Multi-AGV scheduling method based on petri network decomposition

A scheduling method and technology for scheduling networks, which can be used in instruments, data processing applications, forecasting, etc., and can solve problems such as low operating efficiency, low response speed and low adaptability.

Pending Publication Date: 2019-10-15
浙江同筑科技有限公司
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Problems solved by technology

[0005] In order to overcome the shortcomings of the existing multi-AGV scheduling method, such as low operating efficiency, low response speed and low adaptability, the present invention provides a multi-AGV scheduling based on petri net decomposition with high operating efficiency, high response speed and high adaptability method

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  • Multi-AGV scheduling method based on petri network decomposition
  • Multi-AGV scheduling method based on petri network decomposition
  • Multi-AGV scheduling method based on petri network decomposition

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[0066] The present invention will be further described below in conjunction with the accompanying drawings.

[0067] refer to figure 1 and figure 2 , a multi-AGV scheduling method based on petri net decomposition, comprising the following steps:

[0068] Step 1: Build an environment map to form a dispatching network model in a multi-AGV environment. The process is as follows:

[0069] 1.1: In the logistics warehouse, the AGV runs according to the pre-specified route (including one-way trajectory and two-way trajectory). First, consider the map modeling of the entire environment in which the AGV operates. The establishment of the multi-AGV warehouse scheduling environment model adopts discrete The two-dimensional directed graph is used to model the network, and the basic two-dimensional directed graph G=(V, E) is used to represent the warehouse structure. V represents the collection of warehouse nodes. On the nodes, the AGV can stop or turn , E represents the collection of ...

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Abstract

The invention discloses a multi-AGV scheduling method based on petri network decomposition. The method comprises the following steps: step 1, converting a warehouse topological graph into a collision-free petri network model; decomposing the whole petri network model into sub-networks according to the drivable route of the single AGV; step 2, adopting a Dijkstra algorithm to realize global shortest path planning of the single AGV, and further adjusting the obtained algorithm according to the actual motion condition of the vehicle; step 3, establishing a target function; step 4, taking a staticshortest path obtained by a single AGV in each sub-network as a basis; using an external point penalty function method to carry out path iteration, obtaining collision and deadlock problems existingin the operation process of multiple AGVs, analyzing and locally optimizing the types of collision and deadlock, locally optimizing the path by taking time optimization as a principle, and generatingan optimal collision-free scheduling scheme. The method is high in operation efficiency, high in reaction speed and high in adaptability.

Description

technical field [0001] The invention relates to the field of automated warehouse logistics transportation and scheduling, in particular to a multi-AGV scheduling method for Petri net decomposition optimization. Background technique [0002] In recent years, with the continuous development of some e-commerce companies such as Ali and JD.com, the logistics industry that has emerged along with it has become more and more intelligent. Automatic Guide Vehicle (AGV), as one of the supporting technologies and important information-based equipment in the advanced logistics industry, can well solve the shortcomings of traditional logistics such as uncompact connection, high production cost, and low efficiency. In the actual logistics warehouse application, AGV transportation time accounts for a large proportion of logistics time, so time is used as the objective function here, and strive to obtain a conflict-free multi-vehicle scheduling plan in the shortest calculation time, reducin...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06Q10/04G06Q10/08
CPCG06Q10/047G06Q10/08355
Inventor 邢科新林叶贵
Owner 浙江同筑科技有限公司
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