Scheduling control method and system applied to multi-AGV cooperative operation

A scheduling control and execution path 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

Active Publication Date: 2017-10-20
严格防务科技集团有限公司
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Problems solved by technology

[0004] The technical problem to be solved by the present invention is to provide a scheduling control method, device and system for multi-AGV cooperative operation in view of the low efficiency of AGV scheduling control in the prior art

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  • Scheduling control method and system applied to multi-AGV cooperative operation
  • Scheduling control method and system applied to multi-AGV cooperative operation
  • Scheduling control method and system applied to multi-AGV cooperative operation

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Embodiment Construction

[0044]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.

[0045] see figure 1 , is a flowchart of a scheduling control method applied to multi-AGV cooperative operation according to the first embodiment of the present invention. Such as figure 1 As shown, the scheduling control method applied to multi-AGV cooperative operation provided by this embodiment at least includes the following steps:

[0...

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Abstract

The invention relates to a scheduling control method, a device and a system applied to multi-AGV cooperative operation. The method comprises the following steps: planning a current task walking path of a current AGV; detecting whether there is a conflict point on the current task walking path, and if there is a conflict point, jumping to a preemption judgment step; if there is no conflict point, planning a path under execution and jumping to a task execution step; finding out the farthest non-conflict point as a path under execution, jumping to the task execution step if detecting that the path under execution is not empty, judging whether a preemption condition is satisfied if detecting that the path under execution is empty, seizing a conflict point if the preemption condition is satisfied, and otherwise, jumping to the conflict point detection step after waiting for a preset time; and making the current AGV march forward to execute a task, judging whether the current task has a remaining path after the path under execution is finished, jumping to the conflict point detection step if the current task has a remaining path, and otherwise, switching the current AGV to an idle state. Non-blocking and collision-free operation of multiple AGVs can be realized, and the operation efficiency of AGVs can be ensured.

Description

technical field [0001] The invention relates to the technical field of automatic guided transport vehicles, in particular to a scheduling control method, device and system applied to multi-AGV cooperative operation. 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 the path planned by the current AGV conflicts with the paths planned by other AGVs, that is, there are overlappi...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0276G05D1/028G05D2201/02
Inventor 唐霄汉韩震峰董冲邹欣珏吴昊孙大海张川杨艳彬
Owner 严格防务科技集团有限公司
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