved that under workshop condition, AGV is intelligent, dispatch dynamically.

Note, above are only presently preferred embodiments of the present invention and institute's application technology principle.It will be appreciated by those skilled in the art that The invention is not restricted to specific embodiment described here, can carry out for a person skilled in the art various obvious change, Readjust and substitute without departing from protection scope of the present invention.Therefore, although by above example, the present invention is carried out It is described in further detail, but the present invention is not limited only to above example, without departing from the inventive concept, also Other Equivalent embodiments more can be included, and the scope of the present invention is determined by scope of the appended claims.

Claims (8)

1. AGV Contents in brief Intelligent Dynamic Scheduling method under a workshop condition, it is characterised in that comprise the steps:

Step S101, foundation workshop based on Agent AGV scheduling model, including warehouse Agent, lathe Agent, AGV Agent With management Agent；

Step S102, the initial schedule sequence obtaining processing workpiece based on genetic algorithm input database；

Step S103, device A gent inquiry data base obtains transport task and obtains the list of fault-free AGV at management Agent, Initiate bid, discharge transport task；

Step S104, AGV Agent participate in submitting a tender based on beat mechanism, and foundation beat mechanism avoids the feelings that many equipment is concurrently submitted a tender AGV poor quality competitive bidding is caused under condition；

AGV bid result is estimated by step S105, device A gent, and introduces threshold strategies to guarantee the one-tenth that task completes This；

Step S106, AGV Agent receives competitive bidding result, and makes next step planning；

If occurring AGV fault disturbance in step S107 step S13-S106, management Agent is responsible for processing these disturbances.

AGV Contents in brief Intelligent Dynamic Scheduling method under workshop condition the most according to claim 1, it is characterised in that described step S101 specifically includes: warehouse, lathe and AGV are abstracted into Agent by workshop AGV scheduling model, and define and its physical entity Agent function one to one, particularly as follows: warehouse Agent is responsible for discharging workpiece outbound, and receives completion workpiece warehouse-in, lathe The function of Agent is while completing processing tasks, subsequent handling transport task will be released to AGV Agent and transport with complete Becoming following process, the function of AGV Agent is the task that warehouse Agent and lathe Agent discharges to be carried out by bidding mechanism Submit a tender, and complete transport task；Meanwhile, defining abstract Agent: management Agent, it is responsible right that it survives in whole scheduling whole process AGV fault disturbance is also processed by AGV Agent registration management；Though workpiece is physical entity, it is not intended as autonomy Agent, but the most constantly flow as flow of information, when workpiece starts to add flow of information flowing in man-hour, when work pieces process is complete Flowing is stopped after Biing；Agent shared data bank, but for single Agent, it does not have overall authority, and therefore, Agent can only Inquiry and revise self relevant information, and must and other Agent cooperate and jointly complete AGV and dispatch.

AGV Contents in brief Intelligent Dynamic Scheduling method under workshop condition the most according to claim 2, it is characterised in that described step In S104, the content of beat mechanism specifically includes:

Beat is a time interval, totally two timing nodes, and start node is the initiation timing node taking turns bid, terminates Node is the timing node signed a contract, and once beat starts, and would not be interrupted, until beat terminates；When in a beat Tender just when evaluated, new tender will not be assessed at once, but puts into tender task-set, until beat Terminate just can all take out and assess in the new beat of the next one；Tender task-set receives in a beat for being stored in Tender, the start node of new beat is the end node of a upper beat.

AGV Contents in brief Intelligent Dynamic Scheduling method under workshop condition the most according to claim 3, it is characterised in that described step S104 specifically includes:

Step S1041, AGV Agent extract tender data, including pickup point, the workpiece information of transport, transport destination；

Step S1042, AGV Agent inquire about tender task-set, obtain tender quantity to be assessed in task-set；

If step S1043 tender quantity is not equal to zero, illustrate that AGV is in a beat, then tender is inserted bid Book task-set, waits assessment in next beat；If tender quantity is equal to zero, then this tender is inserted tender task-set And open a beat and immediately tender is estimated；

Step S1044, based on core algorithm, draw bid；

Step S1045, formulation tender document, content includes when the workpiece information transported, pickup point, destination, workpiece load the earliest Between, the arrival time；

Step S1046, AGV Agent send tender document to tenderer Agent；

Step S1047, AGV Agent receive competitive bidding result, remove tender information relevant in tender task-set and open New beat, extracts whole tasks that a beat infects in bidding documents task-set and repeats step S1045 and step S1046 obtains Going out the bid of each task, the task that then AGV Agent chooses minimum bid from self-view participates in competing Mark, and abandon other tasks；If period receives new tender, then insertion tender task-set etc. are to be assessed；

Step S1048, repetition step S1047.

AGV Contents in brief Intelligent Dynamic Scheduling method under workshop condition the most according to claim 4, it is characterised in that described step S1044 specifically includes:

Step S10441, AGV Agent inquiry data base obtains self status information, including AGV physical location, workpiece to be transported Several and the transit information of each workpiece；

Step S10442, determine bid calculate function:

$ELT=\left\{\begin{array}{cc}t+\mathrm{\Δ}t(CL,PCP),& t>EPT\\ t+max\{\mathrm{\Δ}t(CL,PCP),(EPT-t)\},& t\≤EPT\end{array}\right.---\left(1\right)$

$ELT=\left\{\begin{array}{cc}EFT+\mathrm{\Δ}t\left(NL,PCP\right),& EFT>EPT\\ EFT+\max \left\{\mathrm{\Δ}t\left(NL,PCP\right),\left(EPT-EFT\right)\right\},& EFT\≤EPT\end{array}\right.---\left(2\right)$

If AGV is idle, i.e. when AGV workpiece to be transported number is equal to zero, calculate the relative time of task according to formula (1)；If Calculated the relative time of task according to formula (2) when the busy i.e. AGV workpiece to be transported number of AGV is more than zero；Wherein ELT is The AGV loading time the earliest to task, CL is AGV current location point, and PCP is the gatehead of workpiece, and NL is the next mesh of AGV Punctuate, EPT is the pickup time the earliest of workpiece, and EFT is AGV free time the earliest, and t represents current time, function Δ t (position Put A, position B) represent AGV from position A to the time to be spent for position B.

AGV Contents in brief Intelligent Dynamic Scheduling method under workshop condition the most according to claim 5, it is characterised in that described step S105 specifically includes:

Step S1051, device A gent receive AGV Agent tender document；

Step S1052, extraction tender document data, including competitive bidding Agent title, task is offered；

Step S1053, judge system in all tender documents of AGV of scheduling that participate in the most all to reach mailbox, the most sequentially Down perform, otherwise perform step S1051, step S1052, step S1053；

Step S1054, device A gent, from self-view, choose the tender document of the optimal bid i.e. lowest bid of book scheme；

Step S1055, determine optimal bid books and newspapers valency whether less than the threshold value set, if being carried out subsequent step, otherwise this takes turns Competitive bidding is cancelled, and again calls for bid competitive bidding failed tasks and performs step S103；

Step S1056, to competitive bidding success Agent send competitive bidding success message, to remaining Agent send competitive bidding failed message；

Step S1057, execution step S103.

AGV Contents in brief Intelligent Dynamic Scheduling method under workshop condition the most according to claim 6, it is characterised in that described step S106 specifically includes:

If step S1061 AGV receives competitive bidding results messages, then delete the relevant tender information in tender task-set and open The beat of Qi Xin；

If step S1062 AGV competitive bidding success and workpiece number to be transported are equal to zero, then it are immediately performed workpiece transport task, otherwise insert Enter task relief area etc. pending；If AGV competitive bidding obtains rush order transport task, then preferential after completing current transportation task Transport hot job is also prolonged after task to be transported；If AGV competitive bidding failure, then continue the state before competitive bidding.

AGV Contents in brief Intelligent Dynamic Scheduling method under workshop condition the most according to claim 7, it is characterised in that described step S107 specifically includes:

Step S1071, system are run and are started to initialize management Agent, all of AGV Agent in management Agent Accreditation System；

AGV fault disturbance information make corresponding disturbance treatment in step S1072, real-time acquisition system, specifically includes: for AGV fault, first deletes AGV from register list, the most again discharges the transport task of fault AGV, treats that AGV fault is repaiied Multiple, AGV is added to again register list and participates in scheduling；AGV Agent list in device A gent acquisition request register list Time, list is passed to device A gent and initiates bid release transport task for it.