Multi-AGV scheduling method

A scheduling method and node technology, applied in the field of navigation and control, can solve the problems of low AGV efficiency and low site utilization, and achieve the effect of improving operation efficiency and eliminating node conflicts and pursuit conflicts.

Active Publication Date: 2017-04-05
BEIJING INST OF SPECIALIZED MACHINERY
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  • Application Information

AI Technical Summary

Problems solved by technology

Nowadays, in the process of AGV autonomous navigation, the path is fixed and mainly one-way, and there are few intersections between paths, resulting in low site utilization and low AGV efficiency.

Method used

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Embodiment Construction

[0027] In order to make the purpose, content, and advantages of the present invention clearer, the specific implementation manners of the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.

[0028] The embodiment of the present invention provides a kind of multi-AGV dispatching method, comprises the following steps:

[0029] S1. First draw all the paths of the AGV according to the on-site environment. The paths are composed of path nodes, such as figure 1 shown. Then in the map, make a two-way path file in xml format for AGV walking; the two-way path file is composed of continuous nodes, and a two-way path file represents a path, including the coordinates (x, y) and identification number ID of all nodes on a path , the coordinates correspond to the ID one by one and are unique;

[0030] S2. After the two-way path file is made, read all the two-way path files in batches to form a topological map for searc...

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Abstract

The invention relates to a multi-AGV (automated guided vehicle) scheduling method, and belongs to the technical field of navigation and control. A scheduling system provided by the invention schedules a plurality of AGVs to automatically eliminate conflicts in a navigation process in order to complete task. The scheduling system reads established bidirectional path files, establishes and searches a topology map of AGV walking paths, selects an AGV to complete the task after receiving task information, and eliminates opposite conflicts among the AGVs when searching the paths for the AGVs; and time windows are added to the path nodes of all the AGVs in the walking process of the AGVs, and node conflicts and pursuit conflicts are eliminated depended on the time interval, so the running efficiency of the AGVs is improved.

Description

technical field [0001] The invention relates to the technical field of navigation and control, in particular to a multi-AGV scheduling method. Background technique [0002] The AGV (Automated Guided Vehicle) scheduling system receives tasks, distributes tasks, and dispatches multiple AGVs to complete tasks. In the process of AGV autonomous navigation, the system needs to control the waiting and driving of AGV to eliminate traffic jams, and the performance of the scheduling system is related to the efficiency, flexibility and stability of the system. Nowadays, in the process of AGV autonomous navigation, the path is fixed and mainly one-way, and there are few intersections between paths, resulting in low site utilization and low AGV efficiency at the AGV use site. Contents of the invention [0003] (1) Technical problems to be solved [0004] The technical problem to be solved by the present invention is: how to eliminate facing conflicts, node conflicts and pursuit confl...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/34G05B19/418G05D1/02
CPCG01C21/3446G05B19/41895G05D1/0219Y02P90/02Y02P90/60
Inventor 李波李明段三军王韡宋策
Owner BEIJING INST OF SPECIALIZED MACHINERY
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