AGV avoidance scheduling control method and system

A scheduling control and task technology, applied in control/adjustment system, two-dimensional position/channel control, vehicle position/route/height control, etc., can solve the problem of low efficiency of AGV scheduling control, and achieve the effect of improving scheduling efficiency

Active Publication Date: 2017-09-19
哈尔滨严格特种机器人有限公司
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Problems solved by technology

[0004] The technical problem to be solved by the present invention is to provide an AGV avoidance dispatch

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  • AGV avoidance scheduling control method and system
  • AGV avoidance scheduling control method and system
  • AGV avoidance scheduling control method and system

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Embodiment Construction

[0051] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments It is a part of embodiments of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0052] see figure 1 , is a flow chart of the AGV avoidance scheduling control method according to the first embodiment of the present invention. Such as figure 1 As shown, the avoidance scheduling control method of the AGV provided by this embodiment at least includes the following steps:

[0053] First, in step S101, a path planning step ...

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Abstract

The present invention relates to an AGV avoidance scheduling control method, a device and a system. The method comprises the steps of planning a current task walking path of a current AGV; detecting whether a collision point exists on the current task walking path or not; if yes, turning to an avoidance judging step; otherwise, planning a current executing path and turning to a task execution step; finding out a farthest non-conflict point as the current executing path, and turning to the task execution step upon detecting that the current executing path is not empty; judging whether a conflict AGV is an idle AGV or not upon detecting that the current executing path is empty; if yes, planning an avoidance task for the conflict AGV; otherwise, turning to a conflict point detection step after waiting for a preset period of time; controlling the current AGV to proceed and execute a task, and judging whether a remaining path exists in the current task or not after the completion of the current executing path; if yes, turning to the conflict point detection step; otherwise, switching the current AGV to be in the idle state. According to the technical scheme of the invention, an avoidance path is selected and planned for an idle AGV on the path, so that the operation efficiency of the AGV is ensured.

Description

technical field [0001] The present invention relates to the technical field of automatic guided transport vehicles, in particular to an AGV avoidance scheduling control method, device and system. Background technique [0002] AGV (Automated Guided Vehicle) means "Automated Guided Vehicle". It is an important means of transportation for industrial 4.0 smart factories. The operating efficiency of AGV greatly affects the production efficiency of the entire unmanned chemical factory. As a means of transportation for the intelligent unmanned factory, AGV carries the task of workpiece transfer and connects the orderly and efficient operation of each production unit module in the intelligent factory. Therefore, when multiple AGVs work together, the traffic routes in the entire factory must run efficiently, orderly and safely. [0003] At present, if one or more idle AGVs are parked on the path planned by the current AGV, the current AGV will remain in a static state and cannot co...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/021G05D1/0289G05D2201/0216
Inventor 张川杨艳彬宗晓韩震峰高强董冲邹欣珏吴昊
Owner 哈尔滨严格特种机器人有限公司
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