CN113515117A - Conflict resolution method for multi-AGV real-time scheduling based on time window - Google Patents
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Abstract
The invention discloses a multi-AGV real-time scheduling conflict resolution method based on a time window, which comprises the following steps: preparing map data of the unmanned workshop, initializing a route, and importing the map grid data of the unmanned workshop; processing a first machine tool request, realizing path planning and adding a time window mark; processing each machine tool request one by one; checking and resolving the route conflict, and judging and resolving the conflict in a time window mode; refreshing the scheduling route set P: in a scheduling period, the system refreshes the route set P to eliminate the routes and route travel points which have already been walked; and (5) repeatedly executing the steps 3-6 until all AGV trolleys are dispatched. Thereby completing the global conflict-free route planning. The method can be widely applied to multi-AGV real-time scheduling in an unmanned workshop, and can realize collision-free and high-efficiency operation of the multi-AGV.
Description
Technical Field
The invention belongs to the technical field of navigation and control, and particularly relates to a conflict resolution method for multi-AGV real-time scheduling based on a time window.
Background
With the rapid development of computers, manufacturing industry, warehouse logistics and artificial intelligence, modern manufacturing industry has spawned a new type of factory that replaces traditional operations, namely an intelligent factory, also known as an unmanned factory or an unmanned workshop. An unmanned factory or an unmanned workshop, also called an automatic factory or a workshop, is used as a production factory or a workshop for production and processing without human intervention, and can automatically complete tasks such as material distribution, processing, carrying and the like. An AGV (automated Guided vehicle) is a flexible intelligent logistics transport vehicle integrating a plurality of advanced technologies. AGV carts are capable of following a designated path and have the capability of automatically loading and unloading goods. In unmanned factory and unmanned workshop, the AGV dolly can handle the material and can transport the material to corresponding lathe and process, so the AGV dolly is one of unmanned factory and unmanned workshop automated production's core equipment.
Planning a collision-free and efficient path for each AGV cart in an unmanned factory or workshop can be influenced by the specific environment of the unmanned factory or workshop. Path planning for AGV carts mainly involves 3 aspects of problems: (1) it is determined whether a feasible path exists from the starting point to the target point. (2) The path planned for the AGV must be non-blocking, non-conflicting, and non-deadlocking. (3) The path planned for the AGV car should enable the operation efficiency of the whole system to achieve a better effect.
One very important technique for AGV carts in the prior art is laser guidance. The laser guiding technology is mainly divided into two parts: AGV laser scanner and AGV deflector plate. The laser scanner mounted on the AGV cart rotates 360 ° at a fixed rotational speed and sends the laser to the reflective plate. The laser scanner can detect the position of the reflecting plate and obtain the information of the laser angle according to the direction of the laser returned by the reflecting plate. The AGV vehicle-mounted computer receives and processes the information, and can calculate the position and the movement direction of the AGV. The AGV comprises an upper layer control system, an AGV body, a position sensor, a control system and a control system, wherein the current position of the AGV body is sent to the upper layer control system in the running process, the position sensor is used for comparing and correcting the position of the AGV body with the parameters of the AGV body, and the parameters are arranged in the system, so that the AGV body is guided to run along a correct route.
For the occasion that needs many AGV dolly, there is the scheduling problem of many AGV. The method is characterized in that a certain parameter is used as an optimization target, a reasonable resource allocation scheme is determined according to specific resources of tasks and factories, and material transportation tasks of unmanned workshops are allocated to each AGV. Each AGV car does not collide when running, and can complete the transportation task with higher efficiency.
At present, the scheduling methods widely applied and researched mainly include a scheduling algorithm based on time window path planning, a scheduling algorithm based on conflict obstacle avoidance, a scheduling algorithm based on artificial intelligence prediction, and the like.
The scheduling algorithm based on time window path planning is a simple and practical scheduling method, and can avoid the situations of conflict, waiting deadlock and the like of an AGV small workshop. The method provides that in a certain time period, a certain road section is exclusively occupied by a certain AGV, and other AGV trolleys cannot drive into the road section in the time period. The conflict types based on the time window are generally divided into a concurrent conflict type and an opposite conflict type.
The global path planning method based on the time window in the prior art is mainly used for static global path planning and is used for trying to solve and avoid conflicts. This approach is very time consuming to solve, especially if there are already many path constraints, or even no suitable paths are available. The two-stage path planning method proposed by a 'time window-based two-stage AGV path planning research' paper (measurement and control technology, 6 th 2018) of Xuzhen and horse invar plans an initial path by using a Dijstra algorithm, and then obtains a global path by performing conflict processing based on a time window. The method is an off-line static path planning, and does not consider the situation of AGV dynamic change, such as the path that the AGV has already traveled needs to be deleted. In pengies, a paper of 'research on multiple AGV path conflicts based on time window algorithm' (excellent collection of papers of academic annual meeting of Chinese tobacco institute, 2017) proposes a dynamic path planning method based on time window, which pauses at a conflict node and then calls a Dijstra algorithm again to perform subsequent path planning again. The method comprises the steps of pausing at a conflict node or moving to an obstacle avoidance point, then modifying a time window of each node in a subsequent path, rechecking whether the node with the modified time window has conflict, and if so, repeatedly solving the conflict until all paths are checked. The disadvantage of this method is that the re-planning of the path may be the original path, resulting in a planning failure.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a multi-AGV real-time scheduling conflict resolution method based on a time window, which can effectively solve conflicts among multiple AGVs and can ensure the scheduling efficiency of the multiple AGVs.
In order to solve the technical problems, the invention adopts the following technical scheme.
The invention discloses a conflict resolution method for multi-AGV real-time scheduling based on a time window, which comprises the following steps of:
step 5, resolving route conflict;
step 6, refreshing the scheduling route set P: in a scheduling period, the system refreshes the route set P to eliminate the routes and route travel points which have already been walked;
and 7, repeatedly executing the steps 3 to 6 until all AGV trolleys are dispatched.
Further, the specific process of step 2 includes:
when a first machine tool makes a request, the system responds to the request; calling an A-algorithm or Dijkstra algorithm according to the position of the machine tool to obtain a shortest circuit L ═ r { (r) }1，r2，r3，...rNN is the number of the path nodes, and the path is distributed to an idle AGV trolley a; then, according to the departure time t of the trolley, a time stamp L is added to each trip point of the routea tFinally, the path is added to P of the set of scheduling routes, i.e., P ═ P utou { L { (L) }a t}。
Further, the specific process of step 3 includes:
for each next machine tool request, the system responds to the request by invoking the A-algorithm based on the machine tool positionObtaining a shortest path L by a method or Dijkstra algorithm, distributing the L to an idle AGV trolley a, and adding a time stamp L to each trip point of the path according to the departure time t of the trolleya t。
Further, the specific process of step 4 includes:
to the route La tGo through L one by onea tTrip point in
Wherein i 1, 2.. times, N, check if there is a time conflict with each trip point of each route in P; if no conflict exists, adding the route into P, and turning to the step 6; if a certain point is reached
If there is a time conflict with the point in P, go to step 5 to process the conflict.
Further, the specific process of step 5 includes:
firstly checking the conflict type, if the conflict type belongs to the concurrent conflict, then
The point should pause once; need to be on the route La tIn
Increase travel points
Modifying the timestamp to tk+1(ii) a Then the L is puta tMedian value of
The value of the time stamp of the trip point of (1) is added, i.e.
And modifying the route La tIn
Adding 1 to the time stamps of all the future trip points; if the conflict type belongs to a conflict in opposite directions, then
Let point S should be entered, i.e. point S is added to the route and S is time stamped with SN+1 tThen modify the route La tIn
Adding 1 to the time stamps of all the subsequent trip points; then go to step 4 to process line La tAnd (5) the next trip point.
Compared with the prior art, the invention has the following advantages and beneficial effects:
1. the method provided by the invention can be applied to most environments such as unmanned workshops, ports, wharfs, warehouse logistics and the like, and has universality. The method provided by the invention can be imported only by gridding the data of the terrain environment to establish an environment map description file. Meanwhile, the correctness and efficiency of the scheduling method are verified through simulation experiments.
2. The time window-based multi-AGV real-time scheduling conflict resolution method has the innovative points that when conflicts occur, resolution strategies are called according to conflict types to solve the current conflicts, the time windows of subsequent nodes are updated in real time, and then conflicts existing with the subsequent nodes of a vehicle road are checked in a step-by-step circulating mode. Compared with the traditional conflict judgment and resolution method, the method can avoid the deadlock phenomenon, thereby having higher efficiency.
3. The invention relates to a real-time scheduling method integrating route planning and conflict resolution, which has the innovation points that conflict judgment and resolution are carried out during real-time route planning, all nodes in a route are processed one by one in a circulating mode to obtain an optimal route without conflict, the real-time performance is better, and the scheduling efficiency is further improved.
4. The method adopts a mode of establishing the specific obstacle avoidance point under the complex condition, can effectively avoid the situation of multiple AGV conflicts which cannot be resolved, effectively improves the efficiency of material handling, provides a new way and an optimization method for system scheduling control, and has wide application prospect.
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FIG. 1 is a method flow diagram of one embodiment of the present invention.
FIG. 2 is a map modeling of an unmanned vehicle according to an embodiment of the invention.
Fig. 3 is a diagram of an implementation of the a-algorithm according to an embodiment of the present invention.
Fig. 4 is a map label diagram corresponding to the implementation of the a-algorithm according to an embodiment of the present invention.
FIG. 5 is a diagram of a multiple AGV conflict scenario.
FIG. 6 is a conflict resolution operational diagram of one embodiment of the present invention.
Detailed Description
The invention provides a multi-AGV real-time scheduling conflict resolution method based on a time window, and the multi-AGV scheduling efficiency of an unmanned workshop is improved. The method carries out map modeling on the specific environment of the unmanned workshop, and then adopts an A-x algorithm to plan a global shortest path for each pair of machine tool and unloading point. When the machine tool sends a part request to the material starting center, the dispatching center selects an idle AGV from the idle AGV queue, and the global shortest path corresponding to the machine tool is handed to the AGV. The AGV car defaults to travel according to a planned global shortest path, when a conflict occurs, a conflict resolution method based on a time window is adopted to judge whether the conflict is a concurrent conflict or a relative conflict, and different resolution methods are needed for different conflict types. The conflict resolution method provided by the invention can effectively solve the conflict among the multiple AGVs and simultaneously ensure the scheduling efficiency of the multiple AGVs.
The present invention will be described in further detail with reference to the accompanying drawings.
As shown in fig. 1, the method for resolving multiple AGV conflicts based on a time window of the present invention includes the following steps:
step 1: and preparing map data of the unmanned workshop and initializing a route. Reading map grid data of the unmanned workshop, and carrying out map modeling on the unmanned workshop; initializing a scheduling route set P to be null;
step 2: the first machine tool request is processed. And realizing path planning and adding time window marks. When the first machine sends a request, the system responds to the request, and calls the A-star algorithm or the Dijkstra algorithm according to the position of the machine to obtain a shortest circuit L-r1，r2，r3，...rNN is the number of nodes of the path, and the path is assigned to an empty AGV cart a. Then, according to the departure time t of the trolley, a time stamp L is added to each trip point of the routea tFinally, the path is added to P of the set of scheduling routes, i.e., P ═ P utou { L { (L) }a t}；
And step 3: each next machine tool request is processed one by one. Route planning and adding time window markers are achieved. For each next machine tool request, the system responds to the request, an A-algorithm or Dijkstra algorithm is called according to the machine tool position to obtain a shortest path L, the shortest path L is distributed to an idle AGV trolley a, and then a timestamp L is added to each travel point of the path according to the trolley departure time ta t；
And 4, step 4: and checking the route conflict. To the route La tGo through L one by onea tTrip point in
N, check if there is a time conflict with each trip point of each route in P. If no conflict exists, adding the route into P, and turning to the step 6; if a certain point is reached
If the time conflict exists with the point in the P, the step 5 is carried out to carry out conflict processing;
and 5: and (5) resolving the route conflict. Firstly checking the conflict type, if the conflict type belongs to the concurrent conflict, then
If the point should pause once, then on the route La tIn
Increase travel points
Modifying the timestamp to tk+1Then the L is addeda tMedian value of
The value of the time stamp of the trip point of (1) is added, i.e.
And modifying the route La tIn
Time stamps for all subsequent trip points (time stamp plus 1). If the conflict type belongs to a conflict in opposite directions, then
Let point S should be entered, i.e. point S is added to the route and S is time stamped with SN+1 tThen modify the route La tIn
Time stamps for all subsequent trip points (time stamp plus 1). Go to step 4 to process route La tThe next trip point is selected;
step 6: the scheduling route set P is refreshed. In a scheduling period, the system refreshes the route set P to eliminate the routes and route travel points which have already been walked;
and 7: and (5) repeatedly executing the steps 3-6 until all AGV trolleys are dispatched.
After grid data of the unmanned workshop is imported, the map modeling of the unmanned workshop is carried out, and the map modeling is shown in FIG. 2. Taking the unmanned workshop of fig. 2 as an example, the workshop has a material starting center in which the parts to be processed are stored; 5 public roads are provided for the AGV to travel; there are 25 machines awaiting the machining of the part.
When the global static shortest path is planned for each AGV, the method considers that the Dijkstra algorithm has higher time complexity and space complexity, and the A-algorithm searches the shortest path from a source point to a target node, contains a specific path, is convenient and effective, so the method is realized by adopting the A-algorithm. In the map environment of the unmanned workshop of fig. 2, the shortest path is calculated by using the a-x algorithm, as shown in fig. 3, and the corresponding shortest path label is shown in fig. 4.
The conflict resolution method provided by the invention can effectively solve the conflict among the AGV. Fig. 5 shows a case when a collision occurs, in which there are 4 AGV carts, and a part of the grid map is cut out to facilitate the observation of accurate coordinates in the collision map at the road intersection (1,17) on the left of machine No. 1.
Wherein, the coordinate of AGV No. 1 is at (1,18), and its next position is (1, 17); AGV Car No. 2 has coordinates at (1, 19) and its next step position is (1, 18); the AGV car No. 3 has coordinates at (2,17) and its next position is (1, 17); the AGV car number 4 has coordinates at (1,17) and its next position is (1, 18).
The specific conflict resolution method comprises the following steps:
(1) the No. 1 AGV and the No. 4 AGV collide with each other, and an idle retreating point exists above the No. 4 AGV, so that the next step position of the No. 4 AGV is (1, 16).
(2) Because the position of the next step of the AGV dolly of No. 1 and the AGV dolly of No. 3 are consistent, the conflict of the common points occurs between the AGV dolly of No. 1 and the AGV dolly of No. 3. And if the No. 1 AGV adopts a waiting strategy, the conflict with the No. 2 AGV can occur again, so that a conflict resolution strategy is adopted for the No. 3 AGV. The next position of AGV car # 3 is set to the current position (2, 17).
(3) Since the next position of carriage No. 4 is set to (1,16), the next position of carriage No. 1 is set to (1,17), and the next position of carriage No. 2 is set to (1, 18).
Conflicts between 4 AGV cubicles are resolved. The result chart of the implementation of the method is shown in fig. 6, and the correctness of the conflict resolution method is verified through a large number of experiments.
According to the method, the grid data of the unmanned workshop are imported, the map of the unmanned workshop can be established, and convenience can be provided for simulation of multiple AGVs. According to the invention, on the basis of the established map model of the unmanned workshop, the dispatching process of multiple AGVs is simulated, so that a user can conveniently observe the dispatching process of the multiple AGVs.
Claims (5)
1. A conflict resolution method for multi-AGV real-time scheduling based on a time window is characterized by comprising the following steps:
step 1, unmanned workshop map data preparation and route initialization: reading map grid data of the unmanned workshop, and carrying out map modeling on the unmanned workshop; initializing a scheduling route set P to be null;
step 2, processing a first machine tool request, and realizing path planning and adding a time window mark for the first machine tool request;
step 3, processing the next machine tool request, and realizing route planning and adding a time window mark for the next machine tool request;
step 4, checking the route conflict;
step 5, resolving route conflict;
step 6, refreshing the scheduling route set P: in a scheduling period, the system refreshes the route set P to eliminate the routes and route travel points which have already been walked;
and 7, repeatedly executing the steps 3 to 6 until all AGV trolleys are dispatched.
2. The method for resolving conflicts of time-window-based real-time scheduling of multiple AGVs according to claim 1, wherein the specific process of step 2 comprises:
when a first machine tool makes a request, the system responds to the request; calling an A-algorithm or Dijkstra algorithm according to the position of the machine tool to obtain a shortest circuit L ═ r { (r) }1，r2，r3，...rNN is the number of the path nodes, and the path is distributed to an idle AGV trolley a; then, according to the departure time t of the trolley, a time stamp L is added to each trip point of the routea tFinally, the path is added to P of the set of scheduling routes, i.e., P ═ P utou { L { (L) }a t}。
3. The method for resolving conflicts of time-window-based real-time scheduling of multiple AGVs according to claim 1, wherein the specific process of step 3 comprises:
for the next machine tool request, the system responds to the request, an A-algorithm or Dijkstra algorithm is called according to the machine tool position to obtain a shortest path L, the shortest path L is distributed to an idle AGV trolley a, and then a timestamp L is added to each travel point of the path according to the trolley departure time ta t。
4. The method for resolving conflicts of time-window-based real-time scheduling of multiple AGVs according to claim 1, wherein the specific process of step 4 comprises:
to the route La tGo through L one by onea tTrip point in
Where i is 1,2, …, N, checking if there is a time conflict with each trip point of each route in P; if no conflict exists, adding the route into P, and turning to the step 6; if a certain point is reached
If there is a time conflict with the point in P, go to step 5 to process the conflict.
5. The method for resolving conflicts of time-window-based real-time scheduling of multiple AGVs according to claim 1, wherein the specific process of step 5 comprises:
firstly checking the conflict type, if the conflict type belongs to the concurrent conflict, then
The point should pause once; need to be on the route La tIn
Increase travel points
Modifying the timestamp to tk+1(ii) a Then the L is puta tMedian value of
The value of the time stamp of the trip point of (1) is added, i.e.
And modifying the route La tIn
Adding 1 to the time stamps of all the future trip points; if the conflict type belongs to a conflict in opposite directions, then
Let point S should be entered, i.e. point S is added to the route and S is time stampedN+1 tThen modify the route La tIn
Adding 1 to the time stamps of all the subsequent trip points; then go to step 4 to process line La tAnd (5) the next trip point.
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