CN109711723B - AGV task allocation method, storage device and scheduling system - Google Patents

Abstract

The invention discloses an AGV task allocation method, a storage device and a scheduling system.A central control center reasonably sequences all unexecuted tasks according to the cost of the cost by calculating the cost of all unexecuted tasks according to scene requirements, selects the task with the minimum cost as the next executed task of the AGV, so that the sequence of the tasks executed by the AGV can be changed according to the requirements, and measures the time and the running distance of the AGV executing the tasks by calculating the cost of the AGV executing the tasks, and reasonably allocates the tasks, thereby shortening the total running time and the time of the AGV and improving the total task execution efficiency.

Description

AGV task allocation method, storage device and scheduling system

Technical Field

The invention relates to the technical field of AGV, in particular to an AGV task allocation method, a storage device and a scheduling system.

Background

In the automatic AGV dispatching system, a plurality of clients can operate simultaneously, and each client can send a plurality of tasks to the task pool at one time to wait for the execution of the AGV. In the traditional task allocation process, requests are sequentially responded directly according to the sending sequence of tasks, and few researches are made on the task processing sequence. In a scenario where no sequencing is required, this task scheduling scheme may increase the idle rate of the AGV, thereby increasing some unnecessary running costs.

Disclosure of Invention

The invention aims to overcome the defects of the prior art and provide an AGV task allocation method which can coordinate allocation and enables the AGV to execute tasks with high working efficiency.

In order to solve the technical problems, the invention adopts the following technical scheme:

an AGV task allocation method comprises a central control center and an AGV, and comprises the following steps:

a. generating a two-dimensional coordinate graph on an AGV advancing scene and recording the two-dimensional coordinate graph into a central control center, wherein any point has corresponding x and y coordinates;

b. the central control center records the task sending time, the task end position and the current position of the AGV of all the tasks to be executed according to all the tasks sent by the client;

c. the central control center carries out cost operation on all tasks to be executed according to the following formula according to the current position and time;

Cost＝(|x_position-x_task|+|y_position-y_task|)×w_{dis tan ce}-(T_now-T_task)×w_time

where Cost is the Cost of executing the task, x_position、y_positionX, y coordinates of the current position of the AGV_task、y_taskAs position information of task points, T_nowFor the current time, T_taskTime when task is sent, w_distanceIs a distance weight, w_timeIs a time weight; said w_time＝V_AGV/T0，V_AGVFor the operating speed of the AGV, T0 is the time allowed for the task to be reordered, i.e. within T0 there is no strict requirement on the order of execution of the tasks, w_{dis tan ce}＝1-w_time；

d. And the central control center sequences the cost of the tasks which are sent in the T0 and do not start to be executed, selects the task with the minimum cost as the task to be executed next by the AGV, and sends the task instruction to the AGV.

Compared with the prior art, according to the AGV task allocation method provided by the invention, under the requirements of different scenes, the sequence of the AGV executing the tasks can be changed according to the requirements, the time and the running distance of the AGV executing the tasks are measured by calculating the cost of the AGV executing the tasks, and the tasks are allocated reasonably, so that the total running time and the time of the AGV are shortened, and the total task executing efficiency is improved.

Preferably, in step c, when the application scenario in which the AGV is located has strict requirements on the execution sequence of the tasks, w is set_{dis tan ce}When the task sending time is set to be 0, the central control center sends all the tasks which are not executed to the AGV according to the sequence of the task sending time, so that the AGV executes the tasks in sequence according to the sequence of the task sending time; and for different application scenes, mode conversion is simply carried out according to requirements, and different requirements of customers are met.

Preferably, in step c, when the application scenario in which the AGV is located does not require the execution sequence of the tasks at all, w is set_timeSetting the task point to be 0, and preferentially sending all unexecuted tasks to the AGV by the central control center according to the nearest task point to the current position of the AGV, so that the AGV executes the tasks in sequence according to the distance of the executed tasks from small to large; to pairAnd mode conversion is simply carried out according to requirements in different application scenes, so that different requirements of customers are further met.

The invention also provides a storage device, which stores a plurality of execution instructions, wherein the execution instructions are used for loading and executing the following operations by the central control center:

a. generating a two-dimensional coordinate graph on an AGV traveling scene, wherein any point has corresponding x and y coordinates;

b. the client sends the tasks to a central control center, and the central control center records the task sending time, the task end position and the current position of the AGV of all the tasks to be executed;

c. the central control center carries out cost operation on all tasks according to the following formula according to the current position and time;

Cost＝(|x_position-x_task|+|y_position-y_task|)×w_{dis tan ce}-(T_now-T_task)×w_time

where Cost is the Cost of executing the task, x_position、y_positionX, y coordinates of the current position of the AGV_task、y_taskAs position information of task points, T_nowFor the current time, T_taskTime when task is sent, w_{dis tan ce}Is a distance weight, w_timeIs a time weight; said w_time＝V_AGV/T0，V_AGVFor the operating speed of the AGV, T0 is the time allowed for the task to be reordered, i.e. within T0 there is no strict requirement on the order of execution of the tasks, w_{dis tan ce}＝1-w_time；

d. The tasks sent in T0 that did not begin execution are ranked in cost, and the least costly task is selected as the next task to be executed by the AGV.

Preferably, in step c, when the application scenario in which the AGV is located has strict requirements on the execution sequence of the tasks, w is transmitted through the central control center_{dis tan ce}Setting to 0, the central control center sends all the tasks which are not executed to the AGV according to the sequence of the task sending time, so that the AGV sends the tasks according to the sequence of the task sending timeSequentially executing; when the application scene where the AGV is located has no requirement on the execution sequence of the tasks, w is transmitted to the center control center_timeSetting the task point to be 0, and preferentially sending all unexecuted tasks to the AGV by the central control center according to the nearest task point to the current position of the AGV, so that the AGV executes the tasks in sequence according to the distance of the executed tasks from small to large; and for different application scenes, mode conversion is simply carried out according to requirements, so that different requirements of customers are met.

The invention also provides an AGV task scheduling system, which comprises a central control center, an AGV and a storage device used for storing a plurality of execution instructions, wherein the execution instructions are used for the central control center to load and execute the following operations:

a. generating a two-dimensional coordinate graph on an AGV traveling scene, wherein any point has corresponding x and y coordinates;

b. the client sends the tasks to a central control center, and the central control center records the task sending time, the task end position and the current position of the AGV of all the tasks to be executed;

c. the central control center carries out cost operation on all tasks according to the following formula according to the current position and time;

Cost＝(|x_position-x_task|+|y_position-y_task|)×w_{dis tan ce}-(T_now-T_task)×w_time

where Cost is the Cost of executing the task, x_position、y_positionX, y coordinates of the current position of the AGV_task、y_taskAs position information of task points, T_nowFor the current time, T_taskTime when task is sent, w_{dis tan ce}Is a distance weight, w_timeIs a time weight; said w_time＝V_AGV/T0，V_AGVFor the operating speed of the AGV, T0 is the time allowed for the task to be reordered, i.e. within T0 there is no strict requirement on the order of execution of the tasks, w_{dis tan ce}＝1-w_time；

d. The tasks sent in T0 that did not begin execution are ranked in cost, and the least costly task is selected as the next task to be executed by the AGV.

Preferably, in step c, when the application scenario in which the AGV is located has strict requirements on the execution sequence of the tasks, w is transmitted through the central control center_{dis tan ce}When the task sending time is set to be 0, the central control center sends all the tasks which are not executed to the AGV according to the sequence of the task sending time, so that the AGV executes the tasks in sequence according to the sequence of the task sending time; when the application scene where the AGV is located has no requirement on the execution sequence of the tasks, w is transmitted to the center control center_timeSetting the task point to be 0, and preferentially sending all unexecuted tasks to the AGV by the central control center according to the nearest task point to the current position of the AGV, so that the AGV executes the tasks in sequence according to the distance of the executed tasks from small to large; and for different application scenes, mode conversion is simply carried out according to requirements, so that different requirements of customers are met.

Drawings

FIG. 1 is a simplified flow diagram of the present invention.

Detailed Description

Preferred embodiments of the present invention will be described below with reference to the accompanying drawings.

The first embodiment is as follows:

referring to fig. 1, an AGV task allocation method includes a central control center and AGVs, where the central control center is preferably a PC terminal, and the central control center is in wireless communication connection with the AGVs, and the task allocation method includes the following steps:

a. generating a two-dimensional coordinate graph on an AGV advancing scene and recording the two-dimensional coordinate graph into a central control center, wherein any point has corresponding x and y coordinates; the central control center detects whether an idle AGV exists, if so, the step b is carried out, if no idle AGV is found, the execution of the AGV task is waited for to be completed, and the idle AGV is detected to exist;

b. the central control center records the task sending time, the task end position and the current position of the AGV of all the tasks to be executed according to all the task requests sent by the client;

c. the central control center carries out cost operation on all tasks to be executed according to the following formula according to the current position and time;

Cost＝(|x_position-x_task|+|y_position-y_task|)×w_{dis tan ce}-(T_now-T_task)×w_time

where Cost is the Cost of executing the task, x_position、y_positionX, y coordinates of the current position of the AGV_task、y_taskAs position information of task points, T_nowFor the current time, T_taskTime when task is sent, w_{dis tan ce}Is a distance weight, w_timeIs a time weight; said w_time＝V_AGV/T0，V_AGVFor the running speed of the AGV, T0 is the time for allowing the task to be reordered, that is, in T0, there is no strict requirement on the execution sequence of the tasks, for example, the tasks sent in 3 minutes are not in the execution sequence, and as long as the running cost is small, the 3 minutes are the time for allowing the task to be reordered, w_{dis tan ce}＝1-w_time；

d. And the central control center performs cost sequencing on the tasks which are sent in the T0 and do not start to be executed, selects the task with the minimum cost as the task to be executed next by the AGV, and sends a task instruction to the AGV, wherein the central control center firstly judges all the tasks, if the task is the task with the minimum cost, the task instruction is sent to the AGV as the task to be executed next, if the task is not the task with the minimum cost, the task is suspended, and the judgment is performed after the AGV finishes the next task. .

If the AGV runs at 1m/s, and the scene requires the tasks to be sent within 2min to be sequenced, w_timeWhen w is equal to 0.5_{dis tan ce}＝0.5。

As a preferred scheme, in step c, when the application scenario where the AGV is located has strict requirements on the execution sequence of the tasks, that is, the tasks must be executed according to the sending sequence, then w is added_{dis tan ce}And setting the task sending time to be 0, and sending all the tasks which are not executed to the AGV by the central control center according to the sequence of the task sending time, so that the AGV executes the tasks in sequence according to the sequence of the task sending time.

As a preferred embodimentIn step c, when the application scene where the AGV is located has no requirement on the execution sequence of the tasks at all, that is, the efficiency priority, is to execute the tasks with the shortest time consumption; then w will be_timeAnd setting the task point to be 0, and preferentially sending all unexecuted tasks to the AGVs by the central control center according to the closest task point to the current positions of the AGVs, so that the AGVs execute the tasks in sequence from small to large according to the task executing distance.

The invention has the beneficial effects that: under the requirements of different scenes, the sequence of the tasks executed by the AGVs can be changed according to the requirements, the time and the running distance of the tasks executed by the AGVs are measured by calculating the cost of the tasks executed by the AGVs, and the tasks are reasonably distributed, so that the total running time and the time of the AGVs are shortened, and the total task execution efficiency is improved; and for different application scenes, mode conversion is simply carried out according to requirements, and different requirements of customers are met.

Example two:

a storage device storing a plurality of execution instructions, the execution instructions for a central control center to load and perform the following operations:

a. generating a two-dimensional coordinate graph on an AGV traveling scene, wherein any point has corresponding x and y coordinates;

b. the client sends the tasks to a central control center, and the central control center records the task sending time, the task end position and the current position of the AGV of all the tasks to be executed;

c. the central control center carries out cost operation on all tasks according to the following formula according to the current position and time;

Cost＝(|x_position-x_task|+|y_position-y_task|)×w_{dis tan ce}-(T_now-T_task)×w_time

where Cost is the Cost of executing the task, x_position、y_positionX, y coordinates of the current position of the AGV_task、y_taskAs position information of task points, T_nowFor the current time, T_taskTime when task is sent, w_{dis tan ce}Is a distance weight, w_timeIs a time weight; said w_time＝V_AGV/T0，V_AGVFor the operating speed of the AGV, T0 is the time allowed for the task to be reordered, i.e. within T0 there is no strict requirement on the order of execution of the tasks, w_{dis tan ce}＝1-w_time；

d. The tasks sent in T0 that did not begin execution are ranked in cost, and the least costly task is selected as the next task to be executed by the AGV.

Preferably, in step c, when the application scenario in which the AGV is located has strict requirements on the execution sequence of the tasks, the central control center sends w_{dis tan ce}When the task sending time is set to be 0, the central control center sends all the tasks which are not executed to the AGV according to the sequence of the task sending time, so that the AGV executes the tasks in sequence according to the sequence of the task sending time; when the application scene where the AGV is located has no requirement on the execution sequence of the tasks, w is transmitted to the center control center_timeSetting the task point to be 0, and preferentially sending all unexecuted tasks to the AGV by the central control center according to the nearest task point to the current position of the AGV, so that the AGV executes the tasks in sequence according to the distance of the executed tasks from small to large; and for different application scenes, mode conversion is simply carried out according to requirements, so that different requirements of customers are met.

Example three:

an AGV task scheduling system comprises a central control center, an AGV and a storage device used for storing a plurality of execution instructions, wherein the execution instructions are used for the central control center to load and execute the following operations:

a. generating a two-dimensional coordinate graph on an AGV traveling scene, wherein any point has corresponding x and y coordinates;

b. the client sends the tasks to a central control center, and the central control center records the task sending time, the task end position and the current position of the AGV of all the tasks to be executed;

c. the central control center carries out cost operation on all tasks according to the following formula according to the current position and time;

Cost＝(|x_position-x_task|+|y_position-y_task|)×w_{dis tan ce}-(T_now-T_task)×w_time

where Cost is the Cost of executing the task, x_position、y_positionX, y coordinates of the current position of the AGV_task、y_taskAs position information of task points, T_nowFor the current time, T_taskTime when task is sent, w_{dis tan ce}Is a distance weight, w_timeIs a time weight; said w_time＝V_AGV/T0，V_AGVFor the operating speed of the AGV, T0 is the time allowed for the task to be reordered, i.e. within T0 there is no strict requirement on the order of execution of the tasks, w_{dis tan ce}＝1-w_time；

d. The tasks sent in T0 that did not begin execution are ranked in cost, and the least costly task is selected as the next task to be executed by the AGV.

Preferably, in step c, when the application scenario in which the AGV is located has strict requirements on the execution sequence of the tasks, the central control center sends w_{dis tan ce}When the task sending time is set to be 0, the central control center sends all the tasks which are not executed to the AGV according to the sequence of the task sending time, so that the AGV executes the tasks in sequence according to the sequence of the task sending time; when the application scene where the AGV is located has no requirement on the execution sequence of the tasks, w is transmitted to the center control center_timeSetting the task point to be 0, and preferentially sending all unexecuted tasks to the AGV by the central control center according to the nearest task point to the current position of the AGV, so that the AGV executes the tasks in sequence according to the distance of the executed tasks from small to large; for different application scenes, the mode is simply changed according to the requirements, thereby meeting different requirements of customers

Variations and modifications to the above-described embodiments may occur to those skilled in the art, which fall within the scope and spirit of the above description. Therefore, the present invention is not limited to the specific embodiments disclosed and described above, and some modifications and variations of the present invention should fall within the scope of the claims of the present invention. Furthermore, although specific terms are employed herein, they are used in a generic and descriptive sense only and not for purposes of limitation.

Claims (3)

1. An AGV task allocation method comprises a central control center and an AGV, and is characterized in that: the method comprises the following steps:

a. generating a two-dimensional coordinate graph on an AGV advancing scene and recording the two-dimensional coordinate graph into a central control center, wherein any point has corresponding x and y coordinates;

b. the central control center records the task sending time, the task end position and the current position of the AGV of all the tasks to be executed according to all the tasks sent by the client;

c. the central control center carries out cost operation on all tasks to be executed according to the following formula according to the current position and time;

Cost＝(|x_position-x_task|+|y_position-y_task|)×w_distance-(T_now-T_task)×w_time

where Cost is the Cost of executing the task, x_position、y_positionX, y coordinates of the current position of the AGV_task、y_taskAs position information of task points, T_nowFor the current time, T_taskTime when task is sent, w_distanceIs a distance weight, w_timeIs a time weight; said w_time＝V_AGV/T0，V_AGVFor the operating speed of the AGV, T0 is the time allowed for the task to be reordered, i.e. within T0 there is no strict requirement on the order of execution of the tasks, w_distance＝1-w_time；

When the application scene where the AGV is located has strict requirements on the execution sequence of the tasks, w is used_distanceSetting the task sending time to be 0, and sending all unexecuted tasks to the AGV by the central control center according to the sequence of the task sending time;

when the application scene where the AGV is located has no requirement on the execution sequence of the tasks, w is used_timeSetting the priority sequence of all unexecuted tasks to be 0 according to the distance from the task point to the current position of the AGV from near to far, and sequentially sending the tasks to the AGV by the central control center;

d. and the central control center sequences the cost of the tasks which are sent in the T0 and do not start to be executed, selects the task with the minimum cost as the task to be executed next by the AGV, and sends the task instruction to the AGV.

2. A memory device storing a plurality of execution instructions, the memory device comprising: the execution instruction is used for loading and executing the following operations by the central control center:

a. generating a two-dimensional coordinate graph on an AGV traveling scene, wherein any point has corresponding x and y coordinates;

b. the client sends the tasks to a central control center, and the central control center records the task sending time, the task end position and the current position of the AGV of all the tasks to be executed;

c. the central control center carries out cost operation on all tasks according to the following formula according to the current position and time;

Cost＝(|x_position-x_task|+|y_position-y_task|)×w_distance-(T_now-T_task)×w_time

where Cost is the Cost of executing the task, x_position、y_positionX, y coordinates of the current position of the AGV_task、y_taskAs position information of task points, T_nowFor the current time, T_taskTime when task is sent, w_distanceIs a distance weight, w_timeIs a time weight; said w_time＝V_AGV/T0，V_AGVFor the operating speed of the AGV, T0 is the time allowed for the task to be reordered, i.e. within T0 there is no strict requirement on the order of execution of the tasks, w_distance＝1-w_time；

When the application scene where the AGV is located has strict requirements on the execution sequence of the tasks, w is used_distanceSetting the task sending time to be 0, and sending all unexecuted tasks to the AGV by the central control center according to the sequence of the task sending time;

when the application scene where the AGV is located has no requirement on the execution sequence of the tasks, w is used_timeIs set to 0, inThe control center sets priority sequences of all unexecuted tasks according to the distance from the task point to the current position of the AGV from near to far, and sends the tasks to the AGV in sequence;

d. the tasks sent in T0 that did not begin execution are ranked in cost, and the least costly task is selected as the next task to be executed by the AGV.

3. An AGV task scheduling system comprises a central control center, an AGV and a storage device used for storing a plurality of execution instructions, and is characterized in that: the execution instruction is used for loading and executing the following operations by the central control center:

a. generating a two-dimensional coordinate graph on an AGV traveling scene, wherein any point has corresponding x and y coordinates;

b. the client sends the tasks to a central control center, and the central control center records the task sending time, the task end position and the current position of the AGV of all the tasks to be executed;

c. the central control center carries out cost operation on all tasks according to the following formula according to the current position and time;

Cost＝(|x_position-x_task|+|y_position-y_task|)×w_distance-(T_now-T_task)×w_time

where Cost is the Cost of executing the task, x_position、y_positionX, y coordinates of the current position of the AGV_task、y_taskAs position information of task points, T_nowFor the current time, T_taskTime when task is sent, w_distanceIs a distance weight, w_timeIs a time weight; said w_time＝V_AGV/T0，V_AGVFor the operating speed of the AGV, T0 is the time allowed for the task to be reordered, i.e. within T0 there is no strict requirement on the order of execution of the tasks, w_distance＝1-w_time；

When the application scene where the AGV is located has strict requirements on the execution sequence of the tasks, w is used_distanceSetting to 0, the central control center sends all the tasks to be executed according to the sequence of the task sending timeSequentially sending the data to the AGV;

when the application scene where the AGV is located has no requirement on the execution sequence of the tasks, w is used_timeSetting the priority sequence of all unexecuted tasks to be 0 according to the distance from the task point to the current position of the AGV from near to far, and sequentially sending the tasks to the AGV by the central control center;

d. the tasks sent in T0 that did not begin execution are ranked in cost, and the least costly task is selected as the next task to be executed by the AGV.

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