CN109191035A - A kind of AGV trolley path planning regulator control system based on material analyzing - Google Patents
A kind of AGV trolley path planning regulator control system based on material analyzing Download PDFInfo
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- CN109191035A CN109191035A CN201810830290.0A CN201810830290A CN109191035A CN 109191035 A CN109191035 A CN 109191035A CN 201810830290 A CN201810830290 A CN 201810830290A CN 109191035 A CN109191035 A CN 109191035A
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- G06Q10/047—Optimisation of routes or paths, e.g. travelling salesman problem
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Abstract
The invention discloses a kind of AGV trolley path planning regulator control system based on material analyzing: setting n item can the conveying track that is all different of load capacity for the transit domain that the m speed of service is all different to be arranged, and in each transit domain for track setup module；Each transport task is associated with and is stored with corresponding AGV trolley for receiving the transport task that the k AGV trolley into workspace issues by task memory module；Information determination module is used to determine its volume of material, weight of material and transportation route based on the content of the transport task of each AGV trolley；Path regulate and control module for based on each AGV trolley transportation route and weight of material be its selection target transit domain, target conveying track and path length.The present invention from conveying track with speed, can load capacity and operating path three aspects conveying track and traffic direction are selected, to guarantee efficiency and safety that AGV trolley is run on the conveying track that selected.
Description
Technical field
The present invention relates to AGV trolley path planning technical field more particularly to a kind of small bus or train routes of AGV based on material analyzing
Diameter Planning Regulation system.
Background technique
AGV (Automated Guided Vehicle, automated guided vehicle) refers to that equipment is equipped with electricity magnetically or optically etc.
The transport vehicle of homing guidance device, it can be travelled along defined guide path.The current path AGV operating system generally only has
One loop, i.e. single loop, the processes such as all operations, such as feeding, blanking, transport of AGV are completed on this route.
The unicity of conveying track setting is so just caused, when some or certain AGV trolley transported materials are larger or heavier, still
Not only result in the reduction of conevying efficiency using the single conveying track of this kind of function, and can quality to conveying track and
Service life impacts；Therefore, it is necessary to a kind of transportation route regulator control systems of high matching degree, promote AGV trolley conevying efficiency
With the raising of Transport Safety.
Summary of the invention
Technical problems based on background technology, the invention proposes a kind of AGV trolley path based on material analyzing
Planning Regulation system.
AGV trolley path planning regulator control system proposed by the present invention based on material analyzing, comprising:
Track setup module, the transit domain being all different for the m speed of service to be arranged in workspace, and each
N item is arranged in a transit domain can the conveying track that is all different of load capacity；
Task memory module, the transport task that the k AGV trolley for receiving into workspace issues, and by each
Transport task is associated with and stores with corresponding AGV trolley；
Information determination module, the content for the transport task based on each AGV trolley determine the material of the AGV trolley
Volume, weight of material and transportation route；
Path regulate and control module, for based on each AGV trolley transportation route and weight of material be its selection target transport
Defeated region, target conveying track and path length.
Preferably, in the track setup module, the speed of service for the transit domain that the m speed of service is all different
As the increase of transit domain serial number is sequentially reduced；
In each described transit domain n item can load capacity be all different conveying track can load capacity with transport
The increase of orbit number is sequentially increased.
Preferably, in the track setup module, in m transit domain, the identical conveying track of serial number carries weight
It measures identical.
Preferably, in the task memory module, the transport task of the AGV trolley being issued in workspace is specifically wrapped
It includes: transport departure place, transport destination, transport product volume and transport product weight.
Preferably, the information determination module is specifically used for:
Transport departure place and transport destination based on each AGV trolley determine the transportation route of the AGV trolley；
The volume of material of the AGV trolley is determined based on the transport product volume of each AGV trolley；
The weight of material of the AGV trolley is determined based on the transport product weight of each AGV trolley.
Preferably, it is preset with m volume reference value in the path regulation module, is denoted as A1、A2、A3……AmAnd n
A weight reference value, is denoted as B1、B2、B3……Bn；
The path regulation module is specifically used for:
Obtain transportation route, the volume of material A of i-th of AGV trolleyi, weight of material Bi, according to the fortune of i-th of AGV trolley
Defeated path computing outlet electrical path length, and it is based on volume of material Ai, weight of material BiTransit domain and conveying track are selected for it:
Work as Ai≥AjWhen, using j-th of transit domain as the target transit domain of i-th of AGV trolley；
Work as Bi≥BpWhen, it is transported the pth conveying track in j-th of transit domain as the target of i-th of AGV trolley
Track；
Wherein, 1≤i≤k, 1≤j≤m, 1≤p≤n.
AGV trolley path planning regulator control system proposed by the present invention based on material analyzing, first aspect by acquisition and
The volume for analyzing each AGV trolley transport product is come for the different transit domains with speed of its selection, the as biggish transport of volume
Product select the lower transit domain with speed, prevent AGV crab traversing speed is too fast from the biggish transport product of volume being caused to topple or fall
The case where falling improves the safety of transportational process；Second aspect be by acquire each AGV trolley transport product weight come for
Its select can the suitable conveying track of load capacity, preventing the transport of AGV trolley, product are overweight makes to inappropriate conveying track
The case where at crushing, can also be further ensured that the safety of AGV trolley transportational process to improve the service life of conveying track
Property；Each AGV trolley transport departure place and transport destination to determine operating path for it according to the third aspect, guarantee every
The accuracy in one AGV trolley travelling path, improves its conevying efficiency.AGV trolley proposed by the present invention based on material analyzing
Path planning regulator control system, from the feature for the AGV trolley institute transported material for executing transport task and transport departure place and purpose
Ground is analyzed, and the conveying track of high matching degree, i.e. matching from conveying track are selected for each AGV trolley for executing task
Speed, can load capacity and the aspect of operating path three conveying track and traffic direction are selected, to guarantee that AGV trolley exists
The efficiency and safety run on selected conveying track.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of AGV trolley path planning regulator control system based on material analyzing.
Specific embodiment
As shown in FIG. 1, FIG. 1 is a kind of AGV trolley path planning regulator control systems based on material analyzing proposed by the present invention.
Referring to Fig.1, the AGV trolley path planning regulator control system proposed by the present invention based on material analyzing, comprising:
Track setup module, the transit domain being all different for the m speed of service to be arranged in workspace, and each
N item is arranged in a transit domain can the conveying track that is all different of load capacity；
In present embodiment, the speed of service for the transit domain that the m speed of service is all different is with transit domain
The increase of serial number is sequentially reduced；The different transit domain of multiple speeds of service is set, is conducive to small to each AGV in workspace
The actual motion speed of vehicle is regulated and controled, and prevents that AGV trolley transport product volume is larger and fortune caused by the speed of service is too fast
The case where defeated product topple or fall improves the conevying efficiency and safety of AGV trolley；
In each described transit domain n item can load capacity be all different conveying track can load capacity with transport
The increase of orbit number is sequentially increased；
In this way, n conveying track is arranged according to the sequence being sequentially increased, advantageously ensuring that can between adjacent conveying track
The sequence of load capacity increases, and is reduced to the subsequent process steps of AGV trolley selection target conveying track.
Further, in m transit domain, the identical conveying track of serial number can load capacity it is identical, can further letter
Change the operation in subsequent step for AGV trolley selection target conveying track.
Task memory module, the transport task that the k AGV trolley for receiving into workspace issues, and by each
Transport task is associated with and stores with corresponding AGV trolley；
In present embodiment, the transport task of the AGV trolley being issued in workspace is specifically included: transport is set out
Ground, transport destination, transport product volume and transport product weight；
Pass through acquisition transport product departure place, transport destination, transport product volume and transport these Parameters of product weight, energy
Volume of material, weight of material and determination in transport task that is enough convenient and directly calculating each AGV trolley is each
The operating path of a AGV trolley.
Information determination module, the content for the transport task based on each AGV trolley determine the material of the AGV trolley
Volume, weight of material and transportation route；
In present embodiment, the information determination module is specifically used for:
Transport departure place and transport destination based on each AGV trolley determine the transportation route of the AGV trolley；Directly
And accurately determine the transportation route of each AGV trolley, prevent it from deviateing predetermined trajectory and reducing conevying efficiency；
The volume of material of the AGV trolley is determined based on the transport product volume of each AGV trolley；It can be directly and accurate
Determine the volume of material of each AGV trolley；
The weight of material of the AGV trolley is determined based on the transport product weight of each AGV trolley；It is small to improve each AGV
The validity that vehicle weight of material determines.
Path regulate and control module, for based on each AGV trolley transportation route and weight of material be its selection target transport
Defeated region, target conveying track and path length.
In present embodiment, it is preset with m volume reference value in the path regulation module, is denoted as A1、A2、A3……Am,
And n weight reference value, it is denoted as B1、B2、B3……Bn；
The path regulation module is specifically used for:
Obtain transportation route, the volume of material A of i-th of AGV trolleyi, weight of material Bi, according to the fortune of i-th of AGV trolley
Defeated path computing outlet electrical path length guarantees the accuracy in each AGV trolley travelling direction and operating path, and is based on material body
Product Ai, weight of material BiTransit domain and conveying track are selected for it:
Work as Ai≥AjWhen, show that the volume of material of i-th of AGV trolley has reached j-th of grade, then by j-th of transit domain
As the target transit domain of i-th of AGV trolley, the dynamic equilibrium of volume of material and operation with speed of AGV trolley is realized；
Work as Bi≥BpWhen, show that the weight of material of i-th of AGV trolley has reached p-th of grade, then by j-th of transit domain
It is overweight to can accommodate weight to avoid the occurrence of material for target conveying track of the interior pth conveying track as i-th of AGV trolley
Inadequate conveying track causes crushing, is on the one hand conducive to the service life for improving conveying track, is on the other hand conducive to mention
The safety of high AGV trolley in the process of running；
Wherein, 1≤i≤k, 1≤j≤m, 1≤p≤n.
The AGV trolley path planning regulator control system based on material analyzing that present embodiment proposes, first aspect is by adopting
The volume for collecting and analyzing each AGV trolley transport product to match fast transit domain for its selection is different, and as volume is biggish
Transport product select the lower transit domain with speed, prevent AGV crab traversing speed is too fast from the biggish transport product of volume being caused to topple
Or the case where falling, improve the safety of transportational process；Second aspect is that the weight of product is transported by acquiring each AGV trolley
Come for its selection can the suitable conveying track of load capacity, prevent AGV trolley transport product it is overweight to inappropriate transport rail
Road causes the case where crushing, to improve the service life of conveying track, can also be further ensured that the peace of AGV trolley transportational process
Quan Xing；Each AGV trolley transport departure place and transport destination to determine operating path for it according to the third aspect, guarantee
The accuracy in each AGV trolley travelling path, improves its conevying efficiency.Present embodiment propose based on material analyzing
AGV trolley path planning regulator control system, feature and transport departure place from the AGV trolley institute transported material for executing transport task
It is analyzed with destination, the conveying track of high matching degree is selected for each AGV trolley for executing task, i.e., from conveying track
With speed, can load capacity and the aspect of operating path three conveying track and traffic direction are selected, to guarantee that AGV is small
The efficiency and safety that vehicle is run on selected conveying track.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
Anyone skilled in the art in the technical scope disclosed by the present invention, according to the technique and scheme of the present invention and its
Inventive concept is subject to equivalent substitution or change, should be covered by the protection scope of the present invention.
Claims (6)
1. a kind of AGV trolley path planning regulator control system based on material analyzing characterized by comprising
Track setup module, the transit domain being all different for the m speed of service to be arranged in workspace, and in each fortune
N item is arranged in defeated region can the conveying track that is all different of load capacity；
Task memory module, the transport task that the k AGV trolley for receiving into workspace issues, and each is transported
Task is associated with and stores with corresponding AGV trolley；
Information determination module, the content for the transport task based on each AGV trolley determine the material body of the AGV trolley
Product, weight of material and transportation route；
Path regulate and control module, for based on each AGV trolley transportation route and weight of material be its selection target traffic zone
Domain, target conveying track and path length.
2. the AGV trolley path planning regulator control system according to claim 1 based on material analyzing, which is characterized in that institute
It states in track setup module, the speed of service for the transit domain that the m speed of service is all different is with transit domain serial number
Increase be sequentially reduced；
In each described transit domain n item can load capacity be all different conveying track can load capacity with conveying track
The increase of serial number is sequentially increased.
3. the AGV trolley path planning regulator control system according to claim 1 based on material analyzing, which is characterized in that institute
State in track setup module, in m transit domain, the identical conveying track of serial number can load capacity it is identical.
4. the AGV trolley path planning regulator control system according to claim 1 based on material analyzing, which is characterized in that institute
It states in task memory module, the transport task of the AGV trolley being issued in workspace specifically includes: transport departure place, fortune
Defeated destination, transport product volume and transport product weight.
5. the AGV trolley path planning regulator control system according to claim 4 based on material analyzing, which is characterized in that institute
Information determination module is stated to be specifically used for:
Transport departure place and transport destination based on each AGV trolley determine the transportation route of the AGV trolley；
The volume of material of the AGV trolley is determined based on the transport product volume of each AGV trolley；
The weight of material of the AGV trolley is determined based on the transport product weight of each AGV trolley.
6. the AGV trolley path planning regulator control system according to claim 5 based on material analyzing, which is characterized in that institute
It states in path regulation module and is preset with m volume reference value, be denoted as A1、A2、A3……AmAnd n weight reference value, it is denoted as
B1、B2、B3……Bn；
The path regulation module is specifically used for:
Obtain transportation route, the volume of material A of i-th of AGV trolleyi, weight of material Bi, according to the transport road of i-th of AGV trolley
Diameter calculates path length, and is based on volume of material Ai, weight of material BiTransit domain and conveying track are selected for it:
Work as Ai≥AjWhen, using j-th of transit domain as the target transit domain of i-th of AGV trolley；
Work as Bi≥BpWhen, using the pth conveying track in j-th of transit domain as the target conveying track of i-th of AGV trolley；
Wherein, 1≤i≤k, 1≤j≤m, 1≤p≤n.
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| CN114276865A (en) * | 2021-11-14 | 2022-04-05 | 湖南万木春油茶发展有限公司 | Pretreatment process for fresh oil tea fruits and transportation system thereof |
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