CN109711723A - A kind of AGV method for allocating tasks, storage device and scheduling system - Google Patents
A kind of AGV method for allocating tasks, storage device and scheduling system Download PDFInfo
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Abstract
The present invention discloses a kind of AGV method for allocating tasks, storage device and scheduling system, middle control center passes through according to scene demand to all cost operations for being not carried out task, all tasks that are not carried out are ranked up according to the size reasonable of cost, and select next execution task of the smallest task of cost as AGV, the sequence for allowing AGV to execute task changes according to demand, the cost of task is executed by calculating AGV, measure time and range ability that AGV executes task, reasonably distribute task, total run time and time so as to shorten AGV, improve total task execution efficiency.
Description
Technical field
The present invention relates to AGV technical field, a kind of AGV method for allocating tasks, storage device and scheduling system are related generally to.
Background technique
In automation AGV scheduling system, there can be multiple client while operate, each client can disposably be sent
Multiple tasks wait AGV to execute into task pool.It is all that the transmission of direct basis task is suitable in traditional task assignment procedure
Sequence, successively respond request, few to be studied for task processing sequence.It is this in the case where not needing the scene according to sequence
Task scheduling approach will increase the no-load ratio of AGV, and increase some unnecessary run cost.
Summary of the invention
It is an object of the invention to overcome the deficiencies of the prior art and provide a kind of coordinated allocations, so that AGV executes task work
Make high-efficient AGV method for allocating tasks.
In order to solve the above-mentioned technical problem, the invention adopts the following technical scheme:
A kind of AGV method for allocating tasks comprising middle control center and AGV, method for allocating tasks the following steps are included:
A. in generating two-dimensional coordinate figure in the traveling scene of AGV and being entered into control center, arbitrary point has accordingly
X, y-coordinate；
B. all tasks that middle control center is sended over according to client, when recording the task transmission of all pending tasks
Between, task final position and the current location AGV；
C. middle control center carries out cost fortune to all pending tasks according to current position and time according to the following formula
It calculates；
Cost=(| xposition-xtask|+|yposition-ytask|)×wdis tan ce-(Tnow-Ttask)×wtime
Wherein, Cost is the cost of execution task, xposition、ypositionX, y-coordinate for AGV present position,
xtask、ytaskFor the location information of task point, TnowFor current time, TtaskTo send time when task, wdistanceFor away from
From weight, wtimeFor time weighting；The wtime=VAGV/ T0, VAGVFor the speed of service of AGV, T0 is what permission task reordered
Time does not have strict requirements, w to the execution sequence of task that is, in T0dis tan ce=1-wtime；
D. middle control center selects the smallest task of cost to the progress cost sequence of executing for task is sent and do not started in T0
As the next task to be executed of AGV, and AGV is sent by assignment instructions.
Compared with prior art, AGV method for allocating tasks provided by the invention, under the demand of different scenes, AGV is held
The sequence of row task can change according to demand, and the cost of task is executed by calculating AGV, measure AGV and execute task
Time and range ability, reasonably distribute task, and total run time and time so as to shorten AGV improve total task and hold
Line efficiency.
It preferably,, will when application scenarios have strict requirements to the execution sequence of task where AGV in step c
wdis tan ceIt is set as 0, middle control center sending all being not carried out for tasks on AGV according to the successive of task sending time,
So that AGV is successively executed according to the sequencing of task sending time；It is simple according to demand to carry out for the difference of application scenarios
Mode conversion meets the different demands of client.
It preferably,, will when application scenarios absolutely not require the execution sequence of task where AGV in step c
wtimeIt is set as 0, the meeting that all being not carried out for tasks are nearest according to the current location task point distance AGV of middle control center
It is preferentially sent on AGV, so that AGV is successively executed according to the ascending of task distance is executed；For the difference of application scenarios,
Mode conversion, the different demands of further satisfaction client are simply carried out according to demand.
The present invention also provides a kind of storage device, storage device storage is a plurality of to be executed instruction, and described execute instruction is used for
Middle control center loaded simultaneously executes following operation:
A. two-dimensional coordinate figure is generated in the traveling scene of AGV, there are corresponding x, y-coordinate in arbitrary point；
B. task is sent middle control center by client, when the task of middle control all pending tasks of central record is sent
Between, task final position and the current location AGV；
C. middle control center carries out cost operation to all tasks according to current position and time according to the following formula；
Cost=(| xposition-xtask|+|yposition-ytask|)×wdis tan ce-(Tnow-Ttask)×wtime
Wherein, Cost is the cost of execution task, xposition、ypositionX, y-coordinate for AGV present position,
xtask、ytaskFor the location information of task point, TnowFor current time, TtaskTo send time when task, wdis tan ceFor
Distance weighting, wtimeFor time weighting；The wtime=VAGV/ T0, VAGVFor the speed of service of AGV, T0 is that permission task reorders
Time there is no strict requirements, w to the execution of task sequence that is, in T0dis tan ce=1-wtime；
D. to the progress cost sequence of executing for task is sent and do not started in T0, select the smallest task of cost as AGV
Next task to be executed.
Preferably, in step c, when application scenarios there are strict requirements to the execution sequence of task where AGV, pass through
Middle control center is by wdis tan ceIt is set as 0, middle control center is by all being not carried out for tasks according to the successive hair of task sending time
It is sent on AGV, so that AGV is successively executed according to the sequencing of task sending time；Application scenarios are to task where AGV
Execution sequence is when absolutely not requiring, by middle control center by wtimeIt is set as 0, middle control center is not carried out all
Task is preferentially sent on AGV according to the nearest meeting in the current location task point distance AGV, so that AGV is according to execution task distance
Ascending successively execute；For the difference of application scenarios, mode conversion is simply carried out according to demand, meets client not
Same demand.
The present invention also provides a kind of AGV task scheduling system, including middle control center, AGV and refer to for storing a plurality of execution
The storage device of order, described to execute instruction for middle control center loaded and execute following operation:
A. two-dimensional coordinate figure is generated in the traveling scene of AGV, there are corresponding x, y-coordinate in arbitrary point；
B. task is sent middle control center by client, when the task of middle control all pending tasks of central record is sent
Between, task final position and the current location AGV；
C. middle control center carries out cost operation to all tasks according to current position and time according to the following formula；
Cost=(| xposition-xtask|+|yposition-ytask|)×wdis tan ce-(Tnow-Ttask)×wtime
Wherein, Cost is the cost of execution task, xposition、ypositionX, y-coordinate for AGV present position,
xtask、ytaskFor the location information of task point, TnowFor current time, TtaskTo send time when task, wdis tan ceFor
Distance weighting, wtimeFor time weighting；The wtime=VAGV/ T0, VAGVFor the speed of service of AGV, T0 is that permission task reorders
Time there is no strict requirements, w to the execution of task sequence that is, in T0dis tan ce=1-wtime；
D. to the progress cost sequence of executing for task is sent and do not started in T0, select the smallest task of cost as AGV
Next task to be executed.
Preferably, in step c, when application scenarios there are strict requirements to the execution sequence of task where AGV, pass through
Middle control center is by wdis tan ceIt is set as 0, middle control center is by all being not carried out for tasks according to the successive hair of task sending time
It is sent on AGV, so that AGV is successively executed according to the sequencing of task sending time；Application scenarios are to task where AGV
Execution sequence is when absolutely not requiring, by middle control center by wtimeIt is set as 0, middle control center is not carried out all
Task is preferentially sent on AGV according to the nearest meeting in the current location task point distance AGV, so that AGV is according to execution task distance
Ascending successively execute；For the difference of application scenarios, mode conversion is simply carried out according to demand, meets client not
Same demand.
Detailed description of the invention
Fig. 1 is simple flow chart schematic diagram of the invention.
Specific embodiment
Below in conjunction with Detailed description of the invention preferred embodiment of the invention.
Embodiment one:
Referring to Fig. 1, a kind of AGV method for allocating tasks comprising middle control center and AGV, the middle control center is preferably PC
End, the middle control center connect with AGV wireless telecommunications, method for allocating tasks the following steps are included:
A. in generating two-dimensional coordinate figure in the traveling scene of AGV and being entered into control center, arbitrary point has accordingly
X, y-coordinate；The whether available free AGV of middle control Spot detection, if so, b is then entered step, if not finding idle AGV, etc.
To AGV task execution complete, it is to be checked measure available free AGV until；
B. all task requests that middle control center is sended over according to client record the task hair of all pending tasks
Send time, task final position and the current location AGV；
C. middle control center carries out cost fortune to all pending tasks according to current position and time according to the following formula
It calculates；
Cost=(| xposition-xtask|+|yposition-ytask|)×wdis tan ce-(Tnow-Ttask)×wtime
Wherein, Cost is the cost of execution task, xposition、ypositionX, y-coordinate for AGV present position,
xtask、ytaskFor the location information of task point, TnowFor current time, TtaskTo send time when task, wdis tan ceFor
Distance weighting, wtimeFor time weighting；The wtime=VAGV/ T0, VAGVFor the speed of service of AGV, T0 is that permission task reorders
Time there is no strict requirements to the execution of task sequence, for example, sending in 3 minutes for task does not have to that is, in T0
Pipe executing sequence, as long as run cost is small, this 3 minutes are exactly the time for allowing task to reorder, wdis tan ce
=1-wtime；
D. middle control center selects the smallest task of cost to the progress cost sequence of executing for task is sent and do not started in T0
As the next task to be executed of AGV, and send AGV for assignment instructions, wherein middle control center first to all tasks into
Row judgement sends AGV as next task to be executed for the assignment instructions if it is minimum cost task, if
It is not minimum cost task, then hangs up the task, is judged again after waiting AGV to complete next task.
If the speed of service of AGV is 1m/s, scene requirement is ranked up the task of the transmission in 2min at this time, then
wtime=0.5, w at this timedis tan ce=0.5.
Preferably, in step c, application scenarios have strict requirements to the execution sequence of task where AGV
When, i.e., task must be executed according to its sequencing sent, then by wdis tan ceIt is set as 0, middle control center will own
Being not carried out for task is successively sent on AGV according to task sending time, so that AGV is according to the successive suitable of task sending time
Sequence successively executes.
Preferably, in step c, application scenarios absolutely not require the execution sequence of task where AGV
When, i.e. it is as short as possible exactly to execute task time-consuming for efficiency comes first grade；Then by wtimeIt is set as 0, middle control center will own
Being not carried out for task is preferentially sent on AGV according to the nearest meeting in the current location task point distance AGV, so that AGV is according to execution
The ascending of task distance successively executes.
The invention has the benefit that the sequence that AGV executes task can be sent out according to demand under the demand of different scenes
Changing executes the cost of task by calculating AGV, measures time and range ability that AGV executes task, reasonably distribution is appointed
Business, total run time and time so as to shorten AGV improve total task execution efficiency；And not for application scenarios
Together, mode conversion is simply carried out according to demand, meets the different demands of client.
Embodiment two:
A kind of storage device, storage device storage is a plurality of to be executed instruction, described to execute instruction for middle control center loaded
And execute following operation:
A. two-dimensional coordinate figure is generated in the traveling scene of AGV, there are corresponding x, y-coordinate in arbitrary point；
B. task is sent middle control center by client, when the task of middle control all pending tasks of central record is sent
Between, task final position and the current location AGV；
C. middle control center carries out cost operation to all tasks according to current position and time according to the following formula；
Cost=(| xposition-xtask|+|yposition-ytask|)×wdis tan ce-(Tnow-Ttask)×wtime
Wherein, Cost is the cost of execution task, xposition、ypositionX, y-coordinate for AGV present position,
xtask、ytaskFor the location information of task point, TnowFor current time, TtaskTo send time when task, wdis tan ceFor
Distance weighting, wtimeFor time weighting；The wtime=VAGV/ T0, VAGVFor the speed of service of AGV, T0 is that permission task reorders
Time there is no strict requirements, w to the execution of task sequence that is, in T0dis tan ce=1-wtime；
D. to the progress cost sequence of executing for task is sent and do not started in T0, select the smallest task of cost as AGV
Next task to be executed.
Preferably, in step c, application scenarios have strict requirements to the execution sequence of task where AGV
When, by middle control center by wdis tan ceIt is set as 0, middle control center is by all being not carried out for tasks according to task sending time
It is successively sent on AGV, so that AGV is successively executed according to the sequencing of task sending time；The application scenarios pair where AGV
The execution sequence of task is when absolutely not requiring, by middle control center by wtimeBe set as 0, middle control center by it is all not
The task of execution is preferentially sent on AGV according to the nearest meeting in the current location task point distance AGV, so that AGV appoints according to execution
Business the ascending of distance successively executes；For the difference of application scenarios, mode conversion is simply carried out according to demand, meets visitor
The different demands at family.
Embodiment three:
A kind of AGV task scheduling system, including middle control center, AGV and for storing a plurality of storage device executed instruction,
It is described to execute instruction for middle control center loaded and execute following operation:
A. two-dimensional coordinate figure is generated in the traveling scene of AGV, there are corresponding x, y-coordinate in arbitrary point；
B. task is sent middle control center by client, when the task of middle control all pending tasks of central record is sent
Between, task final position and the current location AGV；
C. middle control center carries out cost operation to all tasks according to current position and time according to the following formula；
Cost=(| xposition-xtask|+|yposition-ytask|)×wdis tan ce-(Tnow-Ttask)×wtime
Wherein, Cost is the cost of execution task, xposition、ypositionX, y-coordinate for AGV present position,
xtask、ytaskFor the location information of task point, TnowFor current time, TtaskTo send time when task, wdis tan ceFor
Distance weighting, wtimeFor time weighting；The wtime=VAGV/ T0, VAGVFor the speed of service of AGV, T0 is that permission task reorders
Time there is no strict requirements, w to the execution of task sequence that is, in T0dis tan ce=1-wtime；
D. to the progress cost sequence of executing for task is sent and do not started in T0, select the smallest task of cost as AGV
Next task to be executed.
Preferably, in step c, application scenarios have strict requirements to the execution sequence of task where AGV
When, by middle control center by wdis tan ceIt is set as 0, middle control center is by all being not carried out for tasks according to task sending time
It is successively sent on AGV, so that AGV is successively executed according to the sequencing of task sending time；The application scenarios pair where AGV
The execution sequence of task is when absolutely not requiring, by middle control center by wtimeBe set as 0, middle control center by it is all not
The task of execution is preferentially sent on AGV according to the nearest meeting in the current location task point distance AGV, so that AGV appoints according to execution
Business the ascending of distance successively executes；For the difference of application scenarios, mode conversion is simply carried out according to demand, meets visitor
The different demands at family
According to the disclosure and teachings of the above specification, those skilled in the art in the invention can also be to above-mentioned embodiment party
Formula is changed and is modified.Therefore, the invention is not limited to the specific embodiments disclosed and described above, to of the invention
Some modifications and changes should also be as falling into the scope of the claims of the present invention.In addition, although being used in this specification
Some specific terms, these terms are merely for convenience of description, does not limit the present invention in any way.
Claims (9)
1. a kind of AGV method for allocating tasks comprising middle control center and AGV, it is characterised in that: the following steps are included:
A. in generating two-dimensional coordinate figure in the traveling scene of AGV and being entered into control center, arbitrary point has corresponding x, y to sit
Mark；
B. all tasks that middle control center is sended over according to client, record all pending tasks task sending time,
Task final position and the current location AGV；
C. middle control center carries out cost operation to all pending tasks according to current position and time according to the following formula；
Cost=(| xposition-xtask|+|yposition-ytask|)×wdistance-(Tnow-Ttask)×wtime
Wherein, Cost is the cost of execution task, xposition、ypositionX, y-coordinate for AGV present position, xtask、
ytaskFor the location information of task point, TnowFor current time, TtaskTo send time when task, wdistanceFor distance power
Weight, wtimeFor time weighting；The wtime=VAGV/ T0, VAGVFor the speed of service of AGV, T0 be permission task reorder when
Between, i.e., in T0, there is no strict requirements, w to the execution sequence of taskdistance=1-wtime；
D. middle control center in T0 send and do not start execute task carry out cost sequence, select the smallest task of cost as
The next task to be executed of AGV, and AGV is sent by assignment instructions.
2. AGV method for allocating tasks according to claim 1, it is characterised in that: in step c, the applied field where AGV
When scape has strict requirements to the execution sequence of task, by wdistanceBe set as 0, middle control center by all being not carried out for tasks by
It is sent on AGV according to the sequencing of task sending time.
3. AGV method for allocating tasks according to claim 1, it is characterised in that: in step c, the applied field where AGV
When scape absolutely not requires the execution sequence of task, by wtimeBe set as 0, middle control center by it is all be not carried out appoint
Business is preferentially sent on AGV according to the nearest meeting in the current location task point distance AGV.
4. a kind of storage device, storage device storage is a plurality of to be executed instruction, it is characterised in that: described to execute instruction for middle control
Center loaded simultaneously executes following operation:
A. two-dimensional coordinate figure is generated in the traveling scene of AGV, there are corresponding x, y-coordinate in arbitrary point；
B. task is sent middle control center by client, and the task sending time of middle control all pending tasks of central record is appointed
Business final position and the current location AGV；
C. middle control center carries out cost operation to all tasks according to current position and time according to the following formula；
Cost=(| xposition-xtask|+|yposition-ytask|)×wdistance-(Tnow-Ttask)×wtime
Wherein, Cost is the cost of execution task, xposition、ypositionX, y-coordinate for AGV present position, xtask、
ytaskFor the location information of task point, TnowFor current time, TtaskTo send time when task, wdistanceFor distance power
Weight, wtimeFor time weighting；The wtime=VAGV/ T0, VAGVFor the speed of service of AGV, T0 be permission task reorder when
Between, i.e., in T0, there is no strict requirements, w to the execution sequence of taskdistance=1-wtime；
D. to the progress cost sequence of executing for task is sent and do not started in T0, select the smallest task of cost as under AGV one
A task to be executed.
5. storage device according to claim 4, it is characterised in that: in step c, application scenarios are to appointing where the AGV
The execution sequence of business is when having strict requirements, by middle control center by wdistanceIt is set as 0, middle control center is not carried out all
Task is successively sent on AGV according to task sending time.
6. storage device according to claim 4, it is characterised in that: in step c, application scenarios are to appointing where the AGV
The execution sequence of business is when absolutely not requiring, by middle control center by wtimeIt is set as 0, middle control center is not held all
Capable task is preferentially sent on AGV according to the nearest meeting in the current location task point distance AGV.
7. a kind of AGV task scheduling system, including middle control center, AGV and for storing a plurality of storage device executed instruction,
It is characterized in that: described to execute instruction for middle control center loaded and execute following operation:
A. two-dimensional coordinate figure is generated in the traveling scene of AGV, there are corresponding x, y-coordinate in arbitrary point；
B. task is sent middle control center by client, and the task sending time of middle control all pending tasks of central record is appointed
Business final position and the current location AGV；
C. middle control center carries out cost operation to all tasks according to current position and time according to the following formula；
Cost=(| xposition-xtask|+|yposition-ytask|)×wdistance-(Tnow-Ttask)×wtime
Wherein, Cost is the cost of execution task, xposition、ypositionX, y-coordinate for AGV present position, xtask、
ytaskFor the location information of task point, TnowFor current time, TtaskTo send time when task, wdistanceFor distance power
Weight, wtimeFor time weighting；The wtime=VAGV/ T0, VAGVFor the speed of service of AGV, T0 be permission task reorder when
Between, i.e., in T0, there is no strict requirements, w to the execution sequence of taskdistance=1-wtime；
D. to the progress cost sequence of executing for task is sent and do not started in T0, select the smallest task of cost as under AGV one
A task to be executed.
8. AGV task scheduling system according to claim 7, it is characterised in that: in step c, the applied field where AGV
When scape has strict requirements to the execution of task sequence, by middle control center by wdistanceBe set as 0, middle control center by it is all not
The task of execution is successively sent on AGV according to task sending time.
9. AGV task scheduling system according to claim 7, it is characterised in that: in step c, the applied field where AGV
When scape absolutely not requires the execution of task sequence, by middle control center by wtimeIt is set as 0, middle control center is by institute
There is being not carried out for task to be preferentially sent on AGV according to the nearest meeting in the current location task point distance AGV.
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| CN111291930A (en) * | 2020-01-21 | 2020-06-16 | 北京猎户星空科技有限公司 | Task allocation method and device, computing equipment and storage medium |
| CN111815226A (en) * | 2020-06-11 | 2020-10-23 | 浙江大华技术股份有限公司 | Automatic guided transport vehicle scheduling method, scheduling system and storage device |
| CN112130980A (en) * | 2020-09-29 | 2020-12-25 | 海尔优家智能科技（北京）有限公司 | Operation execution method and device, storage medium and electronic device |
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