Dispatching and route-planning method for multiple AGVs used for material transportation in factory

A technology for path planning and running paths, which is applied in the direction of navigation calculation tools, etc.

Pending Publication Date: 2018-02-23
SHANDONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] In view of the fact that any existing single path planning algorithm cannot solve all the path planning problems in practical applications, the present invention improves the shortcomings of the...

Method used

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  • Dispatching and route-planning method for multiple AGVs used for material transportation in factory
  • Dispatching and route-planning method for multiple AGVs used for material transportation in factory
  • Dispatching and route-planning method for multiple AGVs used for material transportation in factory

Examples

Experimental program
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Effect test

Embodiment 1

[0058] A multi-AGV scheduling and path planning method for material transportation in a factory, such as figure 1 shown, including the following steps:

[0059] (1) Model the material transportation scene in the factory, including AGV driving path, AGV charging point, loading and unloading point, and AGV standby area;

[0060] (2) Store the allocated tasks in the queue; put the allocated tasks into the blocking queue according to the priority from high to low. According to different evaluation criteria, the priority scheduling method is used to set the priority for each task, that is, the priority of each task is evaluated according to the time when the task is released and whether the task is urgent or not. The tasks are put into the blocking queue in an asynchronous manner, and in the blocking queue, the AGVs are assigned in order of priority from high to low.

[0061] The scheduling system reads tasks from the head of the blocking queue and adds tasks to the tail of the q...

Embodiment 2

[0066] According to the multi-AGV scheduling and path planning method for material transportation in a factory described in Embodiment 1, the difference is that in step (1), the grid map method is used to establish the working environment model of the AGV in the material transportation workshop in the factory, including :

[0067] Design the map road network of the workshop in the factory, mark the coordinates of the AGV charging point, loading and unloading point, and node (Node), and the two AGV driving paths intersect at a certain point on the map road network, then the point is called a node;

[0068] Design the AGV driving path and the AGV standby area. The AGV driving path is two-way driving. The width of the AGV driving path can only accommodate one AGV, that is, 1 unit length; in the same time period, the AGV can only accept one task; in the AGV During the execution of the current task, the scheduling system cannot issue tasks to this AGV; at a certain moment or within...

Embodiment 3

[0070] According to the multi-AGV scheduling and path planning method for material transportation in a factory described in Embodiment 1, the difference is that in step (3), the attributes of all AGVs are stored in the AGV array, and the attributes of the AGV include the AGV number, AGV Status, AGV current power, whether AGV is available, each AGV corresponds to an AGV number; AGV status includes three states: driving, stopping, and turning; and the number of currently available AGVs is set as a memory visible variable suitable for concurrent situations. The memory visible variable is obtained by the following method: traverse the attribute of whether the AGV is available in the AGV array, and the statistical attribute is the number of available AGVs. The number of available AGVs can be obtained by traversing the AGV array and judging whether the number of AGVs whose attribute is false is available in the AGV array. When reading and writing the number of AGVs concurrently, in t...

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Abstract

The invention relates to a dispatching and route-planning method for multiple AGVs used for material transportation in a factory. The method comprises the following steps: (1) modeling material transportation scenes in a factory, including the travelling routes of AGVs, AGV charging points, loading and unloading points and standby zones for AGVs; (2) storing allocated tasks in a queue; (3) findingout one AGV closest to a current-task issuing site from a set of available AGVs; (4) calculating the shortest route from a current-task start point and a current-task stop point by using an A* algorithm; and (5) calling a time-window algorithm for maintenance of a time-window vector table of the shortest route obtained in the step (4). Compared with traditional A* algorithms, a heuristic functionin the A* algorithm used in the invention takes the traveling cost and turning cost of the AGVs on roads in a workshop into consideration, the time-window vector table of each route section is maintained, and whether conflicts exist in planned routes is determined by judging whether superposition exists; so the problems of collision conflicts, deadlock and the like of AGV route planning are effectively overcome.

Description

technical field [0001] The invention relates to the field of AGV scheduling and path planning algorithms, in particular to a multi-AGV scheduling and path planning method for material transportation in a factory. Background technique [0002] With the continuous development of Internet technology, artificial intelligence technology, computer technology, and robotics technology, and at the same time, the rising labor costs at home and abroad, the trend of "machine substitution" in many factories is becoming more and more obvious. In the automation of material transportation in the factory, AGV plays an important role. Different materials can be loaded and unloaded at different locations, and the AGV will move the materials to the designated location to complete the material handling work. At present, AGV is widely used in e-commerce sorting centers, manufacturing raw material warehouses and finished product warehouses, 3C manufacturing, tobacco, medical, automobile, food, clo...

Claims

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Application Information

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IPC IPC(8): G01C21/20
CPCG01C21/20
Inventor 周军王鼎周民法翟科栋赵峰
Owner SHANDONG UNIV
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