CN107748950A - A kind of AGV dispatching methods of single major trunk roads - Google Patents
A kind of AGV dispatching methods of single major trunk roads Download PDFInfo
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- CN107748950A CN107748950A CN201710876210.0A CN201710876210A CN107748950A CN 107748950 A CN107748950 A CN 107748950A CN 201710876210 A CN201710876210 A CN 201710876210A CN 107748950 A CN107748950 A CN 107748950A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/04—Forecasting or optimisation specially adapted for administrative or management purposes, e.g. linear programming or "cutting stock problem"
- G06Q10/047—Optimisation of routes or paths, e.g. travelling salesman problem
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Abstract
The present invention relates to AGV control fields, more particularly to a kind of AGV dispatching methods of single major trunk roads, the technical scheme of this method include when set quantity AGV perform task run into need avoid the problem of when, according to current each AGV task status and situation, each AGV routing information is obtained, by comparing AGV routing information, appropriate control strategy is set, corresponding AGV to reach corresponding position to wait, until other AGV pass through.The present invention efficiently solves the Avoidance that more AGV cars execution same tasks, two AGV cars meet in opposite directions on single major trunk roads.
Description
Technical field
The present invention relates to AGV control fields, and in particular to a kind of AGV dispatching methods of single major trunk roads.
Background technology
AGV is a kind of modern automation haulage equipment, has been widely used for various industrial occasions now, as cigar mill,
Port and pier etc..Tiered warehouse facility is then the mark of present logistic storage, and AGV application is more and more extensive in tiered warehouse facility, but
It is that ring-like circuit, lattice type network are path planning selections more than comparison now, this paths planning method needs to arrange in pairs or groups
Complicated seeks footpath algorithm to ensure AGV correct operation.But in most of actual industrial scenes because space is limited, often can not
Ensure perfect annular or grid type AGV paths, thus limit applications of the AGV in these occasions；And single path circuit is then
Easily there are meet in opposite directions stuck, more cars of two cars and perform the problem of same tasks mutually wait.
The content of the invention
It is an object of the invention to provide a kind of AGV dispatching methods of single major trunk roads, easily go out to solve single path circuit
Existing two cars stuck, the more cars that meet in opposite directions perform the problem of same tasks mutually wait.
To achieve the above object, the solution of the present invention includes a kind of AGV dispatching methods of single major trunk roads, including following step
Suddenly：
Working terminal is set on the branch road of AGV operations, and the branch road and major trunk roads intersect；
By comparing the routing information of the AGV in work, judged：If in future time instance, two are respectively at trunk
AGV on road and branch road will meet on the branch road, then make one of AGV first-class in the downstream major trunk roads of corresponding branch road
Treat, until crosspoints of another AGV by the corresponding branch road and major trunk roads.
The beneficial effects of the invention are as follows：When set quantity AGV perform task run into need avoid the problem of when, according to every
Task status current AGV and situation, obtain each AGV routing information, by comparing AGV routing information, if
Put appropriate control strategy so that corresponding AGV can reach corresponding position and wait, until other AGV are by solving
The Avoidance that more AGV execution same tasks, two AGV meet in opposite directions on single major trunk roads.
Further, if in future time instance, two two AGV being respectively on major trunk roads and branch road will be on major trunk roads
Meet, then make the AGV on the branch road be waited in corresponding branch road, until the AGV on major trunk roads is travelled to the downstream of the branch road
Major trunk roads.
Further, priority is set to each AGV, the priority includes：In stockit is available AGV priority is high, out of stock
AGV priority is low；In stockit is available AGV is high apart near priority apart from working terminal, low apart from remote priority；AGV out of stock
The near priority of Actual path is high, and remote priority is low；The AGV of identical working terminal is gone to first to be connected to the priority height of order,
The priority for being followed by order is low；When two AGV meet, the low AGV of priority avoids the high AGV of priority, and goes to phase
Position is answered to wait.
Further, when an AGV working terminal to be gone to has another AGV to perform task and does not return also
When, then the AGV is waited in situ, the downstream of branch road where the working terminal is gone to after another described AGV completion task
Waited on major trunk roads, then the AGV starts to go to the working terminal.
Further, when the AGV for setting quantity is required for going to same working terminal, it is initially received task order
AGV first goes to the working terminal to perform task, and other AGV go to the work according to the sequencing for receiving task order
Waited where website on downstream branch major trunk roads；When be initially received task order AGV complete task and return after, it is described its
He is initially received task order AGV in AGV goes to the working terminal to perform task.
Further, when an AGV goes to working terminal to perform task, another AGV is run on major trunk roads and is returned
Return, then waited where another described AGV inverted running to the working terminal on downstream branch major trunk roads, described perform is appointed
The AGV of business goes to the working terminal.
Further beneficial effect is the present invention：By setting corresponding priority to each AGV, while set more
AGV control strategies so that AGV in the process of running can be by rational management, so as to preferably solve on single major trunk roads more
The Avoidance that AGV performs same task, two AGV meet in opposite directions.
Brief description of the drawings
Fig. 1 is the path schematic diagram of single major trunk roads in tiered warehouse facility；
Fig. 2 is the schematic diagram at a crossing of single major trunk roads.
Embodiment
The present invention will be further described in detail below in conjunction with the accompanying drawings.
Single major trunk roads path takes less floor space than ring-like, grid type AGV paths；Single major trunk roads, Dan Cha simultaneously
Mouth enormously simplify the complexity of dispatching algorithm；The AGV dollies of 3 to 5 can meet that the material of general workshop transports need
Ask, but single major trunk roads circuit asking of easily occurring that two cars meet that stuck, more cars perform that same tasks mutually wait in opposite directions
Topic.A kind of AGV dispatching methods of single major trunk roads provided by the invention are used to solve the above problems, below with a tiered warehouse facility
Single major trunk roads path exemplified by illustrate.
Fig. 1 show the schematic diagram in single major trunk roads path in tiered warehouse facility, wherein horizontal straight solid line is major trunk roads A, triangle
Shape represents the working terminal on branch road, in addition to charging zone and working area；B1 to B5 is branch road.
Fig. 2 show the schematic diagram at a crossing on single major trunk roads, and A, B are two flex points for leading to branch road, and 1-5 is path
Website, 6-9 is working terminal, and 1-9 is both provided with two-dimentional code mark, for upper computer detection AGV positions and is carried out accurate
Control；Include 8 and 9 two working terminals in the tie point that A flex points are drawn, include 6 and 7 on the second branch road that B flex points are drawn
Two working terminals, the distance between A flex points and B flex points are more than at least one AGV length, and You Yige roads between the two
Footpath website.
Following several embodiments are provided with reference to Fig. 2.
Embodiment 1
If more AGV will go the execution task of working terminal 6, then the AGV for being connected to assignment instructions at first arrives first work
Website 6 starts operation, arranges the path such as remaining AGV to 3,4,5 website to wait for；The AGV operations of assignment instructions are connected at first
The operation since path website goes to working terminal of assignment instructions is connected to after finishing return, in remaining AGV at first；Remaining AGV
The like.
Embodiment 2
If the first and second two AGV will go to the execution task of working terminal 6, then allow the first for first receiving assignment instructions excellent
The operation of working terminal 6 is arrived first, is waited followed by second to path website 3；First reaches the execution task of working terminal 6 and finishes and return
Afterwards, then second is allowed to go to the execution task of working terminal 6 from path website 3.
Embodiment 3
If A-grade in the first class GV has performed task in working terminal 7, and second AGV will go the execution task of working terminal 7, then have two kinds
Algorithm：First, control A-grade in the first class GV waits from working terminal 7 to path website 3, second AGV is allowed to reach working terminal 7, then A-grade in the first class GV is held
Row return instruction；Second, control second AGV waits to path website 3, after waiting A-grade in the first class GV to return, control second AGV goes to working terminal
7 work.
Embodiment 4
If A-grade in the first class GV will go the execution task of working terminal 7, and second AGV has performed task in working terminal 6, then has two kinds
Algorithm：First, control A-grade in the first class GV waits to path website 3, and after second AGV completes task and returns, control A-grade in the first class GV to work station
Point 7 performs task；Second, A-grade in the first class GV is waited in situ, second AGV is controlled to go to path website 3 to wait after second AGV completion tasks,
Then A-grade in the first class GV goes to working terminal 7 to work, and afterwards, control second AGV is returned.
Embodiment of the present invention is presented above, appropriate control strategy and priority are set so that excellent
The low AGV of first level can arrive path website by avoiding, and the AGV for making priority high is first passed through, and is solved more on single major trunk roads
The Avoidance that AGV performs same task, two AGV meet in opposite directions.
But the present invention is not limited to described embodiment, such as working terminal can be arranged on major trunk roads, or
Person sets other marks to be used for substituting Quick Response Code in path website and working terminal, or with other rule settings AGV
Priority, the technical scheme so formed is finely adjusted to be formed to above-described embodiment, and this technical scheme still falls within this
In the protection domain of invention.
Claims (6)
1. a kind of AGV dispatching methods of single major trunk roads, it is characterised in that comprise the following steps：
Working terminal is set on the branch road of AGV operations, and the branch road and major trunk roads intersect；
By comparing the routing information of the AGV in work, judged：If in future time instance, two be respectively at major trunk roads and
AGV on branch road will meet on the branch road, then make one of AGV be waited on the downstream major trunk roads of its corresponding branch road,
Until crosspoints of another AGV by the corresponding branch road and major trunk roads.
A kind of 2. AGV dispatching methods of single major trunk roads according to claim 1, it is characterised in that：If in future time instance, two
Two AGV being respectively on major trunk roads and branch road will meet on major trunk roads, then make the AGV on the branch road in its corresponding branch
Road waits, until the AGV on major trunk roads is travelled to the major trunk roads in the downstream of the branch road.
A kind of 3. AGV dispatching methods of single major trunk roads according to claim 1, it is characterised in that：Set to each AGV preferential
Level, the priority include：In stockit is available AGV priority is high, and AGV priority out of stock is low；In stockit is available AGV apart from working terminal away from
It is high near priority, it is low apart from remote priority；The near priority of AGV Actual paths out of stock is high, and remote priority is low；Before
AGV toward identical working terminal is first connected to the priority height of order, and the priority for being followed by order is low；When two AGV meet,
The low AGV of priority avoids the high AGV of priority, and goes to relevant position to wait.
A kind of 4. AGV dispatching methods of single major trunk roads according to claim 3, it is characterised in that：When an AGV to be gone to
Working terminal there is another AGV to perform task and when not returning also, then the AGV is waited in situ, another described AGV
Waited where the working terminal is gone to after completion task on the downstream major trunk roads of branch road, then the AGV starts to go to described
Working terminal.
A kind of 5. AGV dispatching methods of single major trunk roads according to claim 4, it is characterised in that：When setting quantity AGV all
When needing to go to same working terminal, the AGV for being initially received task order first goes to the working terminal to perform task, other
Waited where AGV goes to the working terminal according to the sequencing for receiving task order on downstream branch major trunk roads；When most
After first receiving the AGV completion tasks of task order and returning, before being initially received the AGV of task order in other described AGV
Task is performed toward the working terminal.
A kind of 6. AGV dispatching methods of single major trunk roads according to claim 5, it is characterised in that：When an AGV goes to work
When website performs task, another AGV returns are run on major trunk roads, then another described AGV inverted running is described in
Waited where working terminal on downstream branch major trunk roads, the AGV of the execution task goes to the working terminal.
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| CN201710876210.0A CN107748950A (en) | 2017-09-25 | 2017-09-25 | A kind of AGV dispatching methods of single major trunk roads |
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| CN201710876210.0A CN107748950A (en) | 2017-09-25 | 2017-09-25 | A kind of AGV dispatching methods of single major trunk roads |
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Cited By (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108469791A (en) * | 2018-03-20 | 2018-08-31 | 博众精工科技股份有限公司 | The optimal dispatch control system and method for the automated guided vehicle of intelligent wire body |
| CN108983735A (en) * | 2018-08-29 | 2018-12-11 | 广州市君望机器人自动化有限公司 | Mobile robot dispatching device and method |
| CN108983778A (en) * | 2018-07-24 | 2018-12-11 | 安徽库讯自动化设备有限公司 | A kind of AGV trolley path planning intelligent control system |
| CN108983779A (en) * | 2018-07-24 | 2018-12-11 | 安徽库讯自动化设备有限公司 | A kind of AGV trolley traffic control regulation method based on path analysis |
| CN109017885A (en) * | 2018-08-17 | 2018-12-18 | 湖南大学 | A kind of dynamic auto recombination car team method and system |
| CN109048909A (en) * | 2018-08-29 | 2018-12-21 | 广州市君望机器人自动化有限公司 | Minor matters formula path dispatching method, device, background server and the first robot |
| CN109144003A (en) * | 2018-08-29 | 2019-01-04 | 广州市君望机器人自动化有限公司 | Mobile robot dispatching device and method |
| CN109164806A (en) * | 2018-08-29 | 2019-01-08 | 广州市君望机器人自动化有限公司 | Mobile robot dispatching device and method |
| CN109164798A (en) * | 2018-07-24 | 2019-01-08 | 安徽库讯自动化设备有限公司 | A kind of intelligent traffic control regulator control system in AGV trolley transportational process |
| CN109240290A (en) * | 2018-09-04 | 2019-01-18 | 南京理工大学 | A kind of electric inspection process robot makes a return voyage determining method of path |
| CN109242179A (en) * | 2018-08-31 | 2019-01-18 | 心怡科技股份有限公司 | A kind of intelligent dispatching algorithm based on flow control |
| CN109901578A (en) * | 2019-03-01 | 2019-06-18 | 深圳优地科技有限公司 | A kind of method, apparatus and terminal device controlling multirobot |
| CN110424075A (en) * | 2019-09-04 | 2019-11-08 | 中国科学院重庆绿色智能技术研究院 | A kind of textile machinery people host computer intelligently doffs control system and method |
| CN111079967A (en) * | 2018-10-22 | 2020-04-28 | 杭州海康机器人技术有限公司 | Device control method, device, server, storage medium, and device control system |
| CN111123872A (en) * | 2019-12-27 | 2020-05-08 | 广东嘉腾机器人自动化有限公司 | Task scheduling management method and device, electronic equipment and storage medium |
| CN111462472A (en) * | 2019-01-22 | 2020-07-28 | 北京京东尚科信息技术有限公司 | Unmanned vehicle scheduling method, equipment and system |
| CN113706016A (en) * | 2021-08-27 | 2021-11-26 | 广东赛斐迩物流科技有限公司 | Same-layer multi-vehicle scheduling method for shuttle vehicle |
| EP3789266A4 (en) * | 2018-05-01 | 2022-01-26 | Murata Machinery, Ltd. | Carrier system |
| CN114397892A (en) * | 2021-12-27 | 2022-04-26 | 广东嘉腾机器人自动化有限公司 | Magnetic navigation AGV (automatic guided vehicle) cooperative bypassing method |
| CN115367364A (en) * | 2022-09-29 | 2022-11-22 | 上海木蚁机器人科技有限公司 | Warehouse management system |
| CN118428844A (en) * | 2024-07-03 | 2024-08-02 | 深圳和润达科技有限公司 | Optimal transportation path planning method and system applied to intelligent logistics transportation line |
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Cited By (31)
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| CN108469791A (en) * | 2018-03-20 | 2018-08-31 | 博众精工科技股份有限公司 | The optimal dispatch control system and method for the automated guided vehicle of intelligent wire body |
| EP3789266A4 (en) * | 2018-05-01 | 2022-01-26 | Murata Machinery, Ltd. | Carrier system |
| CN109164798A (en) * | 2018-07-24 | 2019-01-08 | 安徽库讯自动化设备有限公司 | A kind of intelligent traffic control regulator control system in AGV trolley transportational process |
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| CN109144003A (en) * | 2018-08-29 | 2019-01-04 | 广州市君望机器人自动化有限公司 | Mobile robot dispatching device and method |
| CN109164806A (en) * | 2018-08-29 | 2019-01-08 | 广州市君望机器人自动化有限公司 | Mobile robot dispatching device and method |
| CN108983735A (en) * | 2018-08-29 | 2018-12-11 | 广州市君望机器人自动化有限公司 | Mobile robot dispatching device and method |
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| CN111462472A (en) * | 2019-01-22 | 2020-07-28 | 北京京东尚科信息技术有限公司 | Unmanned vehicle scheduling method, equipment and system |
| CN109901578A (en) * | 2019-03-01 | 2019-06-18 | 深圳优地科技有限公司 | A kind of method, apparatus and terminal device controlling multirobot |
| CN110424075A (en) * | 2019-09-04 | 2019-11-08 | 中国科学院重庆绿色智能技术研究院 | A kind of textile machinery people host computer intelligently doffs control system and method |
| CN110424075B (en) * | 2019-09-04 | 2023-09-08 | 中国科学院重庆绿色智能技术研究院 | Intelligent doffing control system and method for upper computer of textile robot |
| CN111123872B (en) * | 2019-12-27 | 2021-08-17 | 广东嘉腾机器人自动化有限公司 | Task scheduling management method and device, electronic equipment and storage medium |
| CN111123872A (en) * | 2019-12-27 | 2020-05-08 | 广东嘉腾机器人自动化有限公司 | Task scheduling management method and device, electronic equipment and storage medium |
| CN113706016A (en) * | 2021-08-27 | 2021-11-26 | 广东赛斐迩物流科技有限公司 | Same-layer multi-vehicle scheduling method for shuttle vehicle |
| CN114397892A (en) * | 2021-12-27 | 2022-04-26 | 广东嘉腾机器人自动化有限公司 | Magnetic navigation AGV (automatic guided vehicle) cooperative bypassing method |
| CN114397892B (en) * | 2021-12-27 | 2023-09-26 | 广东嘉腾机器人自动化有限公司 | Magnetic navigation AGV cooperative detour method |
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