Multi-AGV collision-free operation path planning method and scheduling system

A path planning and collision-free technology, which is applied in the control/regulation system, vehicle position/route/height control, transportation and packaging, etc., to reduce labor costs, accelerate intelligent transformation, and reduce waiting time

Inactive Publication Date: 2020-08-28
DONGGUAN UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] The present invention provides a route planning method and dispatching system for multi-AGV collision-free operation to solve at least one problem existing in the prior art

Method used

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  • Multi-AGV collision-free operation path planning method and scheduling system
  • Multi-AGV collision-free operation path planning method and scheduling system

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Experimental program
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Embodiment 1

[0029] as attached figure 1 Shown, a kind of path planning method of multi-AGV collision-free operation, described path planning method comprises:

[0030] S10. Receive tasks and perform task assignment, and assign tasks according to task scheduling strategy and AGV selection strategy;

[0031] S20. According to the task allocation information, perform task scheduling according to the task scheduling strategy, and select an idle AGV to perform the task according to the AGV selection strategy, use the path planning algorithm to solve the optimal path of the AGV that needs to execute the task, and use the optimal path as a planned path;

[0032] S30. If there is a running path, compare the planned path with the running path to determine whether there is a path conflict, and if there is no path conflict, go to step S50;

[0033] If there is a path conflict, then predict the conflict time, if there is no time conflict, then ignore the path conflict, and go to step S50; if there ...

Embodiment 2

[0066] This embodiment provides a multi-AGV scheduling system, as attached figure 2 As shown, it includes a dispatching control device and more than two AGVs; specifically, the AGV includes a main controller, a navigation module connected to the main controller, an RFID sensor, an infrared obstacle avoidance module, a power detection module, an object A networking communication module, a motor drive module and a power supply module; the dispatching control device is provided with an Internet of Things communication module, and the dispatching control device communicates with each AGV through the Internet of Things communication module. Preferably, the navigation module is preferably a magnetic navigation sensor. When the dispatching system dispatches and controls each AGV, it adopts the route planning method described in Embodiment 1 for dispatching. For the specific route planning method, please refer to Embodiment 1, which will not be repeated here.

[0067] Among them, at...

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Abstract

The invention discloses a multi-AGV collision-free operation path planning method and a scheduling system. According to the path planning method, a priority-based task scheduling strategy is adopted for scheduling; according to the method, tasks can be reasonably allocated, the efficiency of a scheduling system can be effectively improved, Meanwhile, the optimal path of each AGV is solved by adopting an AGV selection strategy based on priority and through an A * algorithm, so that the operation path is relatively smooth, the AGV waiting time is effectively reduced, and the operation efficiencyof the whole system is improved. The multi-AGV collision-free operation path planning method and the scheduling system provided by the invention can be widely applied to production factories in the manufacturing industry, traditional manual carrying and conveying belt transportation are replaced, intelligent transformation of the factories is accelerated, the labor cost is reduced, and the production efficiency is greatly improved.

Description

technical field [0001] The invention relates to the field of AGV (Automatic Guided Vehicle) path planning, in particular to a path planning method and scheduling system for multi-AGV collision-free operation based on the Internet of Things. Background technique [0002] With the gradual loss of my country's demographic dividend, rising labor wages have put greater pressure on the cost side of 3C manufacturing companies. How to maintain a relatively low operating cost in the industry is the main problem faced by enterprises in the 3C manufacturing industry. From the point of view of the entire processing process of product production, most of the time materials are used for material storage, loading and unloading, transportation and waiting for processing. Therefore, improving the degree of factory automation and shortening non-processing time is the main way to reduce product costs. Within the framework of Industry 4.0 functional factories, smart logistics is the core comp...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0214G05D1/0221G05D1/0223G05D1/0242G05D1/0276G05D1/028G05D1/0289G05D1/0293G05D2201/0216
Inventor 林盛鑫刘华珠陈雪芳廖春萍
Owner DONGGUAN UNIV OF TECH
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