Multi-AGV real-time scheduling method based on step length

A real-time scheduling and step-length technology, applied in instruments, data processing applications, forecasting, etc., can solve problems such as paralysis of the logistics warehouse system, and achieve the effect of reducing scheduling waiting time, improving work efficiency, scheduling sequence and process optimization.

Pending Publication Date: 2020-08-11
XIAMEN UNIV TAN KAH KEE COLLEGE
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

AGV collisions and deadlocks will directly lead to the paralysis of the logistics warehouse system

Method used

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  • Multi-AGV real-time scheduling method based on step length
  • Multi-AGV real-time scheduling method based on step length
  • Multi-AGV real-time scheduling method based on step length

Examples

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Embodiment 1

[0040] In this implementation, the AGV1 scheduling path sequence is (0, 3, 7, 8, 9), the AGV2 scheduling path sequence is (6, 7, 3, 2), and the AGV3 scheduling path sequence is (11, 8, 9). The corresponding path of each AGV car is as follows figure 1As shown, initialize the postion attribute of each AGV car to 0, indicating that the car is at the initial site position, set the colSite attribute to the sequence length, and enter the scheduling calculation, because the 3->7 in AGV1 and the 7->3 position in AGV2 There is a conflict, but there is no conflict between AGV3 and AGV1 and AGV2, so it is necessary to let AGV2 wait for the 7 and 3 sites to be unlocked at the 7->3 position of AGV2, and then complete the dispatch of all 3 vehicles. The initial state of the dispatch system is as follows figure 2 shown.

[0041] Then start scheduling.

[0042] 1. Start the first scheduling, sort the cars according to the remaining sequence length, the current priority order is AGV1>AGV2>A...

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Abstract

The invention relates to a multi-AGV real-time scheduling method based on step length, comprising the following steps: constructing a map data structure and an AGV data structure related to a map, themap data structure representing the connection relationship of each station in the current map, wherein the AGV data structure represents a task path corresponding to the AGV and a driving state anda future driving path state of the AGV. According to the method, the problems that the dispatching system is paralyzed due to deadlock of the AGV and the dispatching waiting time is too long can be effectively solved.

Description

technical field [0001] The invention relates to the field of AGV real-time scheduling, in particular to a step-based multi-AGV real-time scheduling method. Background technique [0002] In the use of automatic guided vehicle AGV (Automated Guided Vehicle) logistics warehouse, especially when multiple AGVs are used, AGV vehicles will inevitably cause AGV collisions and deadlocks during the process of moving goods. AGV collisions and deadlocks will directly lead to the paralysis of the logistics warehouse system. Therefore, it is an important field of AGV research to study the avoidance of collision and deadlock in the process of multi-AGV scheduling. Contents of the invention [0003] In view of this, the purpose of the present invention is to provide a step-based multi-AGV real-time scheduling method, which can effectively deal with the problem that the scheduling system is paralyzed due to the deadlock of the AGV trolley and the problem that the scheduling waiting time i...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06Q10/06G06Q10/04G06Q10/08
CPCG06Q10/06312G06Q10/047G06Q10/08355
Inventor 郭一晶周绪墙陈炳飞邱义刘暾东邵桂芳黄斯奇曾翊昕
Owner XIAMEN UNIV TAN KAH KEE COLLEGE
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