CN109669456A - A kind of AGV Dispatching Control System - Google Patents

A kind of AGV Dispatching Control System Download PDF

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Publication number
CN109669456A
CN109669456A CN201811600189.2A CN201811600189A CN109669456A CN 109669456 A CN109669456 A CN 109669456A CN 201811600189 A CN201811600189 A CN 201811600189A CN 109669456 A CN109669456 A CN 109669456A
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task
agv
trolley
module
control
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CN201811600189.2A
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陈双
万立浩
胡超
方小伟
林振辉
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Wuhu Hit Robot Technology Research Institute Co Ltd
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Wuhu Hit Robot Technology Research Institute Co Ltd
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Priority to CN201811600189.2A priority Critical patent/CN109669456A/en
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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
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0217—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with energy consumption, time reduction or distance reduction criteria
    • 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
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • 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
    • G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Electromagnetism (AREA)
  • Traffic Control Systems (AREA)

Abstract

The present invention is suitable for automatic control technology field, provides a kind of AGV Dispatching Control System, including AGV trolley, wireless communication base station and dispatching device, dispatching device includes: signal receiving module two, receives the location information and status information of trolley；Task management module, receive the mission bit stream of user's typing, the task in task list is ranked up based on priority, first task in task list is distributed to the idle trolley nearest away from task starting point, and the correspondence driving path that path planning module generates is sent to idle trolley；Path planning module cooks up the most short driving path from task starting point to task terminal based on topological map, the correspondence task that driving path is added in task list is expert at；Management map module, storage and modification topological map；Traffic control module, task based access control priority to carry out traffic control to the control zone of next node.In the case where avoiding conflict, the operation for improving system is efficiency.

Description

A kind of AGV Dispatching Control System
Technical field
The invention belongs to automatic control technology fields, provide a kind of AGV Dispatching Control System.
Background technique
Automated guided vehicle (Automated Guided Vehicle, AGV) refers to equipped with electromagnetism or optical guidance Device can be travelled according to the guided path of regulation, have trolley travelling and parking device, safety guard or optical navigation Device.With the development of information integration of enterprise, AGV automated transport system as materials stream informationization, the important means of automation, It is used widely.Traditional shop logistics transport is most of to be made of conveyer belt, hutching etc., one side logistics delivery effect Rate is low, cannot be connected well between upstream and downstream process, on the other hand, with the rising of the price of labour power, existing system people Power cost sharply increases.And the limitation of traditional workshop logistics transportation is then not present in AGV automated transport system, can be realized logistics Informationization, effect is huge in terms of IT application in enterprise, reducing human cost, improving.
Existing scheduling system is the progress traffic control at intersection mostly, is only used for one-way traffic AGV trolley Regulation, the AGV trolley of two way can not be regulated and controled.
Summary of the invention
The embodiment of the present invention provides a kind of AGV Dispatching Control System, is regulated and controled for the AGV trolley of two way, is mentioned The safety and high efficiency of high entire transportation system.
To achieve the goals above, the present invention provides a kind of AGV Dispatching Control System, the system include: AGV trolley, Wireless communication base station and dispatching device, AGV are communicated by wireless communication base station and dispatching device, wherein AGV trolley includes:
The location information of trolley and status information are sent to dispatching device, receive dispatching device by signal transmitting and receiving module one The control instruction of transmission and issuing for task；
Vehicle-mounted control module controls sailing towards next rows of nodes for AGV trolley based on control instruction；
The dispatching device includes:
Signal receiving module two receives trolley location information and status information that signal receiving module one is sent；
Task management module receives the mission bit stream of user's typing, comprising: task starting point, task terminal and task are preferential Grade, the task in task list is ranked up based on priority, by first task in task list distribute to away from appoint The nearest idle trolley of starting point of being engaged in, and the correspondence driving path that path planning module generates is sent to the idle trolley；
Path planning module cooks up the most short driving path from task starting point to task terminal based on topological map, will The correspondence task that driving path is added in task list is expert at；
Management map module, storage and modification topological map, comprising: put position, the weight in section between two nodes, two is adjacent The weight on side, the control zone and waiting area of node；
Traffic control module, task based access control priority to carry out traffic control to the control zone of next node, preferential high The control zone that the AGV trolley of task priority passes through next node.
Further, the AGV trolley further include: electric power detection module detects the current electric quantity of AGV trolley, and sends To dispatching device；
Dispatching device further include: charging instruction module, if detecting, the current electric quantity of AGV trolley is less than power threshold, Issue charging signals；
Driving path of the path planning module based on charging signals planning AGV trolley from current location to wireless charging area, And it is issued to corresponding AGV trolley.
Further, the dispatching device further include:
Nodal test unit, detection AGV trolley currently whether on the node, if testing result be it is yes, control the time Window computing unit calculates the time window of next node, and sends best friend's siphunculus molding block,
Traffic control module detects the time window of next node with the presence or absence of coincidence, and if it exists, then to path planning module Send quadratic programming instruction；
It is instructed based on quadratic programming, the section weight of lower a road section of low priority AGV is set as nothing by path planning module It is poor big, the most short driving path of planning present node to terminal node, and it is issued to corresponding AGV trolley；
The AGV of low priority refers to the current AGV for executing task priority and being lower than highest priority.
Further, idle trolley refers to that current location is located at the AGV trolley of waiting area.
Further, the AGV trolley is magnetic navigation AGV or is laser navigation AGV.
AGV Dispatching Control System provided by the invention has the following beneficial effects:
1. can be adapted for the magnetic navigation AGV and/or laser navigation AGV of two way；
2. in the process of moving, avoiding rushing section, planning current location again if next node time of occurrence window conflicts To the most short driving path of task terminal, in the case where avoiding conflict, the operation for improving system is efficiency；
3. assigning the task to the AGV trolley nearest away from task starting point, extremely appointed based on shortest path come planning tasks starting point The driving path of business terminal, improves the operational efficiency of system.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of AGV Dispatching Control System provided in an embodiment of the present invention.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and It is not used in the restriction present invention.
Fig. 1 is that the structural schematic diagram of AGV Dispatching Control System provided in an embodiment of the present invention only shows for ease of description For the relevant part of the embodiment of the present invention.
The AGV Dispatching Control System, suitable for the magnetic navigation AGV or laser navigation AGV of two way, AGV scheduling control System processed includes:
AGV trolley, wireless communication base station and dispatching device, AGV are communicated by wireless communication base station and dispatching device, wirelessly The running route of the wireless signal covering AGV of communication base station and dispatching device region；
Wherein, AGV trolley includes: signal transmitting and receiving module and vehicle-mounted control module,
The location information of trolley and status information are sent to scheduling dress by signal transmitting and receiving module one in the form of heartbeat packet It sets, receives the control instruction that dispatching device is sent and issuing for task, contain the driving path for executing the task in the task； Wherein, the information for identifying small car state includes: parking, busy or failure；Receiving control instruction includes: to refer to including parking Order and enabled instruction；
Vehicle-mounted control module controls sailing towards next rows of nodes for AGV trolley based on control instruction；
In embodiments of the present invention, dispatching device includes: signal receiving module two, task management module, path planning mould Block, management map module and traffic control module, wherein
Signal receiving module two receives trolley location information and status information that signal receiving module one is sent；
Task management module receives the mission bit stream of user's typing, comprising: task starting point, task terminal and task are preferential Grade, the task in task list is ranked up based on priority, by first task in task list distribute to away from appoint The nearest idle trolley of starting point of being engaged in, and the task is corresponded into driving path and is sent to the free time trolley, in the small of waiting area Vehicle is idle trolley；
Path planning module cooks up the most short driving path from task starting point to task terminal based on topological map, i.e., The node sequencing for generating driving path, the correspondence task that driving path is added in task list is expert at；
Management map module, storage and modification topological map, topological map includes: a position, the power in section between two nodes Value, the weight of two adjacent edges, the control zone and waiting area of node, the modification of topological map include the addition of website or delete It removes, control zone redefines etc.；
Traffic control module, task based access control priority to carry out traffic control to the control zone of next node, preferential high The control zone that the AGV trolley of task priority passes through next node.
In embodiments of the present invention, in AGV Dispatching Control System, AGV trolley further include:
Electric power detection module, detects the current electric quantity of AGV trolley, and is sent to dispatching device；
Dispatching device further include: charging instruction module, if detecting, the current electric quantity of AGV trolley is less than power threshold, Issue charging signals；
Driving path of the path planning module based on charging signals planning AGV trolley from current location to wireless charging area, And it is issued to corresponding AGV trolley.
AGV trolley is based on above-mentioned driving path and travels to wireless charging area, can be artificial charging or fills automatically Electricity utilizes " electromagnetic induction principle " and lithium battery or lead-acid battery charging principle and the technology that combines, in wireless charging area car body The automatic charging of trolley is completed by wireless receiving end.
In one embodiment of the embodiment of the present invention, above-mentioned dispatching device further include: nodal test unit and time window calculate Unit, wherein
Nodal test unit, detection AGV trolley currently whether on the node, if testing result be it is yes, control the time Window computing unit calculates the time window of next node, and sends best friend's siphunculus molding block,
Traffic control module detects the time window of next node with the presence or absence of coincidence, and if it exists, then to path planning module Send quadratic programming instruction；
It is instructed based on quadratic programming, the section weight of lower a road section of low priority AGV is set as nothing by path planning module It is poor big, the most short driving path of planning present node to terminal node, and it is issued to corresponding AGV trolley, the AGV of low priority Refer to the current AGV for executing task priority and being lower than highest priority.
In another embodiment of the invention, the dispatching device includes: nodal test unit, time window computing unit, Time calculating unit and path determining unit, wherein
Nodal test unit, detection AGV trolley currently whether on the node, if testing result be it is yes, control the time Window computing unit calculates the time window of next node, and sends best friend's siphunculus molding block,
Traffic control module detects the time window of next node with the presence or absence of coincidence, and if it exists, then to path planning module Send quadratic programming instruction；
It is instructed based on quadratic programming, the section weight of lower a road section of low priority AGV is set as nothing by path planning module Most short driving path of the poor huge construction program present node to terminal node；
Time calculating unit calculates the elapsed time T1 in quadratic programming path and continues the elapsed time of initial driving path T2, initial driving path refer to the driving path that task based access control starting point is planned to task terminal, and quadratic programming path refers to one The section weight in lower section is set as infinitely great, planning path of the current location to task terminal.
In embodiments of the present invention, the consumed time T1 in quadratic programming path is the straight-line travelling time C1 in path The sum of with turning driving time C2, wherein the straight-line travelling time calculation formula of C1 is as follows:
v1For the AGV trolley straight-line travelling speed of setting, djFor the Euclidean distance in j-th of section in quadratic programming path, ∑ djFor all section sum of the distance in quadratic programming path, from present node to terminal node；The meter of turning driving time C2 It is specific as follows to calculate formula:
M is that present node is travelled to the number of turns of terminal node, and R is the minimum turning radius of AGV trolley, v2For setting Cornering speed.
The elapsed time T2 for continuing initial driving path is the waiting unlocked time of ' locked ' zone where next intermediate node The sum of the remaining running time C4 of C3 and initial driving path, the calculation method of the remaining running time C4 of initial driving path are shown in The elapsed time in quadratic programming path calculates.
Path determining unit sends quadratic programming path to corresponding AGV trolley, otherwise, to correspondence if T1 is less than T2 AGV trolley send cutoff command, until the AGV trolley of highest priority task sails out of the ' locked ' zone where next node.
AGV Dispatching Control System provided by the invention has the following beneficial effects:
1. can be adapted for the magnetic navigation AGV and/or laser navigation AGV of two way；
2. in the process of moving, avoiding rushing section, planning current location again if next node time of occurrence window conflicts To the most short driving path of task terminal, in the case where avoiding conflict, the operation for improving system is efficiency；
3. assigning the task to the AGV trolley nearest away from task starting point, extremely appointed based on shortest path come planning tasks starting point The driving path of business terminal, improves the operational efficiency of system.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.

Claims (5)

1. a kind of AGV Dispatching Control System, which is characterized in that the system comprises:
AGV trolley, wireless communication base station and dispatching device, AGV are communicated by wireless communication base station and dispatching device, wherein AGV Trolley includes:
The location information of trolley and status information are sent to dispatching device by signal transmitting and receiving module one, are received dispatching device and are sent Control instruction and the issuing of the task；
Vehicle-mounted control module is controlled AGV trolley based on control instruction and sailed towards next rows of nodes；
The dispatching device includes:
Signal receiving module two receives trolley location information and status information that signal receiving module one is sent；
Task management module receives the mission bit stream of user's typing, comprising: task starting point, task terminal and task priority, base The task in task list is ranked up in priority, first task in task list distributed to away from task starting point Nearest idle trolley, and the correspondence driving path that path planning module generates is sent to the idle trolley；
Path planning module is cooked up the most short driving path from task starting point to task terminal based on topological map, will be travelled The correspondence task that path is added in task list is expert at；
Management map module, storage and modification topological map, comprising: position is put, the weight in section between two nodes, two adjacent edges Weight, the control zone and waiting area of node；
Traffic control module, task based access control priority to carry out the control zone of next node traffic control, preferential high task The control zone that the AGV trolley of priority passes through next node.
2. AGV Dispatching Control System as described in claim 1, which is characterized in that the AGV trolley further include: electric power detection mould Block, detects the current electric quantity of AGV trolley, and is sent to dispatching device；
Dispatching device further include: charging instruction module, the current electric quantity of AGV trolley is less than power threshold if detecting, issues Charging signals；
Driving path of the path planning module based on charging signals planning AGV trolley from current location to wireless charging area, and under It is sent to corresponding AGV trolley.
3. AGV Dispatching Control System as claimed in claim 1 or 2, which is characterized in that the dispatching device further include:
Nodal test unit, detection AGV trolley currently whether on the node, if testing result be it is yes, control time window meter It calculates unit and calculates the time window of next node, and send best friend's siphunculus molding block,
Traffic control module detects the time window of next node with the presence or absence of coincidence, and if it exists, then sends to path planning module Quadratic programming instruction；
It being instructed based on quadratic programming, the section weight of lower a road section of low priority AGV is set as infinitely great by path planning module, Plan that present node to the most short driving path of terminal node, and is issued to corresponding AGV trolley；
The AGV of low priority refers to the current AGV for executing task priority and being lower than highest priority.
4. the AGV Dispatching Control System as described in Claims 1-4 any claim, which is characterized in that idle trolley, which refers to, works as Front position is located at the AGV trolley of waiting area.
5. the AGV Dispatching Control System as described in Claims 1-4 any claim, which is characterized in that the AGV trolley is Magnetic navigation AGV or be laser navigation AGV.
CN201811600189.2A 2018-12-26 2018-12-26 A kind of AGV Dispatching Control System Pending CN109669456A (en)

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