CN109032135A - A kind of dispatching method and system of automatic guide vehicle - Google Patents
A kind of dispatching method and system of automatic guide vehicle Download PDFInfo
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- CN109032135A CN109032135A CN201810785727.3A CN201810785727A CN109032135A CN 109032135 A CN109032135 A CN 109032135A CN 201810785727 A CN201810785727 A CN 201810785727A CN 109032135 A CN109032135 A CN 109032135A
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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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
Abstract
The present invention relates to a kind of dispatching method of automatic guide vehicle and systems, belong to AGV control technology field.The task of each AGV trolley is divided into inception point point subtask, terminus point subtask first by this method, and operates subtask in the terminal of terminus point；Then the task in-degree for calculating each AGV trolley website, determines the website of super objective in-degree；Finally by the AGV vehicle dispatching in super objective in-degree website to the idle website nearest with the AGV trolley task terminal, to guarantee normally completing for task.The present invention is according to the task in-degree situation of each website, by the AGV vehicle dispatching in busy super objective in-degree website to the idle website nearest with the AGV trolley task terminal, website in locked center is freed, break the locked deadlock of task, deadlock task is unlocked, the task of AGV trolley is gone on smoothly.
Description
Technical field
The present invention relates to a kind of dispatching method of automatic guide vehicle and systems, belong to AGV control technology field.
Background technique
Automatic guide vehicle (Automated Guided Vehicle, AGV) refers to automatic equipped with electromagnetism, vision, inertia etc.
Guiding device can be travelled along defined guide path, the travelling bogie with safeguard protection and various transfer functions, certainly
It plays an important role in the systems such as dynamicization production system, Flexible Manufacture assembly system and automatic stereowarehouse.To at present
As more mature one of the point-to-point automated material dispatching tool of workshop level.As with safeguard protection and various transfer functions
Transport vehicle, with the raising of factory automation degree, AGV trolley industry welcomes very big development prospect.But due to factory
In there are many AGV trolleies travelling, the AGV trolley in straight-line travelling can pass through obstacle sensor and realize that good avoidance is made
With without colliding, the terminal of AGV trolley task is not idle website (having other AGV trolleies to capture) in some cases, when
Two websites at path both ends can by the trolley in use, just allow execute AGV task, otherwise wait for dispatching.Therefore, when more
A AGV trolley task needs to will lead to task deadlock when the website mutually occupied using other AGV trolleies, and leads to AGV trolley
Task is unable to complete.
Summary of the invention
The object of the present invention is to provide a kind of dispatching methods of automatic guide vehicle, to solve current automatic guide vehicle due to station
Point, which occupies, to be caused task locked and influences the problem of AGV trolley task is unable to complete；Meanwhile the present invention also provides a kind of automatic
The scheduling system of guide car.
The present invention provides a kind of dispatching method of automatic guide vehicle to solve above-mentioned technical problem, which includes
Following steps:
1) task of each AGV trolley is divided into inception point point subtask, terminus point subtask, and in terminus point
Terminal operate subtask；
2) the task in-degree for calculating each AGV trolley website, determines the website of super objective in-degree；
3) by the AGV vehicle dispatching in super objective in-degree website to the free time nearest with the AGV trolley task terminal
Website.
The present invention is small by the AGV in busy super objective in-degree website according to the task in-degree situation of each website
Vehicle is dispatched to the idle website nearest with the AGV trolley task terminal, and the website in locked center is freed, breaks and appoints
The locked deadlock of business, unlocks deadlock task, the task of AGV trolley is gone on smoothly.
Further, in order to improve the operational efficiency of AGV trolley, when the task terminal of AGV trolley is not idle website, and
When capturing the AGV trolley of the website without task, by the AGV vehicle dispatching without task to adjacent idle website, to realize
In busy website can smoothly, be used as AGV trolley task terminal in time.
Further, the present invention gives the method for determination of task in-degree, and the task in-degree of each website is according to the station
What the quantity of the terminus point subtask for the AGV trolley that point receives determined.
Further, in order to preferably realize scheduling, the step 1) needs pair before the task to AGV trolley divides
AGV trolley travelling region is modeled, and the digraph that website and path connect and compose is formed.
Meanwhile the present invention also provides a kind of scheduling system of automatic guide vehicle, which includes memory kimonos
Be engaged in device, and the computer program for being stored on the memory and being run on the server, server be used for it is respective
Dynamic guide car communication, the server are coupled with the memory, and the server is realized when executing the computer program
Following steps:
1) task of each AGV trolley is divided into inception point point subtask, terminus point subtask, and in terminus point
Terminal operate subtask；
2) the task in-degree for calculating each AGV trolley website, determines the website of super objective in-degree；
3) by the AGV vehicle dispatching in super objective in-degree website to the free time nearest with the AGV trolley task terminal
Website.
Further, when the task terminal of AGV trolley is not idle website, and the AGV trolley of the website is captured without task
When, by the AGV vehicle dispatching without task to adjacent idle website.
Further, the task in-degree of each website is the terminus point subtask of the AGV trolley received according to the website
Quantity determine.
Further, the step 1) needs to build AGV trolley travelling region before the task to AGV trolley divides
The digraph that mould, formation website and path connect and compose.
Detailed description of the invention
Fig. 1 is the scheduling systematic schematic diagram of automatic guide vehicle；
Each website task in-degree schematic diagram calculation of Fig. 2 present invention.
Specific embodiment
Detailed description of the preferred embodiments with reference to the accompanying drawing.
The embodiment of the dispatching method of automatic guide vehicle of the present invention
The present invention is directed to causes task to be locked when multiple AGV trolleies need the website mutually occupied using other AGV trolleies
Dead problem, provides a kind of dispatching method of automatic guide vehicle, and the task of each AGV trolley is divided into starting point first by this method
Website subtask, terminus point subtask, and subtask is operated in the terminal of terminus point；Then the small station each AGV is calculated
The task in-degree of point, determines the website of super objective in-degree；Finally the AGV vehicle dispatching in super objective in-degree website is arrived
The nearest idle website with the AGV trolley task terminal, to guarantee normally completing for task.Below with reference to specific example to this
The dispatching method of invention is described in detail.
1. the operation area of pair AGV trolley carries out mathematical modeling, the digraph that formation website and path connect and compose.
The workshop of AGV trolley travelling is divided into different regions according to process flow, as shown in Figure 1, include component library,
Warehouse for finished product, blanketed zone, encapsulating workshop, coiling workshop etc., associated area establishes connection, each AGV trolley by website and path
Arbitrary region can be reached by the website of setting and path.It wherein is provided with wireless communication module on each AGV trolley, respectively
AGV trolley is connect by the wireless communication module of itself with server communication, is used for the location of itself tell the server,
And receive the dispatch command of server.
AGV trolley is scheduled in order to preferably realize, the present invention carries out mathematics to the operation area of AGV trolley and builds
The digraph that mould, formation website and path connect and compose.
2. the task of each AGV trolley is divided.
The task schedule of AGV trolley of the present invention mainly considers that beginning and end is only passed by due to intermediate node, no
It can occupy for a long time, and paths planning method can be used to solve for intermediate node, and not be that method for scheduling task of the present invention is to be solved
Problem.
The task of AGV trolley of the present invention includes task starting point, task terminal and terminal operation, and multiple AGV trolleies can be same
Shi Faqi establishes multiple AGV tasks.In order to realize the accurate scheduling to AGV trolley, the present invention carries out the task of each AGV trolley
It divides, each AGV trolley task is divided into the subtask of inception point point subtask, terminus point, and in terminus point
Terminal operates subtask.
3. calculating the task in-degree of each AGV trolley website, the website of super objective in-degree is determined.
Task in-degree is the busy degree in order to measure website, is physically said, task in-degree refers to that how many trolley uses
The website be task terminal, be according to the website simultaneously receive AGV trolley task terminus point subtask quantity determination.
As shown in Fig. 2, including that there are six website, respectively No. 1 website, No. 2 websites, No. 3 websites, No. 4 websites, No. 5 websites and No. 6 stations
Point has No. 1 trolley on No. 1 website wherein No. 5 websites and No. 6 websites are in idle state (executing task without AGV trolley)
There are No. 3 trolleies there are No. 4 trolleies in execution task, No. 4 websites in execution task, No. 3 websites in the task of execution, No. 2 websites
On have No. 2 trolleies in execution task, while No. 1 website also receive from No. 4 websites the request of task in-degree (have trolley to
The website sends the request of terminus point subtask), No. 2 websites also receive the task in-degree request from No. 1 website, No. 4 stations
It puts while receiving the task in-degree request from No. 2 websites and No. 3 websites, therefore, the task in-degree of No. 1 website is 1, No. 2
It is the task in-degrees of 0, No. 4 websites is 2 that the task in-degree of website, which is the task in-degree of 1, No. 3 websites, can therefrom determine No. 4 stations
The task in-degree highest of point.
4. by the AGV vehicle dispatching in super objective in-degree website to the free time nearest with the AGV trolley task terminal
Website.
Website in super objective in-degree and when being busy state, is easy to cause task locked, can not carry out next
Step task.Such as in Fig. 2, No. 4 websites are in the website of super objective in-degree, and have No. 2 trolleies on the website in execution task,
Since No. 4 websites have trolley in execution task, at this point, No. 4 websites cannot respond to the task from No. 2 websites, i.e. No. 2 websites
No. 3 trolleies can not be gone to No. 4 websites, and No. 2 websites are the terminals that No. 1 trolley executes task on No. 1 website, due to No. 4 stations
Point is in busy state, and No. 3 trolleies of No. 2 websites can not be to going on No. 4 websites, and No. 1 trolley of No. 1 website can not be to No. 2
Website gets on, and No. 2 trolleies of No. 4 websites can not be to going on No. 1 website, from leading to appointing for No. 1 trolley, No. 2 trolleies and No. 3 trolleies
Business is locked.Therefore, in order to avoid such case generation, the present invention finds the highest website of task in-degree i.e. No. 4 websites, will be in
No. 2 vehicle dispatchings of No. 4 websites idle website (No. 6 website) nearest to No. 4 websites of distance, using No. 6 websites as No. 2 trolleies
Avoidance task website, the obtaining No. 3 trolleies and No. 1 trolley of the task smoothly executed.
In addition, in order to improve the operational efficiency of AGV trolley, when the task terminal of AGV trolley is not idle website, and capture
When the AGV trolley of the website is without task, by the AGV vehicle dispatching without task to adjacent idle website, to realize place
In busy website can smoothly, in time be used as AGV trolley task terminal.
After reaching the free time website, until its corresponding terminal free time, it is also necessary to which it is dispatched to end from idle website
Point completes the task of AGV trolley.
The embodiment of the scheduling system of automatic guide vehicle of the present invention
The scheduling system of the targeted automatic guide vehicle of the present invention includes server, as shown in Figure 1, server passes through wirelessly
Router and each AGV trolley wireless communication connect, and the present embodiment selects SOCKET TCP/IP communication mode, each small for obtaining
Site location locating for vehicle, each AGV trolley is equipped with automatic loading and unloading device, for realizing freighting and unloading.Coupled processors
There is memory, the computer program for running on the server is stored on memory.Server can using single-chip microcontroller,
FPGA, DSP, PLC or MCU etc. realize, memory can using RAM memory, flash memory, ROM memory, eprom memory,
The storage of eeprom memory, register, hard disk, mobile disk, CD-ROM or any other form known in the art is situated between
The storage medium can be coupled to server by matter, enable the server to be situated between from the read information or the storage
Matter can be the component part of server.
Server, which executes computer program, can be realized following scheduling steps: 1) being divided into the task of each AGV trolley
Point website subtask, terminus point subtask, and subtask is operated in the terminal of terminus point；2) each small station AGV is calculated
The task in-degree of point, determines the website of super objective in-degree；3) by super objective in-degree website AGV vehicle dispatching to
The nearest idle website of the AGV trolley task terminal.The specific implementation of each step carries out in the embodiment of method
It is described in detail, which is not described herein again.
Claims (8)
1. a kind of dispatching method of automatic guide vehicle, which is characterized in that the dispatching method the following steps are included:
1) task of each AGV trolley is divided into inception point point subtask, terminus point subtask, and the end in terminus point
Point operation subtask；
2) the task in-degree for calculating each AGV trolley website, determines the website of super objective in-degree；
3) by the AGV vehicle dispatching in super objective in-degree website to the idle website nearest with the AGV trolley task terminal.
2. the dispatching method of automatic guide vehicle according to claim 1, which is characterized in that when the task terminal of AGV trolley
It is not idle website, and when capturing the AGV trolley of the website without task, by the AGV vehicle dispatching without task to adjacent sky
Not busy website.
3. the dispatching method of automatic guide vehicle according to claim 1, which is characterized in that the task in-degree of each website is root
What the quantity of the terminus point subtask of the AGV trolley received according to the website determined.
4. the dispatching method of automatic guide vehicle according to claim 1 or 2, which is characterized in that the step 1) is to AGV
The task of trolley needs to model AGV trolley travelling region before dividing, and forms website and digraph that path connects and composes.
5. a kind of scheduling system of automatic guide vehicle, which is characterized in that the scheduling system includes memory and server, Yi Jicun
The computer program run on the memory and on the server is stored up, server is used for logical with each automatic guide vehicle
Letter, the server are coupled with the memory, and the server performs the steps of when executing the computer program
1) task of each AGV trolley is divided into inception point point subtask, terminus point subtask, and the end in terminus point
Point operation subtask；
2) the task in-degree for calculating each AGV trolley website, determines the website of super objective in-degree；
3) by the AGV vehicle dispatching in super objective in-degree website to the idle website nearest with the AGV trolley task terminal.
6. the scheduling system of automatic guide vehicle according to claim 5, which is characterized in that when the task terminal of AGV trolley
It is not idle website, and when capturing the AGV trolley of the website without task, by the AGV vehicle dispatching without task to adjacent sky
Not busy website.
7. the scheduling system of automatic guide vehicle according to claim 5, which is characterized in that the task in-degree of each website is root
What the quantity of the terminus point subtask of the AGV trolley received according to the website determined.
8. the scheduling system of automatic guide vehicle according to claim 5 or 6, which is characterized in that the step 1) is to AGV
The task of trolley needs to model AGV trolley travelling region before dividing, and forms website and digraph that path connects and composes.
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Cited By (8)
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| CN110889918A (en) * | 2019-11-28 | 2020-03-17 | 安徽江淮汽车集团股份有限公司 | Magnetic navigation deadlock unlocking control method and device and computer readable storage medium |
| CN110941250A (en) * | 2019-12-06 | 2020-03-31 | 国网天津市电力公司电力科学研究院 | AGV flexible logistics control method for automatic loading and unloading of low-voltage metering box |
| CN111486848A (en) * | 2020-05-25 | 2020-08-04 | 上海杰销自动化科技有限公司 | AGV visual navigation method, system, computer equipment and storage medium |
| CN113213184A (en) * | 2021-03-31 | 2021-08-06 | 台州学院 | Adopt from travelling car's integrated system of processing of tiled |
| CN113238533A (en) * | 2021-05-12 | 2021-08-10 | 广东美房智高机器人有限公司 | System and method for dynamically scheduling and issuing job tasks of mobile robot |
| CN114281080A (en) * | 2021-12-22 | 2022-04-05 | 杭州蓝芯科技有限公司 | Method for solving deadlock in AMR (adaptive multi-rate) scheduling system |
| CN114995389A (en) * | 2022-05-10 | 2022-09-02 | 中国第一汽车股份有限公司 | Self-adaptive AGV (automatic guided vehicle) scheduling system and scheduling method thereof |
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| CN114995389A (en) * | 2022-05-10 | 2022-09-02 | 中国第一汽车股份有限公司 | Self-adaptive AGV (automatic guided vehicle) scheduling system and scheduling method thereof |
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Effective date of registration: 20191031 Address after: 461500 No.19, west side of South section of Weiwu Road, heshiqiao Town, mayor of Xuchang, Henan Province Applicant after: Henan Senyuan Zhongfeng Intelligent Manufacturing Co., Ltd Address before: Changge City, Xuchang City, Henan province 461500 Weiwu Road, South West Applicant before: Henan Senyuan Electric Co., Ltd. |
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Application publication date: 20181218 |