CN109191035B - AGV dolly path planning regulation and control system based on material analysis - Google Patents
AGV dolly path planning regulation and control system based on material analysis Download PDFInfo
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- CN109191035B CN109191035B CN201810830290.0A CN201810830290A CN109191035B CN 109191035 B CN109191035 B CN 109191035B CN 201810830290 A CN201810830290 A CN 201810830290A CN 109191035 B CN109191035 B CN 109191035B
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- G06Q10/00—Administration; Management
- G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
- G06Q10/083—Shipping
- G06Q10/0835—Relationships between shipper or supplier and carriers
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- G—PHYSICS
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- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/04—Forecasting or optimisation specially adapted for administrative or management purposes, e.g. linear programming or "cutting stock problem"
- G06Q10/047—Optimisation of routes or paths, e.g. travelling salesman problem
Abstract
The invention discloses an AGV path planning and regulating system based on material analysis, which comprises: the rail setting module is used for setting m transportation areas with different running speeds, and n transportation rails with different bearing weights are arranged in each transportation area; the task storage module is used for receiving the transportation tasks issued to the k AGV trolleys in the working area, and correlating and storing each transportation task and the corresponding AGV trolley; the information determining module is used for determining the material volume, the material weight and the transportation path of each AGV trolley based on the content of the transportation task of each AGV trolley; the path regulating module is used for selecting a target transportation area, a target transportation track and a path length for each AGV based on the transportation path and the material weight of the AGV. The method selects the transport tracks and the running direction from three aspects of speed distribution, bearable weight and running path of the transport tracks so as to ensure the efficiency and the safety of the AGV running on the selected transport tracks.
Description
Technical Field
The invention relates to the technical field of AGV trolley path planning, in particular to an AGV trolley path planning and control system based on material analysis.
Background
An AGV (Automated Guided Vehicle) is a Vehicle equipped with an electromagnetic or optical automatic guide device, and is capable of traveling along a predetermined guide path. The conventional AGV path running system generally has only one loop, namely a single loop, and all the operations of the AGV, such as loading, unloading, transportation and the like, are completed on the line. Therefore, the transportation rail is arranged in a single way, when one or some AGV trolleys transport larger or heavier materials, the transportation rail with the single function is still adopted, so that the transportation efficiency is reduced, and the quality and the service life of the transportation rail are also influenced; therefore, a transportation path regulation and control system with high matching degree is needed to improve the transportation efficiency and the transportation safety of the AGV.
Disclosure of Invention
Based on the technical problems in the background art, the invention provides an AGV path planning and control system based on material analysis.
The AGV path planning and regulating system based on material analysis provided by the invention comprises:
the rail setting module is used for setting m transportation areas with different running speeds in the working area and setting n transportation rails with different bearing weights in each transportation area;
the task storage module is used for receiving the transportation tasks issued to the k AGV trolleys in the working area, and associating and storing each transportation task with the corresponding AGV trolley;
the information determining module is used for determining the material volume, the material weight and the transportation path of each AGV based on the content of the transportation task of the AGV;
and the path regulating and controlling module is used for selecting a target transportation area, a target transportation track and a path length for each AGV based on the transportation path and the material weight of the AGV.
Preferably, in the track setting module, the operation speeds of the m transportation areas with different operation speeds are sequentially reduced along with the increase of the serial numbers of the transportation areas;
the bearable weight of the n transportation tracks with different bearable weights in each transportation area is sequentially increased along with the increase of the serial number of the transportation tracks.
Preferably, in the track setting module, the loadable weights of the transportation tracks with the same serial number in m transportation areas are the same.
Preferably, in the task storage module, the transportation task issued to the AGV in the working area specifically includes: origin of transportation, destination of transportation, volume of shipment and weight of shipment.
Preferably, the information determination module is specifically configured to:
determining a transport path of each AGV based on the transport origin and the transport destination of the AGV;
determining the material volume of each AGV based on the transport volume of the AGV;
the material weight of each AGV is determined based on the transport weight of the AGV.
Preferably, m volume reference values, denoted as a, are preset in the path regulation module1、A2、A3……AmAnd n weight references, denoted B1、B2、B3……Bn；
The pathway regulation module is specifically configured to:
obtain transport path, material volume A of ith AGV dollyiWeight of material BiCalculating the path length according to the transport path of the ith AGV and based on the material volume AiWeight of material BiSelecting a transport area and a transport track for it:
when A isi≥AjTaking the jth transport area as a target transport area of the ith AGV;
when B is presenti≥BpTaking the p transport track in the j transport area as a target transport track of the i AGV;
wherein i is more than or equal to 1 and less than or equal to k, j is more than or equal to 1 and less than or equal to m, and p is more than or equal to 1 and less than or equal to n.
According to the AGV path planning and control system based on material analysis, on the first hand, the transportation areas with different distribution speeds are selected for each AGV transportation product through collecting and analyzing the volume of the AGV transportation product, namely, the transportation area with a lower distribution speed is selected for the transportation product with a larger volume, so that the condition that the transportation product with a larger volume is overturned or falls off due to the fact that the AGV transportation speed is too high is prevented, and the safety of the transportation process is improved; the second aspect is that a transportation rail capable of bearing proper weight is selected for each AGV trolley transportation product by collecting the weight of the transportation product, so that the condition that the AGV trolley transportation product is too heavy to cause pressure loss on the improper transportation rail is prevented, the service life of the transportation rail is prolonged, and the safety of the AGV trolley transportation process can be further ensured; and the third aspect is that the running path is determined according to the transport origin and the transport destination of each AGV trolley, so that the accuracy of the running path of each AGV trolley is ensured, and the transport efficiency of each AGV trolley is improved. The AGV path planning and regulating system based on the material analysis analyzes the characteristics of the materials transported by the AGV which executes the transportation task, the transportation starting place and the transportation destination, selects the transportation track with high matching degree for each AGV which executes the task, namely selects the transportation track and the operation direction from the three aspects of the speed matching, the bearable weight and the operation path of the transportation track, and ensures the efficiency and the safety of the AGV operating on the selected transportation track.
Drawings
FIG. 1 is a schematic structural diagram of an AGV path planning and control system based on material analysis.
Detailed Description
As shown in fig. 1, fig. 1 is a system for planning and controlling an AGV cart path based on material analysis according to the present invention.
Referring to fig. 1, the AGV cart path planning and control system based on material analysis provided by the present invention includes:
the rail setting module is used for setting m transportation areas with different running speeds in the working area and setting n transportation rails with different bearing weights in each transportation area;
in this embodiment, the operation speeds of the m transportation areas with different operation speeds are sequentially reduced along with the increase of the serial numbers of the transportation areas; the arrangement of the plurality of transport areas with different running speeds is beneficial to regulating and controlling the actual running speed of each AGV in the working area, the condition that the transported articles of the AGV overturn or fall due to the fact that the transported articles of the AGV have large volumes and the running speeds are too high is prevented, and the transport efficiency and the safety of the AGV are improved;
the bearable weight of the n transportation tracks with different bearable weights in each transportation area is sequentially increased along with the increase of the serial number of the transportation tracks;
so, set up n transportation track according to the order that increases in proper order, be favorable to guaranteeing that the order that can bear weight between the adjacent transportation track increases, simplify the follow-up operation step that the AGV dolly selected the target transportation track.
Furthermore, in the m transportation areas, the transportation tracks with the same serial number can bear the same weight, so that the operation of selecting the target transportation track for the AGV trolley in the subsequent steps can be further simplified.
The task storage module is used for receiving the transportation tasks issued to the k AGV trolleys in the working area, and associating and storing each transportation task with the corresponding AGV trolley;
in this embodiment, the transportation task issued to the AGV car in the working area specifically includes: a transport origin, a transport destination, a volume of the transport and a weight of the transport;
by collecting the parameters of the departure place, the transportation destination, the volume of the transportation product and the weight of the transportation product, the material volume and the material weight in the transportation task of each AGV can be conveniently and directly calculated, and the running path of each AGV can be determined.
The information determining module is used for determining the material volume, the material weight and the transportation path of each AGV based on the content of the transportation task of the AGV;
in this embodiment, the information determining module is specifically configured to:
determining a transport path of each AGV based on the transport origin and the transport destination of the AGV; directly and accurately determining the transport path of each AGV, and preventing the AGV from deviating from a preset track to reduce the transport efficiency;
determining the material volume of each AGV based on the transport volume of the AGV; the material volume of each AGV trolley can be directly and accurately determined;
determining the material weight of each AGV based on the transport weight of the AGV; and the effectiveness of determining the material weight of each AGV is improved.
And the path regulating and controlling module is used for selecting a target transportation area, a target transportation track and a path length for each AGV based on the transportation path and the material weight of the AGV.
In the present embodimentM volume reference values are preset in the path regulation and control module and are marked as A1、A2、A3……AmAnd n weight references, denoted B1、B2、B3……Bn；
The pathway regulation module is specifically configured to:
obtain transport path, material volume A of ith AGV dollyiWeight of material BiCalculating the path length according to the transport path of the ith AGV, ensuring the accuracy of the running direction and the running path of each AGV and based on the material volume AiWeight of material BiSelecting a transport area and a transport track for it:
when A isi≥AjWhen the situation shows that the material volume of the ith AGV reaches the jth level, the jth transportation area is used as a target transportation area of the ith AGV, and the dynamic balance between the material volume of the AGV and the running speed matching is realized;
when B is presenti≥BpWhen the material weight of the ith AGV reaches the pth grade, the pth transportation track in the jth transportation area is used as the target transportation track of the ith AGV, so that the pressure loss of the transportation track with insufficient weight due to the fact that the material is too heavy is avoided, the service life of the transportation track is prolonged, and the safety of the AGV in the operation process is improved;
wherein i is more than or equal to 1 and less than or equal to k, j is more than or equal to 1 and less than or equal to m, and p is more than or equal to 1 and less than or equal to n.
According to the AGV path planning and control system based on the material analysis, on the first hand, the transportation areas with different distribution speeds are selected for each AGV transportation product through collecting and analyzing the volume of the transportation product, namely, the transportation area with a lower distribution speed is selected for the transportation product with a larger volume, so that the condition that the transportation product with a larger volume is overturned or falls off due to the fact that the AGV transportation speed is too high is prevented, and the safety of the transportation process is improved; the second aspect is that a transportation rail capable of bearing proper weight is selected for each AGV trolley transportation product by collecting the weight of the transportation product, so that the condition that the AGV trolley transportation product is too heavy to cause pressure loss on the improper transportation rail is prevented, the service life of the transportation rail is prolonged, and the safety of the AGV trolley transportation process can be further ensured; and the third aspect is that the running path is determined according to the transport origin and the transport destination of each AGV trolley, so that the accuracy of the running path of each AGV trolley is ensured, and the transport efficiency of each AGV trolley is improved. According to the AGV path planning and control system based on material analysis, characteristics of materials transported by the AGV for executing the transportation tasks, a transportation starting place and a transportation destination are analyzed, the transportation track with high matching degree is selected for each AGV for executing the tasks, namely the transportation track and the running direction are selected from three aspects of speed matching, weight bearing capacity and running path of the transportation track, and therefore the efficiency and the safety of the AGV running on the selected transportation track are guaranteed.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (3)
1. The utility model provides a AGV dolly path planning regulation and control system based on material analysis which characterized in that includes:
the rail setting module is used for setting m transportation areas with different running speeds in the working area and setting n transportation rails with different bearing weights in each transportation area;
the task storage module is used for receiving the transportation tasks issued to the k AGV trolleys in the working area, and associating and storing each transportation task with the corresponding AGV trolley;
the information determining module is used for determining the material volume, the material weight and the transportation path of each AGV based on the content of the transportation task of the AGV;
the path regulating and controlling module is used for selecting a target transportation area, a target transportation track and a path length for each AGV based on the transportation path, the material volume and the material weight of the AGV;
in the task storage module, the transportation task issued to the AGV trolley in the working area specifically includes: a transport origin, a transport destination, a volume of the transport and a weight of the transport;
the information determination module is specifically configured to:
determining a transport path of each AGV based on the transport origin and the transport destination of the AGV;
determining the material volume of each AGV based on the transport volume of the AGV;
determining the material weight of each AGV based on the transport weight of the AGV;
m volume reference values are preset in the path regulation and control module and are marked as a1、a2、a3……amAnd n weight references, denoted b1、b2、b3……bn；
The pathway regulation module is specifically configured to:
obtain transport path, material volume A of ith AGV dollyiWeight of material BiCalculating the path length according to the transport path of the ith AGV and based on the material volume AiWeight of material BiSelecting a transport area and a transport track for it:
when A isi≥ajTaking the jth transport area as a target transport area of the ith AGV;
when B is presenti≥bpTaking the p transport track in the j transport area as a target transport track of the i AGV;
wherein i is more than or equal to 1 and less than or equal to k, j is more than or equal to 1 and less than or equal to m, and p is more than or equal to 1 and less than or equal to n.
2. The AGV car path planning and control system according to claim 1, wherein in the track setting module, the running speeds of the m transport areas with different running speeds are sequentially reduced along with the increase of the serial numbers of the transport areas;
the bearable weight of the n transportation tracks with different bearable weights in each transportation area is sequentially increased along with the increase of the serial number of the transportation tracks.
3. The AGV car path planning and control system according to claim 1, wherein in the track setting module, the transportation tracks with the same serial number have the same loadable weight in m transportation areas.
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| CN109933028B (en) * | 2019-03-01 | 2020-08-25 | 航天通用技术(北京)有限公司 | AGV multipath selection method and system |
| 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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