CN107092263A - A kind of AGV vehicle dispatchings system and method - Google Patents
A kind of AGV vehicle dispatchings system and method Download PDFInfo
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- CN107092263A CN107092263A CN201710475822.9A CN201710475822A CN107092263A CN 107092263 A CN107092263 A CN 107092263A CN 201710475822 A CN201710475822 A CN 201710475822A CN 107092263 A CN107092263 A CN 107092263A
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- 238000000034 method Methods 0.000 title claims abstract description 13
- 238000006243 chemical reaction Methods 0.000 claims description 3
- 230000005611 electricity Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
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- 230000004048 modification Effects 0.000 description 1
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
Abstract
The invention discloses a kind of AGV vehicle dispatchings system and method, including control module, locating module, dolly control module, barcode scanning identification module；Control module includes processing module, evades module；Control module obtains AGV dollies current location and target location and generates travel route；Evading module is used to evade the collision of AGV dollies；Locating module includes the electromagnetic sensor being arranged on AGV dollies and the magnetic stripe for being layed in ground；Electromagnetic sensor is used to position AGV dollies；Dolly control module is used for the startup and deceleration for controlling AGV dollies.System is dispatched the invention discloses a kind of AGV, pass through intelligence generation travel route, and evade many dollies in the process of moving it is possible that collision phenomenon, the dolly in task and in the free time is classified by barcode scanning simultaneously, task is facilitated to distribute, system is intelligently convenient, reduces artificial operation, provides certain convenient for industrial automation.
Description
Technical field
The invention belongs to Automatic Warehouse technical field, more particularly to a kind of AGV vehicle dispatchings system and method.
Background technology
AGV is the abbreviation of (AutomatedGuidedVehicle), implies that " automatical pilot transportation vehicle ", refers to be equipped with electricity
Homing guidance device is magnetically or optically waited, it can be travelled along defined guide path, with safeguard protection and various transfer work(
The transport vehicle of energy, AGV belongs to the category of wheeled mobile robot.
Automatic guided vehicle (AutomatedGuidedVehicle, abbreviation AGV), refer to be equipped with electricity magnetically or optically wait lead automatically
Leading-in device, can be travelled, the transport vehicle with safeguard protection and various transfer functions, commercial Application along defined guide path
In be not required to the carrier of driver, using chargeable battery as its power resources.Computer is typically can pass through to control it to advance
Route and behavior, or its course is set up using electromagnetic path, electromagnetic path is pasted on what floor, and automatic guided vehicle is then
The message for following electromagnetic path to be brought is moved and acted.
The content of the invention
It is an object of the invention to provide a kind of AGV vehicle dispatchings system and method, task is facilitated to distribute, system intelligence is just
Victory, reduces artificial operation, provides certain convenient for industrial automation.
The purpose of the present invention can be achieved through the following technical solutions：
A kind of AGV vehicle dispatchings system, including control module, locating module, dolly control module, barcode scanning identification module；
The control module includes processing module, evades module；
The control module obtains AGV dollies current location and target location and generates travel route；
The module of evading is used to evade the collision of AGV dollies；
The locating module includes the electromagnetic sensor being arranged on AGV dollies and the magnetic stripe for being layed in ground；
The electromagnetic sensor is used to position AGV dollies；
Dolly control module is used for the startup and deceleration for controlling AGV dollies.
Further, the electromagnetic signal collected is transformed into current and voltage signals by the electromagnetic sensor, and to described
Current and voltage signals carry out analog/digital conversion, using pid algorithm, the deviation of AGV dolly distance center values are obtained, so that small to AGV
Car is positioned.
Further, the barcode scanning identification module includes being installed on code reader on AGV dollies and two on shelf
Code is tieed up, each Quick Response Code is associated with a shelf numbering, and each code reader is associated with an AGV dollies numbering.
Further, a kind of AGV vehicle dispatchings method, this method comprises the following steps：
Idle condition AGV dollies are searched after S1, processing module acquisition target shelf location and generate travel route；
S2, evade module searches and whether there is the second travel route for intersecting with first travel route, if being not present,
Then evade module and do not perform operation, if in the presence of evading position of the module according to the first travel route and the second travel route intersection point
Put Coordinate generation deceleration starting point；
S3, electromagnetic sensor, which will be gathered, to be generated position coordinates and sends to control module after electromagnetic signal, evade module ratio
Whether position coordinates is matched with deceleration starting point, if matching, evades module and sends reduce-speed sign to dolly control module, and hold
Row S4, otherwise, does not perform operation；
S4, evade module position of intersecting point face is generated according to the intersection point of two travel routes, evade module and compare obtaining first
Whether the current position coordinates of AGV dollies fall into position of intersecting point face, if the position coordinates obtained falls into position of intersecting point face, perform
S5, otherwise, does not perform operation；
S5, evade whether the 2nd AGV dollies that module searches associate with the second travel route travel road by described first
The intersection point of line and the second travel route, if the 2nd AGV dollies pass through the intersection point, evades module and sends enabling signal to described
First AGV dollies, otherwise do not perform operation；
S6, electromagnetic sensor send position coordinates to control module, and control module compares position coordinates and target shelf
Whether position coordinates matches, if matching, and control module sends reduce-speed sign to dolly control module；
Sent after S7, code reader scanning Quick Response Code to processing module, processing module recognizes that target shelf are compiled according to Quick Response Code
Number and search and number the first AGV dollies that associates with the target shelf and number, processing module numbers the first AGV dollies and sky
Not busy state relation.
Further, the S1 is concretely comprised the following steps, and processing module is according to the first AGV dollies current location and target shelf
Position generate the first travel route, processing module send enabling signal to dolly control module after by the first AGV dollies numbering and
Loading state relation.
Beneficial effects of the present invention：
System is dispatched the invention discloses a kind of AGV, by intelligence generation travel route, and evades many dollies in traveling
During it is possible that collision phenomenon, it is convenient to appoint while classified by barcode scanning to the dolly in task and in the free time
Business distribution, system is intelligently convenient, reduces artificial operation, provides certain convenient for industrial automation.
Brief description of the drawings
The present invention is described in further detail with specific embodiment below in conjunction with the accompanying drawings.
Fig. 1 is present system schematic flow sheet.
Embodiment
A kind of AGV vehicle dispatchings system, including control module, locating module, dolly control module, barcode scanning identification module；
The control module includes processing module, evades module；
The control module obtains AGV dollies current location and target location and generates travel route；
The module of evading is used to evade the collision of AGV dollies, evades module and detects whether exist according to a plurality of travel route
Identical position coordinates, and reduce-speed sign is sent to dolly control module so that AGV dollies slow down and stopped in point of intersection；
The locating module includes the electromagnetic sensor being arranged on AGV dollies and the magnetic stripe for being layed in ground；
The electromagnetic signal collected is transformed into current and voltage signals by electromagnetic sensor, and the current and voltage signals are entered
Row analog/digital conversion, using pid algorithm, obtains the deviation of AGV dolly distance center values, so as to be positioned to AGV dollies；
Dolly control module is used for the startup and deceleration for controlling AGV dollies；
The barcode scanning identification module includes being installed on the code reader on AGV dollies and the Quick Response Code on shelf, each
Quick Response Code is associated with a shelf numbering, and each code reader is associated with an AGV dollies numbering；
A kind of AGV vehicle dispatchings method, this method comprises the following steps：
Idle condition AGV dollies are searched after S1, processing module acquisition target shelf location and generate travel route；
Processing module generates the first travel route according to the first AGV dollies current location and target shelf location, handles mould
Block is sent the first AGV dollies numbering and loading state relation after enabling signal to dolly control module；
S2, evade module searches and whether there is the second travel route for intersecting with first travel route, if being not present,
Then evade module and do not perform operation, if in the presence of evading position of the module according to the first travel route and the second travel route intersection point
Put Coordinate generation deceleration starting point；
S3, electromagnetic sensor, which will be gathered, to be generated position coordinates and sends to control module after electromagnetic signal, evade module ratio
Whether position coordinates is matched with deceleration starting point, if matching, evades module and sends reduce-speed sign to dolly control module, and hold
Row S4, otherwise, does not perform operation；
S4, evade module position of intersecting point face is generated according to the intersection point of two travel routes, evade module and compare obtaining first
Whether the current position coordinates of AGV dollies fall into position of intersecting point face, if the position coordinates obtained falls into position of intersecting point face, perform
S5, otherwise, does not perform operation；
S5, evade whether the 2nd AGV dollies that module searches associate with the second travel route travel road by described first
The intersection point of line and the second travel route, if the 2nd AGV dollies pass through the intersection point, evades module and sends enabling signal to described
First AGV dollies, otherwise do not perform operation；
S6, electromagnetic sensor send position coordinates to control module, and control module compares position coordinates and target shelf
Whether position coordinates matches, if matching, and control module sends reduce-speed sign to dolly control module；
Sent after S7, code reader scanning Quick Response Code to processing module, processing module recognizes that target shelf are compiled according to Quick Response Code
Number and search and number the first AGV dollies that associates with the target shelf and number, processing module numbers the first AGV dollies and sky
Not busy state relation.
Above content is only to structure example of the present invention and explanation, affiliated those skilled in the art couple
Described specific embodiment is made various modifications or supplement or substituted using similar mode, without departing from invention
Structure surmounts scope defined in the claims, all should belong to protection scope of the present invention.
Claims (5)
1. a kind of AGV vehicle dispatchings system, it is characterised in that including control module, locating module, dolly control module, barcode scanning
Identification module；
The control module includes processing module, evades module；
The control module obtains AGV dollies current location and target location and generates travel route；
The module of evading is used to evade the collision of AGV dollies；
The locating module includes the electromagnetic sensor being arranged on AGV dollies and the magnetic stripe for being layed in ground；
The electromagnetic sensor is used to position AGV dollies；
The dolly control module is used for the startup and deceleration for controlling AGV dollies.
2. a kind of AGV vehicle dispatchings system according to claim 1, it is characterised in that：The electromagnetic sensor will be gathered
To electromagnetic signal be transformed into current and voltage signals, and analog/digital conversion is carried out to the current and voltage signals, using pid algorithm,
The deviation of AGV dolly distance center values is obtained, so as to be positioned to AGV dollies.
3. a kind of AGV vehicle dispatchings system according to claim 1, it is characterised in that：The barcode scanning identification module includes
The code reader being installed on AGV dollies and the Quick Response Code on shelf, each Quick Response Code are associated with a shelf numbering, each
Code reader is associated with an AGV dollies numbering.
4. a kind of AGV vehicle dispatchings method according to claim 1, it is characterised in that this method comprises the following steps：
Idle condition AGV dollies are searched after S1, processing module acquisition target shelf location and generate travel route；
S2, evade module searches and whether there is the second travel route for intersecting with first travel route, if being not present, advise
Keep away module and do not perform operation, if in the presence of, evade module according to the position of the first travel route and the second travel route intersection point sit
Mark generation deceleration starting point；
S3, electromagnetic sensor, which will be gathered, to be generated position coordinates and sends to control module after electromagnetic signal, evade module than contraposition
Put whether coordinate matches with deceleration starting point, if matching, evade module and send reduce-speed sign to dolly control module, and perform
S4, otherwise, does not perform operation；
S4, evade module position of intersecting point face is generated according to the intersection point of two travel routes, evade module and compare that to obtain the first AGV small
Whether the current position coordinates of car fall into position of intersecting point face, if the position coordinates obtained falls into position of intersecting point face, perform S5, no
Then, operation is not performed；
S5, evade the 2nd AGV dollies that module searches associate with the second travel route whether by first travel route and
The intersection point of second travel route, if the 2nd AGV dollies pass through the intersection point, evades module and sends enabling signal to described first
AGV dollies, otherwise do not perform operation；
S6, electromagnetic sensor send position coordinates to control module, and control module compares the position of position coordinates and target shelf
Whether coordinate matches, if matching, and control module sends reduce-speed sign to dolly control module；
Sent after S7, code reader scanning Quick Response Code to processing module, processing module recognizes target shelf numbering simultaneously according to Quick Response Code
Search and number the first AGV dollies associated numbering with the target shelf, processing module numbers the first AGV dollies and idle shape
State is associated.
5. a kind of AGV vehicle dispatchings method according to claim 4, it is characterised in that：The S1's concretely comprises the following steps, place
Manage module and the first travel route is generated according to the first AGV dollies current location and target shelf location, processing module, which is sent, to be started
By the first AGV dollies numbering and loading state relation after signal to dolly control module.
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| CN201710475822.9A CN107092263A (en) | 2017-06-21 | 2017-06-21 | A kind of AGV vehicle dispatchings system and method |
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| CN201710475822.9A CN107092263A (en) | 2017-06-21 | 2017-06-21 | A kind of AGV vehicle dispatchings system and method |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107329481A (en) * | 2017-08-29 | 2017-11-07 | 安徽千里眼信息科技有限公司 | A kind of transfer robot dispatching method based on communication transfer |
| CN107678433A (en) * | 2017-10-20 | 2018-02-09 | 上海海事大学 | A kind of handling facilities dispatching method of consideration AGV collision avoidances |
| CN107894769A (en) * | 2017-11-23 | 2018-04-10 | 英业达科技有限公司 | Automatic guided vehicle traffic control method and system |
| CN108132669A (en) * | 2017-12-26 | 2018-06-08 | 安徽省东乾食品有限公司 | A kind of dewatering vegetable transport control system |
| CN108132668A (en) * | 2017-12-26 | 2018-06-08 | 安徽省东乾食品有限公司 | A kind of dehydrated vegetables conveys localization method |
| CN108419013A (en) * | 2018-03-19 | 2018-08-17 | 浙江国自机器人技术有限公司 | A kind of image capturing system and mobile robot |
| CN108415437A (en) * | 2018-04-09 | 2018-08-17 | 重庆东渝中能实业有限公司 | Control method for movement and device |
| CN109656130A (en) * | 2017-10-10 | 2019-04-19 | 北京京东尚科信息技术有限公司 | Transfer robot progress control method, device, robot and storage medium |
| CN109739195A (en) * | 2019-01-10 | 2019-05-10 | 蚌埠汉策供应链有限公司 | A kind of intelligent track movement system |
| CN110021189A (en) * | 2019-04-26 | 2019-07-16 | 成都智狐科技有限公司 | Intelligent parking method based on parallel access |
| CN110482101A (en) * | 2019-08-21 | 2019-11-22 | 广州秉优信息科技有限公司 | A kind of double vehicle dispatching methods of a rail |
| CN110888407A (en) * | 2019-11-28 | 2020-03-17 | 浙江大华技术股份有限公司 | Task allocation method and device in AGV (automatic guided vehicle) scheduling system |
| CN112327824A (en) * | 2020-08-13 | 2021-02-05 | 北京京东乾石科技有限公司 | Method and device for determining the position of a shelf |
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| CN107329481A (en) * | 2017-08-29 | 2017-11-07 | 安徽千里眼信息科技有限公司 | A kind of transfer robot dispatching method based on communication transfer |
| CN109656130A (en) * | 2017-10-10 | 2019-04-19 | 北京京东尚科信息技术有限公司 | Transfer robot progress control method, device, robot and storage medium |
| CN109656130B (en) * | 2017-10-10 | 2022-06-07 | 北京京东乾石科技有限公司 | Method and device for controlling operation of transfer robot, and storage medium |
| CN107678433A (en) * | 2017-10-20 | 2018-02-09 | 上海海事大学 | A kind of handling facilities dispatching method of consideration AGV collision avoidances |
| CN107894769A (en) * | 2017-11-23 | 2018-04-10 | 英业达科技有限公司 | Automatic guided vehicle traffic control method and system |
| CN108132669A (en) * | 2017-12-26 | 2018-06-08 | 安徽省东乾食品有限公司 | A kind of dewatering vegetable transport control system |
| CN108132668A (en) * | 2017-12-26 | 2018-06-08 | 安徽省东乾食品有限公司 | A kind of dehydrated vegetables conveys localization method |
| CN108419013B (en) * | 2018-03-19 | 2020-07-28 | 浙江国自机器人技术有限公司 | Image acquisition system and mobile robot |
| CN108419013A (en) * | 2018-03-19 | 2018-08-17 | 浙江国自机器人技术有限公司 | A kind of image capturing system and mobile robot |
| CN108415437A (en) * | 2018-04-09 | 2018-08-17 | 重庆东渝中能实业有限公司 | Control method for movement and device |
| CN109739195A (en) * | 2019-01-10 | 2019-05-10 | 蚌埠汉策供应链有限公司 | A kind of intelligent track movement system |
| CN110021189A (en) * | 2019-04-26 | 2019-07-16 | 成都智狐科技有限公司 | Intelligent parking method based on parallel access |
| CN110482101A (en) * | 2019-08-21 | 2019-11-22 | 广州秉优信息科技有限公司 | A kind of double vehicle dispatching methods of a rail |
| CN110888407A (en) * | 2019-11-28 | 2020-03-17 | 浙江大华技术股份有限公司 | Task allocation method and device in AGV (automatic guided vehicle) scheduling system |
| CN112327824A (en) * | 2020-08-13 | 2021-02-05 | 北京京东乾石科技有限公司 | Method and device for determining the position of a shelf |
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