CN109254582A - A kind of mobile robot promotes the implementation method of task execution efficiency - Google Patents
A kind of mobile robot promotes the implementation method of task execution efficiency Download PDFInfo
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- CN109254582A CN109254582A CN201810980709.0A CN201810980709A CN109254582A CN 109254582 A CN109254582 A CN 109254582A CN 201810980709 A CN201810980709 A CN 201810980709A CN 109254582 A CN109254582 A CN 109254582A
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- 238000012545 processing Methods 0.000 claims abstract description 7
- 238000005315 distribution function Methods 0.000 claims description 13
- 238000005457 optimization Methods 0.000 claims description 11
- 238000011156 evaluation Methods 0.000 claims description 6
- 238000012360 testing method Methods 0.000 claims description 6
- 238000010586 diagram Methods 0.000 description 5
- 238000004519 manufacturing process Methods 0.000 description 2
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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
Abstract
The invention discloses the implementation methods that a kind of mobile robot promotes task execution efficiency, execute assignment operation, the timely processing of realization task, task is transferred on the AGV being more suitable for, to improve task execution efficiency, the present invention is the implementation method of the switching task function of general-purpose scheduler software, for optimizing the efficiency of task execution, in the presence of the AGV being blocked when the task of execution, exist simultaneously AGV that is idle and not being blocked, assignment operation is re-executed through the invention, the timely processing of realization task, saving the time improves efficiency, increase the degree of automation of AGV traffic control, save manpower, time cost.
Description
Technical field
The present invention relates to the implementation methods that a kind of mobile robot promotes task execution efficiency, belong to robot technology neck
Domain.
Background technique
It is shown according to robot of China Mobile (AGV) industry alliance (referred to as: CMRAIA) data, in recent years the city China AGV
Field is quickly grown, and about accounts for the one third of world market share, becomes AGV use and manufacture big country.But in recent years, AGV machine
Device people's market price is more chaotic, dog-eat-dog, and domestic almost all of non-standard automatic producer, and the output value is higher, more next
It more works dependent on the installation and debugging of a large amount of talents, wherein software talent's demand is also increasing, significantly increases people
Ability demand and time cost, and the talent's is in short supply, has also greatly fettered the development of enterprise.How compression device cost, save
The talent has become the most important thing.So the commercialization of equipment and the modularization of software have become the necessarily choosing of advanced manufacturing enterprise
It selects.
From the point of view of most domestic AGV site of deployment, the intelligence of AGV dispatcher software, the degree of automation are also relatively low,
In the efficiency of task execution, optimization method is less, and the most common task signaling transfer point is also seldom applied.
Summary of the invention
The technical problem to be solved by the present invention is in view of the above deficiencies, provide a kind of mobile robot promotion task execution effect
The implementation method of rate, executes assignment operation through the invention, realizes the timely processing of task, saves the time and improves efficiency,
Increase the intelligence degree of AGV traffic control, saves manpower, time cost.
In order to solve the above technical problems, The technical solution adopted by the invention is as follows: a kind of mobile robot promotes task
The implementation method of execution efficiency executes assignment operation, realizes the timely processing of task, and task is transferred to and is more suitable for
On AGV, to improve task execution efficiency.
The implementation method includes the implementation method of following functions module:
1) implementation method of idle waiting functional module: new task is distributed and be whether there is to the task after the completion of inquiry AGV task
Or high priority system task；
2) implementation method of efficiency optimization functional module: free time AGV is to the efficiency of goal task for evaluation and test, is related to path computing；
3) implementation method of task distribution function module: after being connected to switching task, corresponding task is executed.
As a further improvement of the above technical scheme:
The implementation method of the idle waiting functional module starts from step S1, enters step S2；
In step S2, the current state of all online AGV is detected by number, and the operating status of online AGV trolley is detected at master control end
With the presence or absence of the free time, subsequently into step S3；
In step S3, judge whether online AGV has executed itself allocated task, if so, S4 is entered step, if not,
Module terminates.
In step S4, judge whether idle AGV needs to carry out system task, if so, S5 is entered step, if not,
Enter step S6；
In step S5, system task is executed, such as charging tasks are hidden task dispatching, then terminated.
In step S6, judges whether there is and distributed, switchable can not but executing for task, if so, S7 is entered step,
If not, entering step S8；
In step S7, the scheduling that master control end carries out task enters the implementation method of efficiency optimization functional module；
In step S8, new task is judged whether there is, if so, S10 is entered step, if not, entering step S9；
In step S9, no task status is set by state, is then terminated；
In step S10, into the implementation method of task distribution function module.
The implementation method of the efficiency optimization functional module, starts from step S11, enters step S12；
In step S12, AGV license number is obtained, AGV is obtained and currently stops landmark point, obtain the target point to be gone, enter step S13；
S14 is entered step according to stop and target point planning path sequence in step S13.
In step S14, path length and time are calculated according to path, speed limit etc., comprising picking and delivery path, if deposited
In multiple free time AGV trolleies, needs to carry out the calculating of multiple path times, enter step S15.
In step S15, deposit evaluation and test AGV license number and the predicted time and planning path for completing task are entered step
S16；
In step S16, the path time of different AGV trolleies is recorded, optimum choice is made, it is the smallest to filter out predicted time
AGV trolley, enters step S17；
Then terminate in step S17 into the implementation method of task distribution function module.
The implementation method of the task distribution function module, starts from step S21, enters step S22；
In step S22, no task status is set by the AGV trolley of relayed task, enters step S23.
In step S23, by the Task Switching of switching at task code, distributes to and predict optimal idle AGV trolley, it is idle
AGV trolley receives an assignment scheduling, enters step S24；
In step S24, the task number and operating status of free time AGV trolley are updated, AGV trolley executes corresponding task, then ties
Beam.
The present invention takes above technical scheme, has the advantage that the present invention is the switching task function of general-purpose scheduler software
The implementation method of energy, in the presence of the AGV being blocked when the task of execution, exists simultaneously for optimizing the efficiency of task execution
AGV that is idle and not being blocked, re-executes assignment operation through the invention, realizes the timely processing of task, when saving
Between improve efficiency, increase AGV traffic control the degree of automation, save manpower, time cost.
Present invention will be further explained below with reference to the attached drawings and examples.
Detailed description of the invention
Attached drawing 1 is the flow diagram of idle latency function module in the embodiment of the present invention；
Attached drawing 2 is the flow diagram of optimization efficiency functional module in the embodiment of the present invention；
Attached drawing 3 is the flow diagram of task distribution function module in the embodiment of the present invention；
Attached drawing 4 is the realization schematic diagram of task switching demand in the embodiment of the present invention.
In figure,
1- task execution route.
Specific embodiment
Embodiment, a kind of mobile robot promote the implementation method of task execution efficiency, execute assignment operation, realize
The timely processing of task exists simultaneously AGV that is idle and not being blocked in the presence of the AGV being blocked when the task of execution, this
Task is transferred on the AGV being more suitable for by invention, to improve task execution efficiency.
The implementation method includes the implementation method of following functions module:
1) implementation method of idle waiting functional module: new task is distributed and be whether there is to the task after the completion of inquiry AGV task
Or high priority system task；
2) implementation method of efficiency optimization functional module: free time AGV is to the efficiency of goal task for evaluation and test, is related to path computing；
3) implementation method of task distribution function module: after being connected to switching task, corresponding task is executed.
As shown in Fig. 1, the implementation method of idle waiting functional module starts from step S1, enters step S2；
In step S2, the current state of all online AGV is detected by number, and the operating status of online AGV trolley is detected at master control end
With the presence or absence of the free time, subsequently into step S3；
In step S3, judge whether online AGV has executed itself allocated task, if so, S4 is entered step, if not,
Module terminates；
In step S4, judge whether idle AGV needs to carry out system task, if so, S5 is entered step, if not, into
Step S6；
In step S5, system task is executed, such as charging tasks are hidden task dispatching, then terminated；
In step S6, judges whether there is and distributed, switchable can not but executing for task, if so, S7 is entered step, if
It is no, enter step S8；
In step S7, the scheduling that master control end carries out task enters the implementation method of efficiency optimization functional module；
In step S8, new task is judged whether there is, if so, S10 is entered step, if not, entering step S9；
In step S9, no task status is set by state, is then terminated；
In step S10, into the implementation method of task distribution function module.
As shown in Fig. 2, the implementation method of efficiency optimization functional module starts from step S11, enters step S12；
In step S12, AGV license number is obtained, AGV is obtained and currently stops landmark point, obtain the target point to be gone, enter step S13；
S14 is entered step according to stop and target point planning path sequence in step S13；
In step S14, path length and time are calculated according to path, speed limit etc., comprising picking and delivery path, if there is more
A free time AGV trolley, needs to carry out the calculating of multiple path times, enters step S15；
In step S15, deposit evaluation and test AGV license number and the predicted time and planning path for completing task enter step S16；
In step S16, the path time of different AGV trolleies is recorded, optimum choice is made, it is the smallest to filter out predicted time
AGV trolley, enters step S17；
Then terminate in step S17 into the implementation method of task distribution function module.
As shown in Fig. 3, the implementation method of task distribution function module starts from step S21, enters step S22；
In step S22, no task status is set by the AGV trolley of relayed task, enters step S23；
In step S23, by the Task Switching of switching at task code, distributes to and predict optimal idle AGV trolley, idle AGV
Trolley receives an assignment scheduling, enters step S24；
In step S24, the task number and operating status of free time AGV trolley are updated, AGV trolley executes corresponding task, then ties
Beam.
It as shown in Fig. 4, is the realization schematic diagram that task switching demand is realized using implementation method of the present invention, task execution
Number on route 1 is node number, and No. 1 to No. 5 AGV arrives separately at point of destination, and is carrying out goods task of fetching and delivering, and No. 6 AGV are held
Capable task is to have other AGV to block its route, No. 6 AGV collision preventions to No. 20 node picking tasks, but because of front
It hangs up, completes and be in idle condition if any one equipment task of No. 1 to No. 5 AGV executes at this time, the present invention may be used
Implementation method, with realize the task of No. 6 AGV is transferred in the free device being more suitable for, to improve task execution efficiency.
Claims (10)
1. the implementation method that a kind of mobile robot promotes task execution efficiency, it is characterised in that: assignment operation is executed, it is real
The timely processing of current task, task is transferred on the AGV being more suitable for, to improve task execution efficiency.
2. the implementation method that a kind of mobile robot as described in claim 1 promotes task execution efficiency, it is characterised in that: institute
State the implementation method that implementation method includes following functions module:
The implementation method of idle waiting functional module: task distribution after the completion of inquiry AGV task and with the presence or absence of new task or
High priority system task；
The implementation method of efficiency optimization functional module: free time AGV is to the efficiency of goal task for evaluation and test, is related to path computing；
The implementation method of task distribution function module: after being connected to switching task, corresponding task is executed.
3. the implementation method that a kind of mobile robot as claimed in claim 2 promotes task execution efficiency, it is characterised in that: institute
The implementation method for stating idle waiting functional module starts from step S1, enters step S2；
In step S2, the current state of all online AGV is detected by number, and the operating status of online AGV trolley is detected at master control end
With the presence or absence of the free time, subsequently into step S3；
In step S3, judge whether online AGV has executed itself allocated task, if so, S4 is entered step, if not,
Module terminates.
4. the implementation method that a kind of mobile robot as claimed in claim 3 promotes task execution efficiency, it is characterised in that:
Step S4, judges whether idle AGV needs to carry out system task, if so, S5 is entered step, if not, entering step S6；
In step S5, system task is executed, such as charging tasks are hidden task dispatching, then terminated.
5. the implementation method that a kind of mobile robot as claimed in claim 4 promotes task execution efficiency, it is characterised in that:
Step S6, judges whether there is and has distributed, switchable can not but executing for task, if so, S7 is entered step, if not, into
Enter step S8；
In step S7, the scheduling that master control end carries out task enters the implementation method of efficiency optimization functional module；
In step S8, new task is judged whether there is, if so, S10 is entered step, if not, entering step S9；
In step S9, no task status is set by state, is then terminated；
In step S10, into the implementation method of task distribution function module.
6. the implementation method that a kind of mobile robot as claimed in claim 2 promotes task execution efficiency, it is characterised in that: institute
The implementation method for stating efficiency optimization functional module starts from step S11, enters step S12；
In step S12, AGV license number is obtained, AGV is obtained and currently stops landmark point, obtain the target point to be gone, enter step S13；
S14 is entered step according to stop and target point planning path sequence in step S13.
7. the implementation method that a kind of mobile robot as claimed in claim 6 promotes task execution efficiency, it is characterised in that:
Step S14 calculates path length and time according to path, speed limit etc., comprising picking and delivery path, if there is multiple free time
AGV trolley needs to carry out the calculating of multiple path times, enters step S15.
8. the implementation method that a kind of mobile robot as claimed in claim 7 promotes task execution efficiency, it is characterised in that:
Step S15, deposit evaluation and test AGV license number and the predicted time and planning path for completing task, enter step S16；
In step S16, the path time of different AGV trolleies is recorded, optimum choice is made, it is the smallest to filter out predicted time
AGV trolley, enters step S17；
Then terminate in step S17 into the implementation method of task distribution function module.
9. the implementation method that a kind of mobile robot as claimed in claim 2 promotes task execution efficiency, it is characterised in that: institute
The implementation method for stating task distribution function module starts from step S21, enters step S22；
In step S22, no task status is set by the AGV trolley of relayed task, enters step S23.
10. the implementation method that a kind of mobile robot as claimed in claim 9 promotes task execution efficiency, it is characterised in that:
In step S23, by the Task Switching of switching at task code, distributes to and predict optimal idle AGV trolley, idle AGV trolley
Receive an assignment scheduling, enters step S24；
In step S24, the task number and operating status of free time AGV trolley are updated, AGV trolley executes corresponding task, then ties
Beam.
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| CN201810980709.0A CN109254582A (en) | 2018-08-27 | 2018-08-27 | A kind of mobile robot promotes the implementation method of task execution efficiency |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN111724015A (en) * | 2019-03-21 | 2020-09-29 | 北京京东乾石科技有限公司 | Method, device and equipment for switching carrying tasks and storage medium |
| CN112071610A (en) * | 2020-08-10 | 2020-12-11 | 北京北方华创磁电科技有限公司 | Heavy rare earth crystal boundary diffusion production line scheduling method and system based on AGV |
| CN116205474A (en) * | 2023-05-06 | 2023-06-02 | 深圳市森歌数据技术有限公司 | AGV task allocation method and device for parking lot, electronic equipment and storage medium |
-
2018
- 2018-08-27 CN CN201810980709.0A patent/CN109254582A/en not_active Withdrawn
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111724015A (en) * | 2019-03-21 | 2020-09-29 | 北京京东乾石科技有限公司 | Method, device and equipment for switching carrying tasks and storage medium |
| CN111724015B (en) * | 2019-03-21 | 2023-08-08 | 北京京东乾石科技有限公司 | Method, device, equipment and storage medium for switching transport tasks |
| 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 |
| CN112071610A (en) * | 2020-08-10 | 2020-12-11 | 北京北方华创磁电科技有限公司 | Heavy rare earth crystal boundary diffusion production line scheduling method and system based on AGV |
| CN116205474A (en) * | 2023-05-06 | 2023-06-02 | 深圳市森歌数据技术有限公司 | AGV task allocation method and device for parking lot, electronic equipment and storage medium |
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Application publication date: 20190122 |