CN113821024A - Priority determination processing method suitable for AGV car scheduling - Google Patents
Priority determination processing method suitable for AGV car scheduling Download PDFInfo
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Abstract
The invention relates to the field of AGV dispatching, in particular to a priority judgment processing method suitable for AGV trolley dispatching, which comprises the following steps: s1: obtaining a total road right through planning according to a source node and a target node of an AGV, and dividing the total road right into a plurality of sub-road rights according to nodes in the total road right, wherein each sub-road right comprises two adjacent nodes and a route between the two nodes; s2: the configuration file is mainly composed of points, and assuming that there are points A, B, C and four points D on the road right, we can set according to this method: point a (resource 1), point B (resources 1 and 2), point C (resource 2), and point D (resource 1). The method combines the traffic control function, can really realize the automatic operation of the intelligent logistics equipment, avoids deadlock, and improves the working efficiency of the AGV.
Description
Technical Field
The invention relates to the technical field of logistics scheduling, in particular to a priority determination processing method suitable for AGV car scheduling.
Background
Traffic control has been an important component of AGV management. The traditional traffic control method mainly comprises three methods, namely a red road lamp method, a priority-based traffic control method and a time window-based management method. The above methods are abstract methods based on mathematical models, and each method has its own application scenario. However, the physical application scenarios of the real clients are very complex and have large differences, and deadlock can occur in some scenarios, thereby greatly reducing the working efficiency of the AGV.
Disclosure of Invention
The method is combined with a traffic control function, automatic operation of intelligent logistics equipment can be really achieved, and deadlock is avoided.
In order to achieve the above object, according to one aspect of the present application, a priority determination processing method suitable for AGV cart scheduling is provided.
The priority judging and processing method suitable for AGV car scheduling comprises the following steps:
s1: obtaining a total road right through planning according to a source node and a target node of an AGV, and dividing the total road right into a plurality of sub-road rights according to nodes in the total road right, wherein each sub-road right comprises two adjacent nodes and a route between the two nodes;
s2: the configuration file is mainly composed of points, and assuming that there are points A, B, C and four points D on the road right, we can set according to this method:
point A (resource 1)
Point B (resource 1, 2)
C dot (resource 2)
D dot (resource 1)
If the right of way is above, there is no resource, it is empty directly, single point can have right of way, can have no right of way, can have multiple rights of way;
s3: traversing the vertex through a path searching algorithm, and detecting whether the current arriving node of the AGV is an end point;
if the current arrival node is the end point, releasing the road right;
and if the current arrival node is not the end point, executing the next operation.
S4: detecting whether a current arriving node of the AGV has road right resource addition, wherein the node is a manually configured road right, judging whether the node has the road right resource addition, and if the current node has no road right resource addition, skipping to the step: traversing the vertex, and detecting whether the current arrival node of the AGV is an end point;
and if the current node has the road right resource addition, controlling the AGV to execute the current target sub-road right corresponding to the current arriving node, wherein the starting point node of the current target sub-road right is the current arriving node, and executing the next operation.
S5: detecting whether a current node of the AGV has an associated road right, if the current node has the associated road right, assuming that the road right associated with the node has a road right 1, a road right 2, a road right 3, a road right 4 and a road right 5, and a target point of the current node is only associated with the road right 1 and the road right 2 but not all the road rights, and at this time, only the road right 1 and the road right 2 need to be allocated;
if the current node has no associated road right, jumping to the step: and traversing the vertex, and detecting whether the current arrival node of the AGV is an end point.
S6: detecting whether the current node of the AGV occupies a road right before, if the current node does not occupy the road right, acquiring a related road right in the road search, and skipping to the step: traversing the vertex, and detecting whether the current arrival node of the AGV is an end point;
assuming that the AGV encounters three points on one road right, the first point has a road right 3 and a road right 4, the second point has a road right 3, and the third point has a road right 4, the first point is applied for the road right 3 and the road right 4, the second point is released when the second point is reached, and the third point is released, namely the road right between the first point and the second point is the road right 3, and the road right between the second point and the third point is the road right 4, so that other AGVs can enter;
and if the current node already possesses the right of way, executing the next operation.
S7: detecting whether the AGV IDs occupying the road right are the same, if the AGV IDs are the same, marking the road right and deleting the road right, meanwhile, transmitting the signal to the AGV which is ready to enter the road right subsequently to not enter the road right, and jumping to the step: traversing the vertex, and detecting whether the current arrival node of the AGV is an end point;
and if the AGV IDs are different, controlling the AGV to wait at the current arriving node, monitoring whether the current arriving node still occupies the road right in the waiting process of the AGV, and if the road right is not acquired before the preset waiting time is over, releasing the road right and ending.
Preferably, the step of detecting whether the currently arrived node is a stopping point includes:
detecting whether an end point node and/or a route of a current target sub-path corresponding to a current arrival node are marked as occupied or not, wherein the end point node and the route of the executed sub-path are marked as occupied, and the end point node and the route of the executed sub-path are marked as idle; and if the terminal node and/or the route of the current target sub-path are marked as occupied, judging that the current arriving node is a stopping point, and if the current arriving node is the stopping point, detecting whether a locking conflict exists in the current arriving node, wherein when the locking conflict exists, two AGVs are positioned on different nodes of the same sub-path and run in opposite directions.
Preferably, the method further comprises the steps of:
if the current path has no right to be distributed, then A- > B- > C- > D;
if the right of way is distributed on only one section of way, A- > B (right of way application 1) - > C (right of way release 1) - > D;
if there are multiple right-of-way assignments on the road, but there is only one right-of-way at each point, then a (apply right-of-way 2) - > B (apply right-of-way 1) - > C (release right-of-way 1) - > D (release right-of-way 2);
if multiple road rights are distributed on the road, if one or more points exist, A- > B (applying for resources 1, 2) - > C (releasing resources 2) - > D (releasing resources 1);
if there are multiple right allocations on the road, one applies for one, and multiple releases, then a- > B (apply for resource 1) - > C (apply for resource 2) - > D (release resource 1, release resource 2).
Preferably, the method further comprises traversing all the starting points and the end points after replanning the total path once again, judging whether the path search is needed, and ending if the path search is not needed;
if the road needs to be searched, judging whether the road right can ensure the search path or not, and the destination road right has no objection;
if no objection is judged, success is indicated, and otherwise failure is indicated.
Preferably, the route searching algorithm comprises a breadth first algorithm, a depth first algorithm and an A-star algorithm.
Drawings
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
FIG. 1 is an overall flow chart in an embodiment of the present invention;
fig. 2 is a schematic diagram of the effect of the embodiment of the invention.
Detailed Description
The technical solutions of the present invention will be further described below with reference to the accompanying drawings, but the present invention is not limited to these embodiments.
With reference to fig. 1-2, in this embodiment, a method for determining a priority for AGV cart dispatching includes the following steps:
s1: obtaining a total road right through planning according to a source node and a target node of the AGV, and dividing the total road right into a plurality of sub-road rights according to nodes in the total road right, wherein each sub-road right comprises two adjacent nodes and a route between the two nodes;
s2: the configuration file is mainly composed of points, and assuming that there are points A, B, C and four points D on the road right, we can set according to this method:
point A (resource 1)
Point B (resource 1, 2)
C dot (resource 2)
D dot (resource 1)
If the right of way is above, there is no resource, it is empty directly, single point can have right of way, can have no right of way, can have multiple rights of way;
s3: traversing the vertex through a path searching algorithm, and detecting whether the current arriving node of the AGV is an end point;
if the current arrival node is the end point, releasing the road right;
and if the current arrival node is not the end point, executing the next operation.
S4: detecting whether a current arriving node of the AGV has road right resource addition, wherein the node is a manually configured road right, judging whether the node has the road right resource addition, and if the current node has no road right resource addition, skipping to the step: traversing the vertex, and detecting whether the current arrival node of the AGV is an end point;
and if the current node has the road right resource addition, controlling the AGV to execute the current target sub-road right corresponding to the current arrival node, wherein the starting point node of the current target sub-road right is the current arrival node, and executing the next operation.
S5: detecting whether a current node of the AGV has an associated road right, if the current node has the associated road right, assuming that the road right associated with the node has a road right 1, a road right 2, a road right 3, a road right 4 and a road right 5, and a target point of the current node is only associated with the road right 1 and the road right 2 but not the associated road right, and at this time, only the road right 1 and the road right 2 need to be allocated;
if the current node has no associated road right, jumping to the step: and traversing the vertex, and detecting whether the current arrival node of the AGV is an end point.
S6: detecting whether the current node of the AGV occupies a road right before, if the current node does not occupy the road right, acquiring a related road right in the road search, and skipping to the step: traversing the vertex, and detecting whether the current arrival node of the AGV is an end point;
assuming that the AGV encounters three points on one road right, the first point has a road right 3 and a road right 4, the second point has a road right 3, and the third point has a road right 4, the first point is applied for the road right 3 and the road right 4, the second point is released when the second point is reached, and the third point is released, namely the road right between the first point and the second point is the road right 3, and the road right between the second point and the third point is the road right 4, so that other AGVs can enter;
and if the current node already possesses the right of way, executing the next operation.
S7: detecting whether the AGV IDs occupying the road right are the same, if the AGV IDs are the same, marking the road right and deleting the road right, meanwhile, transmitting the signal to the AGV which is ready to enter the road right subsequently to not enter the road right, and jumping to the step: traversing the vertex, and detecting whether the current arrival node of the AGV is an end point;
if the AGV IDs are different, controlling the AGV to wait at the current arriving node and waiting in the AGV waiting process
And monitoring whether the current arriving node still occupies the right of way, if the right of way is not acquired before the preset waiting time is over, releasing the right of way, and ending.
Preferably, the step of detecting whether the currently arrived node is a stopping point comprises:
detecting whether an end point node and/or a route of a current target sub-path corresponding to a current arrival node are marked as occupied or not, wherein the end point node and the route of the executed sub-path are marked as occupied, and the end point node and the route of the executed sub-path are marked as idle; and if the terminal node and/or the route of the current target sub-path are marked as occupied, judging that the current arriving node is a stopping point, and if the current arriving node is the stopping point, detecting whether a locking conflict exists in the current arriving node, wherein when the locking conflict exists, two AGVs are positioned on different nodes of the same sub-path and run oppositely.
Preferably, the method further comprises the steps of:
if the current path has no right to be distributed, then A- > B- > C- > D;
if the right of way is distributed on only one section of way, A- > B (right of way application 1) - > C (right of way release 1) - > D;
if there are multiple right-of-way assignments on the road, but there is only one right-of-way at each point, then a (apply right-of-way 2) - > B (apply right-of-way 1) - > C (release right-of-way 1) - > D (release right-of-way 2);
if multiple road rights are distributed on the road, if one or more points exist, A- > B (applying for resources 1, 2) - > C (releasing resources 2) - > D (releasing resources 1);
if there are multiple right allocations on the road, one applies for one, and multiple releases, then a- > B (apply for resource 1) - > C (apply for resource 2) - > D (release resource 1, release resource 2).
Preferably, the method further comprises traversing the starting point and the end point after replanning the total path once again, judging whether the path search is needed, and ending if the path search is not needed;
if the road needs to be searched, judging whether the road right can ensure the search path or not, and the destination road right has no objection;
if no objection is judged, success is indicated, and otherwise failure is indicated.
Preferably, the route searching algorithm comprises a breadth first algorithm, a depth first algorithm and an A-star algorithm.
Various modifications or additions may be made to the described embodiments or alternatives may be employed by those skilled in the art without departing from the spirit or ambit of the invention as defined in the appended claims.
Claims (5)
1. A priority judgment processing method suitable for AGV car scheduling is characterized by comprising the following steps:
s1: obtaining a total road right through planning according to a source node and a target node of an AGV, and dividing the total road right into a plurality of sub-road rights according to nodes in the total road right, wherein each sub-road right comprises two adjacent nodes and a route between the two nodes;
s2: the configuration file is mainly composed of points, and assuming that there are points A, B, C and four points D on the road right, we can set according to this method:
point A (resource 1)
Point B (resource 1, 2)
C dot (resource 2)
D dot (resource 1)
If the right of way is above, there is no resource, it is empty directly, single point can have right of way, can have no right of way, can have multiple rights of way;
s3: traversing the vertex through a path searching algorithm, and detecting whether the current arriving node of the AGV is an end point;
if the current arrival node is the end point, releasing the road right;
and if the current arrival node is not the end point, executing the next operation.
S4: detecting whether a current arriving node of the AGV has road right resource addition, wherein the node is a manually configured road right, judging whether the node has the road right resource addition, and if the current node has no road right resource addition, skipping to the step: traversing the vertex, and detecting whether the current arrival node of the AGV is an end point;
and if the current node has the road right resource addition, controlling the AGV to execute the current target sub-road right corresponding to the current arriving node, wherein the starting point node of the current target sub-road right is the current arriving node, and executing the next operation.
S5: detecting whether a current node of the AGV has an associated road right, if the current node has the associated road right, assuming that the road right associated with the node has a road right 1, a road right 2, a road right 3, a road right 4 and a road right 5, and a target point of the current node is only associated with the road right 1 and the road right 2 but not all the road rights, and at this time, only the road right 1 and the road right 2 need to be allocated;
if the current node has no associated road right, jumping to the step: and traversing the vertex, and detecting whether the current arrival node of the AGV is an end point.
S6: detecting whether the current node of the AGV occupies a road right before, if the current node does not occupy the road right, acquiring a related road right in the road search, and skipping to the step: traversing the vertex, and detecting whether the current arrival node of the AGV is an end point;
assuming that the AGV encounters three points on one road right, the first point has a road right 3 and a road right 4, the second point has a road right 3, and the third point has a road right 4, the first point is applied for the road right 3 and the road right 4, the second point is released when the second point is reached, and the third point is released, namely the road right between the first point and the second point is the road right 3, and the road right between the second point and the third point is the road right 4, so that other AGVs can enter;
and if the current node already possesses the right of way, executing the next operation.
S7: detecting whether the AGV IDs occupying the road right are the same, if the AGV IDs are the same, marking the road right and deleting the road right, meanwhile, transmitting the signal to the AGV which is ready to enter the road right subsequently to not enter the road right, and jumping to the step: traversing the vertex, and detecting whether the current arrival node of the AGV is an end point;
and if the AGV IDs are different, controlling the AGV to wait at the current arriving node, monitoring whether the current arriving node still occupies the road right in the waiting process of the AGV, and if the road right is not acquired before the preset waiting time is over, releasing the road right and ending.
2. The method of claim 1, wherein said step of detecting whether the currently arriving node is a stopping point comprises:
detecting whether an end point node and/or a route of a current target sub-path corresponding to a current arrival node are marked as occupied or not, wherein the end point node and the route of the executed sub-path are marked as occupied, and the end point node and the route of the executed sub-path are marked as idle; and if the terminal node and/or the route of the current target sub-path are marked as occupied, judging that the current arriving node is a stopping point, and if the current arriving node is the stopping point, detecting whether a locking conflict exists in the current arriving node, wherein when the locking conflict exists, two AGVs are positioned on different nodes of the same sub-path and run in opposite directions.
3. The method of claim 2, further comprising the steps of:
if the current path has no right to be distributed, then A- > B- > C- > D;
if the right of way is distributed on only one section of way, A- > B (right of way application 1) - > C (right of way release 1) - > D;
if there are multiple right-of-way assignments on the road, but there is only one right-of-way at each point, then a (apply right-of-way 2) - > B (apply right-of-way 1) - > C (release right-of-way 1) - > D (release right-of-way 2);
if multiple road rights are distributed on the road, if one or more points exist, A- > B (applying for resources 1, 2) - > C (releasing resources 2) - > D (releasing resources 1);
if there are multiple right allocations on the road, one applies for one, and multiple releases, then a- > B (apply for resource 1) - > C (apply for resource 2) - > D (release resource 1, release resource 2).
4. The method of claim 3, further comprising traversing all the start points and end points after replanning the total path, determining whether a path search is required, and ending if no path search is required;
if the road needs to be searched, judging whether the road right can ensure the search path or not, and the destination road right has no objection;
if no objection is judged, success is indicated, and otherwise failure is indicated.
5. The method of claim 1, wherein said search algorithm includes a breadth first algorithm, a depth first algorithm and an a-star algorithm.
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