CN111798041A - AGV intelligent scheduling method based on time window - Google Patents
AGV intelligent scheduling method based on time window Download PDFInfo
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Abstract
A time window-based AGV intelligent scheduling method is characterized in that a time window calculation method under the principles of high priority and time priority is adopted for pre-occupying paths, time-sharing use and automatic avoidance of multiple AGVs on the same road section are achieved, flexible setting of each path node and priority classification and sequencing of tasks are carried out according to virtual mapping of a field operation environment, the problems that multiple AGV devices in a production field are difficult to operate simultaneously, insufficient path capacity, multi-vehicle conflict, path intersection, loop deadlock and the like are prone to occurring are solved, and operation efficiency and operation safety are effectively improved.
Description
Technical Field
The invention relates to an AGV intelligent scheduling method based on a time window, and belongs to the technical field of intelligent scheduling.
Background
The AGV is an important component of a flexible manufacturing system, has an important function of being lacking in production process automation and intellectualization, particularly completes instant automatic conveying of multiple lines at multiple indefinite points and multiple stations, realizes automation of manufacturing industry, and performs processing, assembly and the like in discrete manufacturing enterprises. The AGV is an important tool for improving the production and manufacturing efficiency, is beneficial to realizing the intelligent and modern manufacturing of factories, workshops, production lines and the like, and particularly has wide application in industrial technologies such as processing, transportation and the like. The AGV dispatching system completes management, path planning, task allocation, state monitoring and the like of multiple AGVs, and the quality of the performance of the dispatching system directly influences the transfer efficiency, so that the production efficiency, the cost and the like are influenced.
At present, due to the fact that path capacity of a production field is limited, multiple AGVs need to run simultaneously, problems of insufficient path capacity, multiple vehicle conflicts, path intersection, loop deadlock and the like are prone to occurring, and requirements of fields such as precision manufacturing and assembling for automatic, collision-free, deadlock-free and efficient running of the multiple AGVs cannot be met.
Disclosure of Invention
The technical problem solved by the invention is as follows: aiming at the problems that multiple AGV devices in a production field are difficult to operate simultaneously, and the situations of insufficient path capacity, multi-vehicle conflict, path intersection, loop deadlock and the like are easy to occur in the prior art, the AGV intelligent scheduling method based on the time window is provided.
The technical scheme for solving the technical problems is as follows:
an AGV intelligent scheduling method based on a time window comprises the following steps:
(1) according to the characteristics of a field environment and the requirements of a scheduling task, establishing a laser navigation coordinate system, constructing a field map, planning and constructing the running path nodes of the AGV, determining the coordinates, types, positioning modes and path directions of the running path nodes in the laser navigation coordinate system, and generating a field map file according to the field map information;
(2) storing the AGV equipment type, the equipment number, the communication MAC address and the running state in a database according to the scheduling task requirement;
(3) reading a field map file by using an AGV (automatic guided vehicle) scheduling system, dynamically storing field map information, and performing virtual mapping in the AGV scheduling system;
the AGV dispatching system realizes AGV dispatching and management by reading a field map file and AGV equipment information and task information in a database;
(4) reading AGV equipment information in a database by using an AGV dispatching system, acquiring available AGV equipment information in a field map, storing the available AGV equipment information, and initializing the selected AGV equipment;
(5) establishing a communication link between an AGV dispatching system and all available AGV equipment;
(6) acquiring current position coordinates of each AGV device, performing position detection on each AGV device according to field map information, searching a running path node closest to the current position of each AGV device, judging whether the AGV device is in a navigation area or not according to the distance between the running path node and the current position of each AGV device, if so, adding the AGV device into an idle state AGV list, otherwise, the AGV device exceeds the navigation range, and after the position detection of all the AGV devices is finished, updating database data according to the detection result;
(7) reading task requirements in an upper layer system through an AGV dispatching system, and carrying out priority classification and sequencing on tasks to be executed which are not started to be executed according to the emergency degree and the task creation time;
the task to be executed comprises a task model, an initial position, a target position, a task priority and task creation time, wherein the task model comprises AGV equipment actions at the initial position, AGV equipment actions at the target position and AGV equipment types of the task to be executed;
(8) the tasks are executed according to the priority classification and the sequence of the tasks to be executed after the priority classification, and the AGV equipment is assigned according to the current information of the tasks to be executed;
(9) after the current task to be executed is assigned, performing real-time path planning on the assigned AGV equipment, realizing automatic avoidance of other AGV equipment in the task execution process, and updating the execution state of the current task, the assigned AGV running state, the current AGV position coordinate and the node information of the remaining running paths in the database in real time;
(10) and after the task is executed, updating the state of the task in the database to be the execution completion, and simultaneously updating the state of the selected AGV equipment after the task is completed to be an idle state to prepare for the subsequent execution of other tasks.
Matrix codes are arranged at positions, which need to be subjected to visual navigation and visual accurate positioning, in the running path nodes.
And (6) before the position of each AGV device is detected, carrying out point-to-point directional communication by using an AGV dispatching system according to the serial number and the network address of the AGV device to be detected so as to acquire the current position coordinate of each AGV device.
In the step (7), the upper system includes an MES system and an intelligent warehousing system, and the priority classification and sorting specifically includes: and sequencing the tasks to be executed according to the priority urgency degree of the tasks to be executed, and sequencing the tasks to be executed with the same priority according to the creation time sequence of the tasks.
The time interval for reading the task demands in the upper layer system by the AGV dispatching system is 500 ms.
In the step (8), all AGV devices of corresponding types are selected according to the AGV device types of the tasks to be executed in the current information of the tasks to be executed, wherein:
if no task to be executed exists in the current task information to be executed, the AGV equipment of the corresponding type continues to execute the original task or is ready;
if the current task information to be executed contains the task to be executed, judging whether the task information contains a designated AGV equipment number, if the designated AGV equipment number exists, the AGV equipment is in a scheduling system control and non-communication interruption state, is in a navigation area and is in an idle state, and assigning the current task information to be executed for the AGV equipment;
if no designated AGV equipment number exists, judging whether AGV equipment which is controlled by a dispatching system, is in a non-communication interruption state, is in a navigation area and is in an idle state exists in the same type or not according to the type of the AGV equipment of the task to be executed in the task information, and if the number of the idle AGV equipment is 1, directly assigning the AGV equipment; if the number of the idle AGV devices is more than 1, acquiring all paths from the current position to the task starting position of each idle AGV device, calculating the occupation time of each path, selecting the path with the shortest occupation time from all the paths of all the idle AGV devices as an alternative path, judging whether the occupation time windows of all the running path nodes in the selected alternative path conflict with other AGV devices, if the conflicting occupation time windows exist, selecting a new path with the occupation time only being more than that of the alternative path according to the occupation time sequence, judging the occupation time windows again until the new path with the occupation time window not conflicting with other AGV devices is selected as an optimal path, and selecting the AGV device corresponding to the path as an assigned AGV device of the current task to be executed; and if the number of the idle AGV equipment is 0, not assigning, and waiting for the AGV equipment which is controlled by the dispatching system, is in a non-communication interruption state, is in a navigation area and is in an idle state.
And calculating all paths from the current position to the task starting position of each idle AGV device through a dijkstra algorithm.
Compared with the prior art, the invention has the advantages that:
(1) the invention provides an AGV intelligent scheduling method based on a time window, which plans path nodes in advance according to the field running environment of the AGV and stores the path nodes in a database in advance, establishes virtual mapping of an electronic map in a scheduling system to the field environment, can flexibly and changeably set each path node according to actual needs, improves the flexibility of arrangement and change of production lines such as automatic processing or assembly and the like, classifies and sequences tasks according to task execution states, priorities and issuing time, is favorable for priority processing of emergency tasks, and is convenient for a user to manage the AGV tasks and process AGV state information in real time;
(2) the invention adopts the time window calculation method under the time priority principle to pre-occupy the path for the same path node, realizes the time-sharing use and automatic avoidance of multiple AGVs to the same road section, prevents the problems of multiple vehicle conflicts, path intersection, loop deadlock and the like, and effectively improves the operation efficiency and the operation safety.
Drawings
FIG. 1 is a schematic flow chart of an intelligent scheduling method provided by the present invention;
Detailed Description
The utility model provides a AGV intelligent scheduling method based on time window, through judging operation route node state in advance and occupation in advance and the automatic of occupation node to the automation of idle node based on time window, realize the automation of many AGVs in the same region while moving and dodge, improve operating efficiency and operation security, as shown in figure 1, concrete step is:
(1) according to the characteristics of a field environment and the requirements of a scheduling task, establishing a laser navigation coordinate system, constructing a field map, planning and constructing the running path nodes of the AGV, determining the coordinates, types, positioning modes and path directions of the running path nodes in the laser navigation coordinate system, and generating a field map file according to the field map information; matrix codes are arranged at positions, which need to be subjected to visual navigation and visual accurate positioning, of the nodes of the operation path, and the coordinate direction of the matrix codes is the same as that of a laser navigation coordinate system;
the type of the operation path node comprises an acceleration point, a deceleration point, a work station point, a parking point, a charging point and the like, the positioning mode comprises visual positioning, laser positioning, PSD positioning and the like, the path direction comprises forward direction, reverse direction and bidirectional direction, meanwhile, whether the information of AGV rotation, navigation mode, transverse movement and the like are allowed to be stored in an electronic map is judged, and finally a json map file, namely a field map file, is generated according to the attributes;
the AGV equipment can perform autonomous navigation by adopting various navigation modes such as vision, laser and the like, and has the characteristics of line patrol walking, matrix code number identification or self coordinate identification according to field characteristic matching; according to the characteristics that a plurality of fixed obstacles exist in a field environment and the volume of the AGV equipment and the load volume are large, the operable route of the AGV equipment is limited; setting characteristic points with different attributes such as an acceleration point, a deceleration point, a parking point, a rotation point, a work site point and the like in a field environment, measuring corresponding coordinates of each point, and constructing a field two-dimensional map; an electronic map module in the dispatching system stores the attribute information of the points and the road sections in a json file to realize digital modeling of a field environment; the json file is a lightweight data exchange format, is easy to read and write by people and is easy to generate and analyze by a machine;
(2) storing the AGV equipment type, the equipment number, the communication MAC address and the running state in a database according to the scheduling task requirement;
(3) reading a field map file by using an AGV (automatic guided vehicle) scheduling system, dynamically storing field map information, and performing virtual mapping in the AGV scheduling system;
the AGV dispatching system realizes AGV dispatching and management by reading a field map file and AGV equipment information and task information in a database;
in the AGV dispatching system, an equipment manager stores all AGV equipment information in an AGV information table of a database at one time by operating an equipment management module of the dispatching system according to actual equipment conditions so as to facilitate the dispatching system to dispatch and manage a plurality of AGVs, and if AGV equipment is added or deleted subsequently, the dispatching system can operate in an interface and automatically update the database; otherwise, the dispatching system can automatically manage the AGV equipment with the recorded information and automatically update the AGV equipment according to the running state and the like;
(4) reading AGV equipment information in a database by using an AGV dispatching system, acquiring available AGV equipment information in a field map, storing the available AGV equipment information, and initializing the selected AGV equipment;
(5) establishing a communication link between an AGV dispatching system and all available AGV equipment;
setting a communication link, requiring an AGV dispatching system to automatically detect a port of an available communication link, defaulting or changing the selected port, setting parameters of a baud rate, a data bit and a stop bit, automatically opening the port of the communication link after the setting is finished, realizing wireless communication between the dispatching system and the AGV equipment through a wireless communication module, and establishing the communication link between the dispatching system and the AGV equipment;
(6) acquiring current position coordinates of each AGV device, performing position detection on each AGV device according to field map information, searching a running path node closest to the current position of each AGV device, judging whether the AGV device is in a navigation area or not according to the distance between the running path node and the current position of each AGV device, if so, adding the AGV device into an idle state AGV list, otherwise, the AGV device exceeds the navigation range, and after the position detection of all the AGV devices is finished, updating database data according to the detection result;
the navigation area is determined by data stored in the site map information and equipment information of the AGVs, and if the distance between the current position of the AGVs and the path node closest to the current position of the AGVs is more than 2 times of the length of the AGVs, the position of the AGVs is considered to exceed the navigation area; before position detection is carried out on each AGV device, point-to-point directional communication is carried out by using an AGV dispatching system according to the serial number and the network address of the AGV device to be detected so as to obtain the current position coordinate of each AGV device;
(7) reading task requirements in an upper layer system through an AGV dispatching system, and carrying out priority classification and sequencing on tasks to be executed which are not started to be executed according to the emergency degree and the task creation time;
the task to be executed comprises a task model, an initial position, a target position, a task priority and task creation time, wherein the task model comprises AGV equipment actions at the initial position, AGV equipment actions at the target position and AGV equipment types of the task to be executed;
the upper system comprises an MES system, an intelligent warehousing system and the like, and the priority classification and sequencing specifically comprises the following steps: sequencing according to the priority urgency degree of tasks to be executed, sequencing the tasks to be executed with the same priority according to the creation time sequence of the tasks, wherein the time interval for reading task requirements in an upper-layer system by an AGV scheduling system is 500 ms;
(8) the tasks are executed according to the priority classification and the sequence of the tasks to be executed after the priority classification, and the AGV equipment is assigned according to the current information of the tasks to be executed;
all AGV equipment of corresponding types are selected according to the types of the AGV equipment of the tasks to be executed in the current information of the tasks to be executed, and the method specifically comprises the following steps:
if no task to be executed exists in the current task information to be executed, the AGV equipment of the corresponding type continues to execute the original task or is ready;
if the current task information to be executed contains the task to be executed, judging whether the task information contains a designated AGV equipment number, if the designated AGV equipment number exists, the AGV equipment is in a scheduling system control and non-communication interruption state, is in a navigation area and is in an idle state, and assigning the current task information to be executed for the AGV equipment;
if no designated AGV equipment number exists, judging whether AGV equipment which is controlled by a dispatching system, is in a non-communication interruption state, is in a navigation area and is in an idle state exists in the same type or not according to the type of the AGV equipment of the task to be executed in the task information, and if the number of the idle AGV equipment is 1, directly assigning the AGV equipment; if the number of the idle AGV devices is more than 1, acquiring all paths from the current position to the task starting position of each idle AGV device, calculating the occupation time of each path, selecting the path with the shortest occupation time from all the paths of all the idle AGV devices as an alternative path, judging whether the occupation time windows of all the running path nodes in the selected alternative path conflict with other AGV devices, if the conflicting occupation time windows exist, selecting a new path with the occupation time only being more than that of the alternative path according to the occupation time sequence, judging the occupation time windows again until the new path with the occupation time window not conflicting with other AGV devices is selected as an optimal path, and selecting the AGV device corresponding to the path as an assigned AGV device of the current task to be executed; if the number of the idle AGV equipment is 0, no assignment is carried out, and the AGV equipment which is controlled by a dispatching system, is in a non-communication interruption state, is in a navigation area and is in an idle state is waited;
calculating all paths from the current position to the task starting position of each idle AGV device through a dijkstra algorithm;
(9) after the current task to be executed is assigned, performing real-time path planning on the assigned AGV equipment, realizing automatic avoidance of other AGV equipment in the task execution process, and updating the execution state of the current task, the assigned AGV running state, the current AGV position coordinate and the node information of the remaining running paths in the database in real time;
the time window is the time spent by the AGV executing the task in the whole process of entering a certain intersection or a certain road section, and the time window is mainly used for marking the intersection or the driving road section occupied by the AGV so as to avoid deadlock or collision caused by the fact that other AGVs drive in the time period occupied by the intersection or the road section.
In order to avoid deadlock or collision conflict caused by competition of path resources between an AGV executing a task and other AGVs, the system inserts a reasonable and continuous time window for each ordered road section on the feasible path by using a time window algorithm;
(10) and after the task is executed, updating the state of the task in the database and the idle state of the current AGV to prepare for subsequently executing a new task. Marking the AGV executing the task as an idle state, marking the corresponding executed task in the database as the execution completion, and preventing the same task from being repeatedly executed. The idle AGV may execute the new task.
The following is further illustrated with reference to specific examples:
in the embodiment, a laser navigation coordinate system is established, after a field map is established, a running path node of an automatic guided transport vehicle (AGV) is established, attribute information of each running path node in the laser navigation coordinate system is determined, and a json map file of the field map file is generated;
confirming the AGV equipment information, storing the AGV equipment information in a database, reading a field map file by using an AGV dispatching system, dynamically storing the field map information, carrying out virtual mapping in the AGV dispatching system, reading the AGV equipment information in the database by using the AGV dispatching system, acquiring the available AGV equipment information in the field map, and storing the available AGV equipment information;
establishing communication links between an AGV dispatching system and all available AGV equipment, acquiring current position coordinates of the AGV equipment, detecting the positions of the AGV equipment according to site map information, determining that the current positions of the AGV equipment are all located in a navigation area, reading task requirements in an upper layer system through the AGV dispatching system, performing priority classification and sequencing on tasks to be executed which are not started to be executed according to emergency degree and task creation time, and determining current task information to be executed;
selecting all AGV equipment of corresponding types according to task information, wherein the current task information to be executed is internally provided with tasks to be executed, but no designated AGV equipment number exists, so that the judgment is needed, judging whether the number of AGV equipment which is controlled by a dispatching system, is in a non-communication interruption state and is in an idle state in a navigation area is more than 1 in the same type according to the types of the AGV equipment to be executed in the task information, acquiring all paths from the current position to the task starting position of each idle AGV equipment at the moment, calculating the occupied time of each path through a dijkstra algorithm, taking the path with the shortest time as an alternative path, judging the conflict condition of the occupied time windows of all running path nodes in the path, finding out the occupied time windows with conflicts, and selecting a new path with the occupied time only being more than the alternative path according to the sequence of the occupied time to judge the occupied time windows again, finding that the occupied time window does not conflict with other AGV equipment in a third path with the occupied time from short to long according to the new judgment, taking the path as an optimal path, and selecting the AGV equipment corresponding to the path as assigned AGV equipment of the current task to be executed;
and after the task execution is finished, updating the state of the task in the database and the idle state of the current AGV to prepare for the subsequent execution of a new task. Marking the AGV executing the task as an idle state, marking the corresponding executed task in the database as the execution completion, and preventing the same task from being repeatedly executed. The idle AGV may execute the new task.
While the present invention has been described in detail with reference to the preferred embodiments, it should be understood that the above description should not be taken as limiting the invention. Various modifications and alterations to this invention will become apparent to those skilled in the art upon reading the foregoing description. Accordingly, the scope of the invention should be determined from the following claims.
Claims (7)
1. An AGV intelligent scheduling method based on a time window is characterized by comprising the following steps:
(1) according to the characteristics of a field environment and the requirements of a scheduling task, establishing a laser navigation coordinate system, constructing a field map, planning and constructing the running path nodes of the AGV, determining the coordinates, types, positioning modes and path directions of the running path nodes in the laser navigation coordinate system, and generating a field map file according to the field map information;
(2) storing the AGV equipment type, the equipment number, the communication MAC address and the running state in a database according to the scheduling task requirement;
(3) reading a field map file by using an AGV (automatic guided vehicle) scheduling system, dynamically storing field map information, and performing virtual mapping in the AGV scheduling system;
the AGV dispatching system realizes AGV dispatching and management by reading a field map file and AGV equipment information and task information in a database;
(4) reading AGV equipment information in a database by using an AGV dispatching system, acquiring available AGV equipment information in a field map, storing the available AGV equipment information, and initializing the selected AGV equipment;
(5) establishing a communication link between an AGV dispatching system and all available AGV equipment;
(6) acquiring current position coordinates of each AGV device, performing position detection on each AGV device according to field map information, searching a running path node closest to the current position of each AGV device, judging whether the AGV device is in a navigation area or not according to the distance between the running path node and the current position of each AGV device, if so, adding the AGV device into an idle state AGV list, otherwise, the AGV device exceeds the navigation range, and after the position detection of all the AGV devices is finished, updating database data according to the detection result;
(7) reading task requirements in an upper layer system through an AGV dispatching system, and carrying out priority classification and sequencing on tasks to be executed which are not started to be executed according to the emergency degree and the task creation time;
the task to be executed comprises a task model, an initial position, a target position, a task priority and task creation time, wherein the task model comprises AGV equipment actions at the initial position, AGV equipment actions at the target position and AGV equipment types of the task to be executed;
(8) the tasks are executed according to the priority classification and the sequence of the tasks to be executed after the priority classification, and the AGV equipment is assigned according to the current information of the tasks to be executed;
(9) after the current task to be executed is assigned, performing real-time path planning on the assigned AGV equipment, realizing automatic avoidance of other AGV equipment in the task execution process, and updating the execution state of the current task, the assigned AGV running state, the current AGV position coordinate and the node information of the remaining running paths in the database in real time;
(10) and after the task is executed, updating the state of the task in the database to be the execution completion, and simultaneously updating the state of the selected AGV equipment after the task is completed to be an idle state to prepare for the subsequent execution of other tasks.
2. The AGV intelligent scheduling method based on time window of claim 1, wherein: matrix codes are arranged at positions, which need to be subjected to visual navigation and visual accurate positioning, in the running path nodes.
3. The AGV intelligent scheduling method based on time window of claim 1, wherein: and (6) before the position of each AGV device is detected, carrying out point-to-point directional communication by using an AGV dispatching system according to the serial number and the network address of the AGV device to be detected so as to acquire the current position coordinate of each AGV device.
4. The AGV intelligent scheduling method based on time window of claim 1, wherein: in the step (7), the upper system includes an MES system and an intelligent warehousing system, and the priority classification and sorting specifically includes: and sequencing the tasks to be executed according to the priority urgency degree of the tasks to be executed, and sequencing the tasks to be executed with the same priority according to the creation time sequence of the tasks.
5. The AGV intelligent scheduling method based on time window of claim 4, wherein: the time interval for reading the task demands in the upper layer system by the AGV dispatching system is 500 ms.
6. The AGV intelligent scheduling method based on time window of claim 1, wherein: in the step (8), all AGV devices of corresponding types are selected according to the AGV device types of the tasks to be executed in the current information of the tasks to be executed, wherein:
if no task to be executed exists in the current task information to be executed, the AGV equipment of the corresponding type continues to execute the original task or is ready;
if the current task information to be executed contains the task to be executed, judging whether the task information contains a designated AGV equipment number, if the designated AGV equipment number exists, the AGV equipment is in a scheduling system control and non-communication interruption state, is in a navigation area and is in an idle state, and assigning the current task information to be executed for the AGV equipment;
if no designated AGV equipment number exists, judging whether AGV equipment which is controlled by a dispatching system, is in a non-communication interruption state, is in a navigation area and is in an idle state exists in the same type or not according to the type of the AGV equipment of the task to be executed in the task information, and if the number of the idle AGV equipment is 1, directly assigning the AGV equipment; if the number of the idle AGV devices is more than 1, acquiring all paths from the current position to the task starting position of each idle AGV device, calculating the occupation time of each path, selecting the path with the shortest occupation time from all the paths of all the idle AGV devices as an alternative path, judging whether the occupation time windows of all the running path nodes in the selected alternative path conflict with other AGV devices, if the conflicting occupation time windows exist, selecting a new path with the occupation time only being more than that of the alternative path according to the occupation time sequence, judging the occupation time windows again until the new path with the occupation time window not conflicting with other AGV devices is selected as an optimal path, and selecting the AGV device corresponding to the path as an assigned AGV device of the current task to be executed; and if the number of the idle AGV equipment is 0, not assigning, and waiting for the AGV equipment which is controlled by the dispatching system, is in a non-communication interruption state, is in a navigation area and is in an idle state.
7. The AGV intelligent scheduling method based on time window of claim 6, wherein: and calculating all paths from the current position to the task starting position of each idle AGV device through a dijkstra algorithm.
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