CN108253985A - A kind of AGV cart systems paths planning method and system - Google Patents
A kind of AGV cart systems paths planning method and system Download PDFInfo
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- CN108253985A CN108253985A CN201711456317.6A CN201711456317A CN108253985A CN 108253985 A CN108253985 A CN 108253985A CN 201711456317 A CN201711456317 A CN 201711456317A CN 108253985 A CN108253985 A CN 108253985A
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- 238000007726 management method Methods 0.000 claims abstract description 63
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- 238000012360 testing method Methods 0.000 description 10
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- 238000010586 diagram Methods 0.000 description 3
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
- G05D1/0289—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling with means for avoiding collisions between vehicles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
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Abstract
The invention discloses a kind of AGV cart systems paths planning method and systems.A kind of AGV cart systems paths planning method of the present invention and system, goods transportation is realized using AGV trolleies, and by obtaining the newest status information of AGV trolleies in real time, when AGV trolleies reach management and control range, management and control range includes intersection or default avoidance section；Advanced regulation model is arrived first to the AGV trolleies implementation for reaching management and control range, the AGV trolleies reached at first pass through at first, and the AGV trolleies reached afterwards are avoided, and realize the path planning of AGV cart systems, the production cost of battery can be not only reduced, battery production efficiency can also be improved.
Description
Technical field
The present invention relates to AGV trolley control fields, especially a kind of AGV cart systems paths planning method and system.
Background technology
At present, it in the production process of battery, needs to test battery, it is now often artificial to carry out battery testing,
Battery, for example, after battery passes through preliminary filling aging, is carried to grading system and carried out by artificial battery of carrying to corresponding test point
Capacity check needs to expend a large amount of manpower during battery testing, and high labor cost causes the production cost of battery high, and gives birth to
Produce inefficiency；For this case, there is the test system that battery carrying is carried out using AGV trolleies, but one-to-one fortune
Defeated pattern, leads to the AGV trolley wastings of resources, and testing efficiency is low；It is treated for example, an AGV trolley is fixed as a grading system transport
The battery of partial volume, when leading to multiple grading systems, need to configure more AGV trolleies for its carry out battery transport, improve test into
This.
Invention content
In order to solve the above-mentioned technical problem, the object of the present invention is to provide a kind of AGV cart systems paths planning method and
System, for reducing the production cost of battery and raising battery production efficiency.
The technical solution adopted in the present invention is：A kind of AGV cart systems paths planning method, the AGV cart systems
Paths planning method is applied to the operation cabinet array region of multiple operation cabinets composition, and it is small that the AGV cart systems include multiple AGV
Vehicle is used for goods transportation, and the operation cabinet array region forms the circuit for multiple AGV carriage walkings, and the circuit is included at least
One main line and at least one branch, the main line and branch converge to form at least one intersection, the operation cabinet setting
Around circuit, the AGV trolleies reach operation cabinet under the scheduling of AGV dispatch servers along circuit；The AGV trolleies
System path planing method includes the following steps：
The acquisition newest status information of AGV trolleies in real time, running state information of the status information including AGV trolleies,
The location information of AGV trolleies；
When the AGV trolleies reach management and control range, the management and control range includes intersection or default avoidance section；It is right
The AGV trolleies implementation for reaching the management and control range arrives first advanced regulation model, and the AGV trolleies reached at first pass through at first, after
The AGV trolleies of arrival are avoided.
Further, the main line in circuit is in the default section that avoids.
Further, the AGV cart systems paths planning method further includes：
In same management and control range, in the same time, have and an only AGV trolley.
Further, the AGV cart systems paths planning method further includes：Each branch, in the same time, only
One AGV trolley.
Another technical solution of the present invention is：A kind of AGV cart systems path planning system, the AGV trolleies
System path planning system is applied to the operation cabinet array region of multiple operation cabinets composition, and the AGV cart systems include multiple
AGV trolleies are used for goods transportation, and the operation cabinet array region forms the circuit for multiple AGV carriage walkings, the circuit packet
At least one main line and at least one branch are included, the main line and branch converge to form at least one intersection, the operation
Cabinet is arranged on around circuit, and the AGV trolleies reach operation cabinet under the scheduling of AGV dispatch servers along circuit；It is described
AGV cart system path planning systems include：
State information acquisition unit, for obtaining the newest status information of AGV trolleies in real time, the status information includes
The running state information of AGV trolleies, the location information of AGV trolleies；
Control unit, for when the AGV trolleies reach management and control range, the management and control range to include intersection or pre-
If avoid section；Advanced regulation model is arrived first to the AGV trolleies implementation for reaching the management and control range, the AGV reached at first is small
Vehicle passes through at first, and the AGV trolleies reached afterwards are avoided.
Further, the main line in circuit is in the default section that avoids.
Further, in same management and control range, in the same time, have and an only AGV trolley.
Further, each branch, in the same time, an only AGV trolley.
The beneficial effects of the invention are as follows：
A kind of AGV cart systems paths planning method of the present invention and system realize goods transportation using AGV trolleies, and
By obtaining the newest status information of AGV trolleies in real time, when AGV trolleies reach management and control range, management and control range includes crossroad
Mouth or default avoidance section；Advanced regulation model is arrived first to the AGV trolleies implementation for reaching management and control range, the AGV reached at first
Trolley passes through at first, and the AGV trolleies reached afterwards are avoided, and realizes the path planning of AGV cart systems, can not only reduce electricity
The production cost in pond can also improve battery production efficiency.
Description of the drawings
The specific embodiment of the present invention is described further below in conjunction with the accompanying drawings：
Fig. 1 is an a kind of specific embodiment schematic diagram of AGV cart systems paths planning method of the present invention；
Wherein, 1- operation cabinets；2-AGV trolleies；3- branches；The first main lines of 4-；The second main lines of 5-；6- thirds are done
Road.
Specific embodiment
It should be noted that in the absence of conflict, the feature in embodiment and embodiment in the application can phase
Mutually combination.
A kind of AGV cart systems paths planning method, AGV cart systems paths planning method are applied to multiple operation cabinet groups
Into operation cabinet array region, AGV cart systems include multiple AGV trolleies for goods transportation, usually, in battery production
In, AGV cart systems are used for transports cell and unclassified stores, such as battery case etc.；Operation cabinet array region, which is formed, supplies multiple AGV
The circuit of carriage walking, circuit include at least one main line and at least one branch, main line and branch converge to be formed it is at least one
Intersection, operation cabinet are arranged on around circuit, and AGV trolleies are reached along circuit under the scheduling of AGV dispatch servers and grasped
Make cabinet；Communication connection is established between AGV dispatch servers and multiple AGV trolleies, generally wireless telecommunications connect；AGV trolley packets
Main controller and data transmission circuit are included, main controller is connect with data transmission circuit, and main controller passes through data transmission circuit and AGV tune
Degree server is communicated；AGV cart system paths planning methods include the following steps：
AGV dispatch servers obtain the newest status information of AGV trolleies in real time, and status information includes the operation of AGV trolleies
The location information of status information, AGV trolleies；
When AGV trolleies reach management and control range, management and control range includes intersection or default avoidance section；To reaching management and control
The AGV trolleies implementation of range arrives first advanced regulation model, and the AGV trolleies reached at first pass through at first, the AGV trolleies reached afterwards
It is avoided.Specifically, it after AGV trolleies reach management and control range, initiates to ask to AGV dispatch servers, AGV dispatch servers are looked into
The location information of all AGV trolleies is ask, according to advanced regulation model is arrived first, the AGV trolleies first asked is controlled to first pass through management and control
Range, the AGV trolleies asked slowly, which avoid, to be waited in line to pass through.
The present invention realizes that machine is carried, and realizes the path planning of AGV cart systems using AGV trolleies, the present invention
AGV cart system paths planning methods be a kind of multi-to-multi AGV cart system paths planning methods, multiple AGV trolleies pair
The path planning of multiple operation cabinets is answered, not only reduces the production cost of battery, battery production efficiency can also be improved.
Further, it in the present embodiment, presets and avoids section as the main line in circuit.With reference to figure 1, Fig. 1 is the present invention one
One specific embodiment schematic diagram of kind AGV cart system paths planning methods；Dotted line in Fig. 1 is the line that AGV trolleies 2 are walked
Road, wherein, the array that operation cabinet array region is made of multiple operation cabinets 1；Main line includes the first main line 4,5 and of the second main line
6th main line 6, circuit further include the multiple branches 3 intersected with main line, the first main line 4, the second main line 5, the 6th main line 6 and branch
3 form multiple intersections.In the present invention, the ranging from multiple intersections of management and control and main line, when AGV trolleies will enter crossroad
When mouth and main line, AGV dispatch servers carry out position enquiring, and when confirming that no AGV trolleies are in the range of management and control, control AGV is small
Vehicle enters management and control range；Otherwise, according to the regulation model first passed through is first reached, control AGV trolleies orderly enter management and control range.
As the further of technical solution, AGV cart system paths planning methods further include：In same management and control range, together
In one time, have and an only AGV trolley.Only when the AGV trolleies walk out management and control range, next AGV trolley can be allowed
Into the management and control range.Only have an AGV trolley when management and control ranging from multiple intersections, in multiple intersections and enter friendship
Cross road mouth, remaining AGV trolley are waited for.With reference to figure 1, in the present embodiment, multiple intersections can be divided into multiple according to main line
Part, in Fig. 1, intersection can be divided into 3 parts according to the first main line 4, the second main line 5 and the 6th main line 6, the same time,
With a part multiple intersections in only an AGV trolley enter intersection, remaining AGV trolley by intersection into
Row waits for.When management and control ranging from main line, the same time, only an AGV trolley enters on a main line.When management and control ranging from
When multiple intersections and main line, the same time, in main line and multiple intersections, only an AGV trolley enters.Reference chart
1, in the present embodiment, management and control range is divided by 3 management and control regions according to main line, i.e., the first main line 4 intersects with it crossing, second
This 3 management and control regions of crossing that crossing that main line 5 intersects with it, the 6th main line 6 intersect with it, it is same in each management and control region
Time, only an AGV trolley enter in management and control region.
As the further of technical solution, AGV cart system paths planning methods further include：Each branch, with for the moment
In, an only AGV trolley.With reference to figure 1, in each branch, the same time only has an AGV trolley, prevents AGV trolleies from sending out
Raw collision, influences normally to produce.
A kind of AGV cart systems path planning system, AGV cart systems path planning system are applied to multiple operation cabinet groups
Into operation cabinet array region, AGV cart systems include multiple AGV trolleies for goods transportation, and operation cabinet array region is formed
For the circuit of multiple AGV carriage walkings, circuit includes at least one main line and at least one branch, and main line and branch converge to be formed
At least one intersection, operation cabinet are arranged on around circuit, and AGV trolleies are under the scheduling of AGV dispatch servers along line
Road reaches operation cabinet；Communication connection is established between AGV dispatch servers and multiple AGV trolleies, generally wireless telecommunications connect；
AGV trolleies include main controller and data transmission circuit, and main controller is connect with data transmission circuit, and main controller passes through data transmission electricity
Road is communicated with AGV dispatch servers；AGV cart system path planning systems include：
State information acquisition unit, for obtaining the newest status information of AGV trolleies in real time, it is small that status information includes AGV
The running state information of vehicle, the location information of AGV trolleies；
Control unit, for when AGV trolleies reach management and control range, management and control range to include intersection or default avoidance road
Section；Advanced regulation model is arrived first to the AGV trolleies implementation for reaching management and control range, the AGV trolleies reached at first pass through at first, after
The AGV trolleies of arrival are avoided.
Specifically, AGV cart systems path planning system is AGV dispatch servers, after AGV trolleies reach management and control range,
It initiates to ask to AGV dispatch servers, the state information acquisition unit of AGV dispatch servers obtains the position of all AGV trolleies
Information, control unit is by inquiring the location informations of all AGV trolleies, and according to advanced regulation model is arrived first, control is first asked
AGV trolleies first pass through management and control range, the AGV trolleies asked slowly carry out avoid waits in line to pass through.
The present invention realizes that machine is carried, and realizes the path planning of AGV cart systems using AGV trolleies, the present invention
AGV cart system path planning systems be a kind of multi-to-multi AGV cart system path planning systems, multiple AGV trolleies pair
The path planning of multiple operation cabinets is answered, not only reduces the production cost of battery, battery production efficiency can also be improved.
Further, it presets and avoids section as the main line in circuit.With reference to figure 1, Fig. 1 is a kind of AGV trolleies system of the present invention
One specific embodiment schematic diagram of system paths planning method；Dotted line in Fig. 1 is the circuit that AGV trolleies 2 are walked, wherein, operation
The array that cabinet array region is made of multiple operation cabinets 1；Main line includes the first main line 4, the second main line 5 and the 6th main line 6, line
Road further includes the multiple branches 3 intersected with main line, and the first main line 4, the second main line 5, the 6th main line 6 and branch 3 form multiple friendships
Cross road mouth.In the present invention, the ranging from multiple intersections of management and control and main line, when AGV trolleies will enter intersection and main line,
AGV dispatch servers carry out position enquiring, and when confirming that no AGV trolleies are in the range of management and control, control AGV trolleies enter management and control model
It encloses；Otherwise, according to the regulation model first passed through is first reached, control AGV trolleies orderly enter management and control range.
As the further of technical solution, in AGV cart system path planning systems, in same management and control range, with for the moment
In, have and an only AGV trolley.Only when the AGV trolleies walk out management and control range, next AGV trolley can be allowed to enter
The management and control range.Only have an AGV trolley when management and control ranging from multiple intersections, in multiple intersections and enter crossroad
Mouthful, remaining AGV trolley is waited for.With reference to figure 1, in the present embodiment, multiple intersections can be divided into multiple portions according to main line,
In Fig. 1, intersection can be divided into 3 parts, same time, same portion according to the first main line 4, the second main line 5 and the 6th main line 6
An only AGV trolley enters intersection in the multiple intersections divided, remaining AGV trolley carries out by intersection etc.
It treats.When management and control ranging from main line, the same time, only an AGV trolley enters on a main line.When management and control is ranging from multiple
When intersection and main line, the same time, in main line and multiple intersections, only an AGV trolley enters.With reference to figure 1, sheet
In embodiment, management and control range is divided by 3 management and control regions according to main line, i.e., the first main line 4 intersects with it crossing, the second main line
This 3 management and control regions of the crossing that 5 crossings intersected with it, the 6th main line 6 intersect with it, in each management and control region, the same time,
Only an AGV trolley enters in management and control region.
As the further of technical solution, in AGV cart system path planning systems, each branch, in the same time,
An only AGV trolley.With reference to figure 1, in each branch, the same time only has an AGV trolley, prevents AGV trolleies from touching
It hits, influences normally to produce.
In actual battery production process, including battery testing flow, battery testing flow includes preliminary filling aging, partial volume, divides
Shelves etc. usually, the centralized and automatic control to multiple and different battery testing flows, the present embodiment are realized using MES server
In, AGV cart systems paths planning method is applied to partial volume area, and operation cabinet is grading system, and multiple AGV trolleies take with AGV scheduling
Business device carries out communication connection, and AGV dispatch servers receive the control command of MES server to control AGV trolley travellings to corresponding
Grading system.Specifically, AGV dispatch servers obtain mission bit stream from MES server, and generate task list；AGV scheduling clothes
Business device carries out task scheduling according to the task creation time, dispatches suitable AGV trolleies and binds it with corresponding task, root
According to the demand of task, the suitable set of paths of dynamic generation；AGV dispatch servers carry out data interaction with AGV trolleies in real time, and
AGV trolleies are written into corresponding routing information, realize the motion control to AGV trolleies；AGV dispatch servers are in real time by task shape
The status information feedback of state and AGV trolleies is to MES server；AGV trolleies reach corresponding grading system according to path, with grading system
Mechanical arm interaction, realize feeding/reload/blanking operation；The mechanical arm action of grading system is completed, under control AGV trolleies perform
One task action.Before AGV trolleies reach corresponding grading system according to path, when by management and control range, utilize the present invention's
AGV cart system paths planning methods are controlled.
It is that the preferable of the present invention is implemented to be illustrated, but the invention is not limited to the implementation above
Example, those skilled in the art can also make various equivalent variations under the premise of without prejudice to spirit of the invention or replace
It changes, these equivalent deformations or replacement are all contained in the application claim limited range.
Claims (8)
- A kind of 1. AGV cart systems paths planning method, which is characterized in that the AGV cart systems paths planning method application In the operation cabinet array region of multiple operation cabinets composition, the AGV cart systems include multiple AGV trolleies and are used for goods transportation, The operation cabinet array region forms the circuit for multiple AGV carriage walkings, and the circuit is including at least one main line and at least One branch, the main line and branch converge to form at least one intersection, and the operation cabinet is arranged on around circuit, institute It states AGV trolleies and reaches operation cabinet along circuit under the scheduling of AGV dispatch servers；The AGV cart systems path planning side Method includes the following steps：The newest status information of AGV trolleies is obtained in real time, and it is small that the status information includes the running state information of AGV trolleies, AGV The location information of vehicle；When the AGV trolleies reach management and control range, the management and control range includes intersection or default avoidance section；To reaching The AGV trolleies implementation of the management and control range arrives first advanced regulation model, and the AGV trolleies reached at first pass through at first, rear to reach AGV trolleies avoided.
- 2. AGV cart systems paths planning method according to claim 1, which is characterized in that the default avoidance section For the main line in circuit.
- 3. AGV cart systems paths planning method according to claim 1 or 2, which is characterized in that the AGV trolleies system System paths planning method further includes：In same management and control range, in the same time, have and an only AGV trolley.
- 4. AGV cart systems paths planning method according to claim 1 or 2, which is characterized in that the AGV trolleies system System paths planning method further includes：Each branch, in the same time, an only AGV trolley.
- A kind of 5. AGV cart systems path planning system, which is characterized in that the AGV cart systems path planning system application In the operation cabinet array region of multiple operation cabinets composition, the AGV cart systems include multiple AGV trolleies and are used for goods transportation, The operation cabinet array region forms the circuit for multiple AGV carriage walkings, and the circuit is including at least one main line and at least One branch, the main line and branch converge to form at least one intersection, and the operation cabinet is arranged on around circuit, institute It states AGV trolleies and reaches operation cabinet along circuit under the scheduling of AGV dispatch servers；The AGV cart systems path planning system System includes：State information acquisition unit, for obtaining the newest status information of AGV trolleies in real time, it is small that the status information includes AGV The running state information of vehicle, the location information of AGV trolleies；Control unit, for when the AGV trolleies reach management and control range, the management and control range to include intersection or preset to keep away Allow section；Advanced regulation model is arrived first to the AGV trolleies implementation for reaching the management and control range, the AGV trolleies reached at first are most It first passes through, the AGV trolleies reached afterwards are avoided.
- 6. AGV cart systems path planning system according to claim 5, which is characterized in that the default avoidance section For the main line in circuit.
- 7. AGV cart systems path planning system according to claim 5 or 6, which is characterized in that in same management and control model It encloses, in the same time, has and an only AGV trolley.
- 8. AGV cart systems path planning system according to claim 5 or 6, which is characterized in that each branch, together In one time, an only AGV trolley.
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| CN109144055A (en) * | 2018-08-01 | 2019-01-04 | 成都图灵智控科技有限公司 | The implementation method of two-way simultaneous tracking robot branch road device for meeting based on RFID |
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| CN110159035A (en) * | 2019-05-28 | 2019-08-23 | 吉林大学 | A kind of unmanned spliced carrying platform based on group group control |
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