Scheduling method for multiple AGVs in closed automatic logistics park

A technology for logistics parks and scheduling methods, applied in non-electric variable control, control/regulation systems, two-dimensional position/channel control, etc., and can solve problems such as inaccurate estimated travel time, vehicle congestion, and poor accuracy.

Active Publication Date: 2020-08-04
SHANGHAI ZHENHUA HEAVY IND
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  • Abstract
  • Description
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AI Technical Summary

Problems solved by technology

[0010] (2) deadlock
However, the problem with this method is that you need to bring the estimated time when doing route planning, and because of uncontrollable factors such as the actual vehicle machinery, the estimated passing time will be inaccurate, and the farther the distance is, the worse the accuracy will be.
This leads to two results: A) If the schedule is scheduled according to the original plan, early vehicles will have to wait, and late vehicles will cause unexpected congestion; B) If the route needs to be adjusted in real time, the calculation is difficult and stressful, and at the same time for Unexpected waits caused by processing delays, path fallbacks may occur

Method used

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  • Scheduling method for multiple AGVs in closed automatic logistics park
  • Scheduling method for multiple AGVs in closed automatic logistics park
  • Scheduling method for multiple AGVs in closed automatic logistics park

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Embodiment

[0171] Taking the transportation process of 4 AGVs in a traffic ring area as an example, the efficient scheduling method of AGVs without extra waiting, no fallback, and no deadlock proposed by the method of the present invention will be described. like Figure 15As shown, the four vehicles form a ring on the path in the area composed of four nodes A, B, C, and D. Conventional scheduling methods require vehicles to wait outside the ring, or do not allow the path to form a ring. This scheduling method can continue to move after the yellow vehicle reaches point B. When its locked area reaches point E, it can be done according to optimization measure 4. Knowing that point B can be released by vehicles entering the ring, there is no need to wait outside the ring. Thus the vehicle can enter the Figure 16 In the whole process, the vehicle does not wait unnecessarily, and because an unsolvable deadlock loop will not be formed, there is no rollback problem. Afterwards, as the vehic...

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Abstract

The invention discloses a scheduling method for multiple AGVs in a closed automatic logistics park. The method comprises the following steps of 1) preparing; 2) planning a path based on a Dijkstra algorithm framework; and 3) according to the step 1) and the step 2), implementing the following traffic control logics of 3.1) updating the pose of the AGV and clearing the tail; 3.2) calculating an application area by utilizing a greedy strategy; 3.3) calculating a detection area; 3.4) calculating whether a deadlock ring exists or not, if yes, processing the deadlock ring, and circularly calculating whether the deadlock ring exists or not. According to the present invention, the concurrent capacity of the AGVs is utilized fully, the higher-density vehicle scheduling in the limited places is realized, and the higher operation efficiency is achieved.

Description

technical field [0001] The invention relates to a scheduling method for AGV horizontal transport equipment, more specifically, to a scheduling method for multiple AGVs in a closed automated logistics park. Background technique [0002] The logistics park refers to the working area where the goods are moved within a limited range by means of handling equipment. The closed automated logistics park refers to a logistics park that uses automated handling equipment and is completely isolated from manual handling equipment. The park has planned access roads and interactive nodes. The road design usually allows the handling equipment to go straight, turn, and rotate in situ. Intersections are allowed between roads, even dense intersections, and no traffic lights are used to control traffic. This kind of logistics park design is usually used in the fields of automated container terminals, automated airports, automated warehousing, and automated parking garages. With the development...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0287
Inventor 王小进
Owner SHANGHAI ZHENHUA HEAVY IND
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