A multi-AGV task elevator dispatching system, method and storage medium

Abstract

This invention discloses a multi-AGV task elevator scheduling system, method, and storage medium. Through an elevator task queue mechanism, it predicts the AGV's running time and the elevator's task time by utilizing the average running speed of the AGVs and the average running speed of the elevators. This allows for the calculation of elevator load and the selection of the elevator with the shortest AGV running time. The elevator task queue mechanism introduced in this invention avoids the contention and locking pattern of scheduling elevators only after the AGVs have reached the elevator entrance. Instead, it allows elevators to actively acquire tasks from the queue when idle, enabling them to arrive at the task departure floor earlier and improving elevator utilization efficiency.

Description

Technical Field

[0001] The present invention belongs to the field of automatic control technology, and in particular relates to a multi-AGV task elevator dispatching system, method and storage medium suitable for cross-floor scenarios. Background Art

[0002] Currently, many manufacturing companies (such as factories) and medical institutions have introduced AGV robots to deliver materials indoors to reduce labor costs. During peak business hours, multiple AGV robots deliver materials across floors at the same time, and the elevator becomes a resource bottleneck. How to effectively use elevators and improve material delivery efficiency has become a key indicator of the quality of the dispatching system. Traditional elevator dispatching for cross-floor AGV tasks generally uses the following methods:

[0003] 1. After the AGV robot receives the cross-floor delivery task, the dispatching system selects the nearest elevator according to the shortest path planning algorithm;

[0004] 2. The dispatching system sends instructions to the AGV robot to drive to the elevator entrance;

[0005] 3. The AGV robot queries the current status of the elevator. If it is idle, it sends an elevator control command to lock the elevator; if it is busy, it keeps polling.

[0006] The above method has the following problems:

[0007] 1. When there are multiple elevators on the same floor, the elevator selection only considers the distance, not the load of the current elevator;

[0008] 2. The AGV robot reaches the elevator entrance and then dispatches the elevator, which causes the elevator to be unable to reach the departure floor in advance when it is idle, resulting in low efficiency;

[0009] 3. When there is a large backlog of cross-floor AGV tasks, they compete for elevator control at the same time without considering the waiting time of the AGV robots, resulting in poor user experience;

[0010] 4. The AGV robot constantly polls the elevator status to obtain elevator control, which puts a lot of pressure on the elevator query system. Summary of the invention

[0011] In view of the above-mentioned deficiencies in the prior art, the multi-AGV task elevator scheduling system, method and storage medium provided by the present invention solve the problems of low efficiency, high elevator system query load and poor user experience in the existing AGV task scheduling process.

[0012] In order to achieve the above-mentioned invention object, the technical solution adopted by the present invention is: a multi-AGV task elevator dispatching system, comprising:

[0013] The elevator decision module is used to receive the AGV cross-floor task and determine the corresponding target elevator; wherein each elevator corresponds to an elevator task queue, and the elevator task queue contains the AGV cross-floor task that the elevator currently needs to execute;

[0014] The elevator task refresh module is used to call the elevator decision module to regularly update the elevator task queue according to the actual operation status of the elevator and the task priority;

[0015] The elevator task anomaly detection module is used to periodically detect abnormal elevator tasks in the current elevator task queue, and when an abnormal elevator task is detected, the elevator decision module is called to re-determine the target elevator for the corresponding AGV cross-floor task and update the elevator task queue;

[0016] The elevator task execution module is used to call the target elevator to execute the AGV cross-floor task according to the elevator task queue.

[0017] Furthermore, the elevator decision module uses the elevator that takes the shortest time to execute the AGV cross-floor task as the corresponding target elevator;

[0018] The elevator task refresh module and the elevator task abnormality detection module are independent of each other and update the elevator task queue according to their respective preset time intervals;

[0019] The elevator task execution module calls the target elevator according to the priority of the elevator task in the elevator task queue.

[0020] The beneficial effects of the present invention are as follows: by introducing an elevator task queue mechanism, the present invention avoids the mode in which the AGV reaches the elevator entrance and then dispatches the elevator to compete for locking. The elevator can be converted to actively obtain tasks from the queue when it is idle, and can arrive at the task departure floor in advance, thereby improving the efficiency of elevator use.

[0021] A multi-AGV task elevator scheduling method comprises the following steps:

[0022] S1, receiving cross-floor tasks of different AGVs, determining the corresponding target elevator through the elevator decision module, and forming an elevator task queue;

[0023] Among them, in the process of forming the elevator task queue, the elevator task refresh module calls the elevator decision module to regularly update the elevator task queue according to the actual operation status of the elevator and the task priority, and the elevator task abnormality detection module regularly detects abnormal elevator tasks and calls the elevator decision module to update the elevator task queue;

[0024] S2. The elevator task execution module calls the target elevator according to the priority of each elevator task queue to execute the AGV cross-floor task and realize elevator scheduling.

[0025] Furthermore, the step S1 is specifically as follows:

[0026] SA-1, receiving AGV cross-floor task A i ={agv_no,Pt,Fs,Fd,Ts,Ga};

[0027] Where agv_no is the AGV number, Pt is the task priority, Fs is the departure floor, Fd is the destination floor, Ts is the task initiation time, Ga is the current coordinate position of the AGV, and the subscript i is the task sequence number;

[0028] SA-2, traverse all elevators on the AGV departure floor, and obtain the elevator task queue set Q = {q1, q2, ..., q j ,…,q Q}, q j is the elevator task queue of the jth elevator;

[0029] SA-3, judge the elevator task queue q in sequence j Is it empty?

[0030] If yes, proceed to step SA-4;

[0031] If not, proceed to step SA-5;

[0032] SA-4. Calculate the time taken to select the jth elevator as the target elevator to perform the AGV cross-floor task, select the elevator corresponding to the minimum time consumption as the target elevator, and obtain the elevator task queue q j , and then update the elevator task queue set Q;

[0033] SA-5. Add the current AGV cross-floor task to the elevator task queue q j In the new elevator task queue q j 'Reorder and calculate the new elevator task queue q j 'The time consumed when executing the AGV cross-floor task, the elevator with the minimum time consumption is taken as the target elevator, and based on the new elevator task queue q j 'Update the elevator task queue set Q;

[0034] Among them, for the new elevator task queue q j 'When re-sorting, the task priority of the current AGV cross-floor task is used as the first sorting factor, and the time when the AGV arrives at the corresponding elevator entrance is used as the second sorting factor.

[0035] Furthermore, in the step SA-4, the time t=Tee-Ts when the target elevator executes the AGV cross-floor task A, where Tee is the time when the elevator task is completed, Tee=Te+t2+t3, Te is the time when the AGV reaches the elevator entrance, t2 is the time the AGV waits for the elevator, t3 is the time the elevator executes the elevator task, and t3=|Fd-Fs|*tf;

[0036] Among them, when the time Tes when the elevator arrives at the departure floor is greater than Te, then t2=Tes-Te, otherwise t2=0, Tes=Tc+|Fs-Fc|*tf, Tc is the current time, Fc is the current floor of the elevator, and tf is the average time taken for the elevator to cross one floor.

[0037] Furthermore, in step SA-5, the new elevator task queue q j 'The time t = Tee-Ts when executing AGV cross-floor task A, where Tee is the time when the elevator task is completed, Tee = Te + t2 + t3, Te is the time when the AGV reaches the elevator entrance, t2 is the time the AGV waits for the elevator, t3 is the time the elevator executes the elevator task, t3 = |Fd-Fs|*tf;

[0038] Among them, the time t2 for AGV to wait for the elevator is:

[0039] When the elevator task queue priority Pq is 1, if the elevator arrives at the departure floor time Tes greater than Te, then t2 = Tes-Te, otherwise t2 = 0, Tes = Tc + |Fs-Fc|*tf, Tc is the current time, Fc is the current floor of the elevator, and tf is the average time taken for the elevator to cross a floor;

[0040] When the elevator task queue priority Pq is not 1, if the elevator arrives at the departure floor when Tes is greater than Te, then t2 = Tes-Te, otherwise t2 = 0, where Tes = Tee n-1 +|Fd n-1 -Fs n |*tf, n is the elevator task number in the elevator task queue, Tee n-1 is the completion time of the n-1th elevator task, Fd n-1 is the target floor of the n-1th elevator task, Fs n is the departure floor of the nth elevator task.

[0041] Furthermore, in step S1, the method of calling the elevator decision module to regularly update the elevator task queue according to the actual operation status and task priority of the elevator through the elevator task refresh module is specifically as follows:

[0042] SB-1. Within the configured task refresh time interval M, traverse all elevator task queues q in the elevator task queue set Q.j ;

[0043] SB-2, traverse the elevator task queue q j The elevator task in the program is executed, and the time when the AGV's current position reaches the elevator entrance is recalculated;

[0044] SB-3, according to the recalculated AGV current position to reach the elevator entrance time and the corresponding elevator task priority, the elevator task queue q j Reorder the elevator tasks in the queue and mark the priority of the elevator task queue;

[0045] SB-4. According to the elevator task queue marked with priority, the elevator decision module is called to calculate the target elevator for the AGV cross-floor task, and then the corresponding elevator task queue is updated.

[0046] Furthermore, in step S1, the method of periodically detecting abnormal elevator tasks through the elevator task abnormality detection module and calling the elevator decision module to update the elevator task queue is specifically as follows:

[0047] SC-1. Within the configured task anomaly detection time interval N, traverse all elevator task queues q in the elevator task queue set Q. j ;

[0048] SC-2, judge the elevator task queue q in sequence j Is there a timeout elevator task?

[0049] Among them, the timeout elevator task is the elevator task in which the AGV waits for the elevator for a time greater than the preset value;

[0050] If yes, proceed to step SC-3;

[0051] If not, proceed to step SC-4;

[0052] SC-3. Determine the elevator task queue q j If there is an exception, mark it and obtain the timed-out elevator tasks in all abnormal elevator task queues, and go to step SC-5;

[0053] SC-4. Determine the elevator task queue q j If there is no abnormality, return to step SC-1;

[0054] SC-5. Take the timed elevator task as a new AGV cross-floor task, call the elevator decision module to calculate its corresponding target elevator, and then update the elevator task queue.

[0055] Furthermore, the step S2 is specifically as follows:

[0056] S2-1. Subscribe to the elevator status data through the elevator task execution module;

[0057] S2-2. When the elevator status is idle, obtain the elevator task queue corresponding to the elevator, and take out the elevator task with the highest priority in the elevator task queue to execute the AGV cross-floor task to realize elevator scheduling.

[0058] The beneficial effects of the present invention are:

[0059] The present invention introduces an elevator task queue mechanism, and uses the average running speed of AGV and the average running speed of elevator to predict the running time of AGV and the elevator task time, so as to calculate the elevator load and select the elevator by adopting the strategy with the minimum AGV time consumption. Its advantages are reflected in the following aspects:

[0060] (1) The elevator-related path tasks in the AGV tasks are split into elevator tasks, and the elevator task queue mechanism is introduced. The mode in which the AGV actively requests the elevator is converted into the mode in which the elevator actively executes the task, which alleviates the pressure on the elevator system.

[0061] (2) The average running speed of AGV and the average running speed of elevator are used to predict the running time of AGV and the task time of elevator, so as to calculate the elevator queue load and achieve the elevator selection strategy with the minimum task time of AGV.

[0062] (3) A dynamic refresh mechanism for elevator queue task data is introduced to dynamically adjust the queue task priority to achieve the goal of maximizing elevator utilization efficiency.

[0063] (4) The elevator queue task anomaly detection mechanism is introduced to automatically adjust the elevator selection in the event of an elevator failure, thereby reducing the impact of the failure on the business.

[0064] A computer storage medium implements a multi-AGV task elevator scheduling method when executing the computer program.

[0065] The beneficial effects of the present invention are as follows: the present invention provides a corresponding computer-readable storage medium for a computer program for realizing multi-AGV task elevator scheduling, so that users can directly use the storage medium to realize multi-AGV task elevator scheduling. BRIEF DESCRIPTION OF THE DRAWINGS

[0066] Figure 1 This is a flow chart of the multi-AGV task elevator scheduling method provided by the present invention. DETAILED DESCRIPTION

[0067] The specific implementation modes of the present invention are described below so that those skilled in the art can understand the present invention. However, it should be clear that the present invention is not limited to the scope of the specific implementation modes. For those of ordinary skill in the art, as long as various changes are within the spirit and scope of the present invention as defined and determined by the attached claims, these changes are obvious, and all inventions and creations utilizing the concept of the present invention are protected.

[0068] Embodiment 1:

[0069] An embodiment of the present invention provides a multi-AGV task elevator dispatching system, comprising:

[0070] The elevator decision module is used to receive the AGV cross-floor task and determine the corresponding target elevator; wherein each elevator corresponds to an elevator task queue, and the elevator task queue contains the AGV cross-floor task that the elevator currently needs to execute;

[0071] The elevator task refresh module is used to call the elevator decision module to regularly update the elevator task queue according to the actual operation status of the elevator and the task priority;

[0072] The elevator task anomaly detection module is used to periodically detect abnormal elevator tasks in the current elevator task queue, and when an abnormal elevator task is detected, the elevator decision module is called to re-determine the target elevator for the corresponding AGV cross-floor task and update the elevator task queue;

[0073] The elevator task execution module is used to call the target elevator to execute the AGV cross-floor task according to the elevator task queue.

[0074] In the embodiment of the present invention, the basic data item attributes in the elevator decision module are shown in Table 1;

[0075] Table 1: Basic data item attributes

[0076] Data Item illustrate V AGV average operating speed tf The average time it takes for an elevator to cross one floor tw Timeout for AGV to wait for elevator

[0077] In the embodiment of the present invention, the data model in the elevator task queue is shown in Table 2;

[0078] Table 2: Data model in the elevator task queue

[0079]

[0080] Based on the definition of the above data items, in the embodiment of the present invention, the elevator that consumes the least time when executing the AGV cross-floor task is used as the corresponding target elevator.

[0081] The elevator task refresh module and the elevator task abnormality detection module in the embodiment of the present invention are independent of each other, and update the elevator task queue according to their respective preset time intervals; specifically, the preset time intervals of the two modules have no direct relationship, and the smaller the value, the higher the execution frequency, the greater the system overhead, but at the same time, the better the real-time performance of the system scheduling, and the specific preset value can be weighed according to the actual hardware configuration.

[0082] The elevator task execution module in the embodiment of the present invention calls the target elevator according to the priority of the elevator task queue. Specifically, the target elevator is first called according to the priority of the elevator task queue, and then the corresponding elevator task is executed according to the task priority in the elevator task queue.

[0083] Embodiment 2:

[0084] The embodiment of the present invention provides a corresponding multi-AGV task elevator scheduling method for the multi-AGV task elevator scheduling system in embodiment 1, such as Figure 1 As shown, the following steps are included:

[0085] S1, receiving cross-floor tasks of different AGVs, determining the corresponding target elevator through the elevator decision module, and forming an elevator task queue;

[0086] Among them, in the process of forming the elevator task queue, the elevator task refresh module calls the elevator decision module to regularly update the elevator task queue according to the actual operation status of the elevator and the task priority, and the elevator task abnormality detection module regularly detects abnormal elevator tasks and calls the elevator decision module to update the elevator task queue;

[0087] S2. The elevator task execution module calls the target elevator according to the priority of each elevator task queue to execute the AGV cross-floor task and realize elevator scheduling.

[0088] Step S1 of the embodiment of the present invention is specifically as follows: SA-1, receiving AGV cross-floor task A i ={agv_no,Pt,Fs,Fd,Ts,Ga};

[0089] Where agv_no is the AGV number, Pt is the task priority, Fs is the departure floor, Fd is the destination floor, Ts is the task initiation time, Ga is the current coordinate position of the AGV, and the subscript i is the task sequence number;

[0090] SA-2, traverse all elevators on the AGV departure floor, and obtain the elevator task queue set Q = {q1, q2, ..., q j ,…,q Q}, q j is the elevator task queue of the jth elevator;

[0091] SA-3, judge the elevator task queue q in sequence j Whether it is empty;

[0092] If yes, proceed to step SA-4;

[0093] If not, proceed to step SA-5;

[0094] SA-4. Calculate the time taken to select the jth elevator as the target elevator to perform the AGV cross-floor task, select the elevator corresponding to the minimum time consumption as the target elevator, and obtain the elevator task queue q j , and then update the elevator task queue set Q;

[0095] SA-5. Add the current AGV cross-floor task to the elevator task queue q j In the new elevator task queue q j 'Reorder and calculate the new elevator task queue q j 'The time consumed when executing the AGV cross-floor task, the elevator with the minimum time consumption is taken as the target elevator, and based on the new elevator task queue q j 'Update the elevator task queue set Q;

[0096] Among them, for the new elevator task queue q j 'When re-sorting, the task priority of the current AGV cross-floor task is used as the first sorting factor, and the time when the AGV arrives at the corresponding elevator entrance is used as the second sorting factor.

[0097] In step SA-4 of the embodiment of the present invention, when the elevator task queue q j When it is empty, it indicates that the elevator is in an idle state, and at this time, a data item table as shown in Table 3 is obtained;

[0098] Table 3: Elevator task data model when there is only one task

[0099]

[0100] Based on the data in Table 3, in this embodiment, when the elevator is idle, the time t = Tee-Ts for the target elevator to perform the AGV cross-floor task, where Tee is the time when the elevator task is completed, Tee = Te + t2 + t3, Te is the time when the AGV reaches the elevator entrance, t2 is the time the AGV waits for the elevator, t3 is the time the elevator performs the elevator task, t3 = |Fd-Fs|*tf;

[0101] Among them, when the time Tes when the elevator arrives at the departure floor is greater than Te, then t2=Tes-Te, otherwise t2=0, Tes=Tc+|Fs-Fc|*tf, Tc is the current time, Fc is the current floor of the elevator, and tf is the average time taken for the elevator to cross one floor.

[0102] In step SA-5 of the embodiment of the present invention, when the elevator task queue q j When it is not empty, it indicates that there is an elevator task for the elevator. The process of determining the target elevator is:

[0103] Calculate the time when the current AGV arrives at the elevator entrance. The calculation table is shown in Table 4;

[0104] Table 4: AGV arrival time table

[0105] Data Item illustrate Calculation method <![CDATA[t1]]> Time taken by AGV to reach the elevator entrance Le / V Te AGV arrives at the elevator entrance Ts+Le / V

[0106] The elevator task queue q j Copy the elevator task in the task queue, add the current AGV cross-floor task, sort them in ascending order according to their task priority Pt and the time Te of AGV arriving at the elevator entrance, and get the queue priority Pq of the task in the elevator task queue, and get a new elevator task queue q j ', then follow the new elevator task queue q j 'Recalculate the data items of all tasks, the calculation method is shown in Table 5;

[0107] Table 5: New elevator task queue q j 'Data item calculation

[0108]

[0109]

[0110] Based on the data in Table 3, in this embodiment, when there are elevator tasks in the elevator, the new elevator task queue q j 'The time taken to execute the AGV cross-floor task is t=Tee-Ts, where Tee is the time when the elevator task is completed, Tee=Te+t2+t3, Te is the time when the AGV reaches the elevator entrance, t2 is the time taken for the AGV to wait for the elevator, and t3 is the time taken for the elevator to execute the elevator task, t3=|Fd-Fs|*tf;

[0111] Among them, the time t2 for AGV to wait for the elevator is:

[0112] When the elevator task queue priority Pq is 1, if the elevator arrives at the departure floor time Tes greater than Te, then t2 = Tes-Te, otherwise t2 = 0, Tes = Tc + |Fs-Fc|*tf, Tc is the current time, Fc is the current floor of the elevator, and tf is the average time taken for the elevator to cross a floor;

[0113] When the elevator task queue priority Pq is not 1, if the elevator arrives at the departure floor when Tes is greater than Te, then t2 = Tes-Te, otherwise t2 = 0, where Tes = Tee n-1+|Fd n-1 -Fs n |*tf, n is the elevator task number in the elevator task queue, Tee n-1 is the completion time of the n-1th elevator task, Fd n-1 is the target floor of the n-1th elevator task, Fs n is the departure floor of the nth elevator task.

[0114] Finally, after traversing all elevator task queues, the elevator with the minimum time consumption is taken as the target elevator, and based on the new elevator task queue q j 'Update the elevator task queue set Q.

[0115] In step S1 of the embodiment of the present invention, the elevator task refresh module updates the elevator task data items in the elevator task queue at a certain frequency, and updates the queue priority according to the actual operation data. For example, at time t, the priority of task i in the queue is higher than that of task j (that is, it is predicted that task i will arrive at the elevator entrance before task j), but task i is blocked on the way to the elevator entrance, causing task j to arrive at the elevator entrance first. When recalculating and refreshing the queue task data at time t+M, it is necessary to change the priorities of i and j in the queue, thereby achieving the effect of dynamic optimization.

[0116] Based on this, in this embodiment, the method of calling the elevator decision module to regularly update the elevator task queue according to the actual operation status and task priority of the elevator through the elevator task refresh module is specifically as follows:

[0117] SB-1. Within the configured task refresh time interval M, traverse all elevator task queues q in the elevator task queue set Q. j ;

[0118] SB-2, traverse the elevator task queue q j The elevator task in the program is executed, and the time when the AGV's current position reaches the elevator entrance is recalculated;

[0119] SB-3, according to the recalculated AGV current position to reach the elevator entrance time and the corresponding elevator task priority, the elevator task queue q j Reorder the elevator tasks in the queue and mark the priority of the elevator task queue;

[0120] SB-4. According to the elevator task queue marked with priority, the elevator decision module is called to calculate the target elevator for the AGV cross-floor task, and then the corresponding elevator task queue is updated.

[0121] In step SB-2 of this embodiment, the calculation table for calculating the time when the current position of the AGV reaches the elevator entrance is shown in Table 6;

[0122] Table 6: The time when the AGV current position reaches the elevator entrance

[0123]

[0124] In step S1 of the embodiment of the present invention, the elevator task abnormality detection module detects the situation that the subsequent task waits for timeout due to elevator failure or abnormality of the previous elevator task, so as to execute the process of reselecting the elevator for the tasks in the queue to avoid the accumulation of failures. Based on this, in step S1 of this embodiment, the method of regularly detecting abnormal elevator tasks through the elevator task abnormality detection module and calling the elevator decision module to update the elevator task queue is specifically as follows:

[0125] SC-1. Within the configured task anomaly detection time interval N, traverse all elevator task queues q in the elevator task queue set Q. j ;

[0126] SC-2, judge the elevator task queue q in sequence j Is there a timeout elevator task?

[0127] Among them, the timeout elevator task is the elevator task in which the AGV waits for the elevator for a time greater than the preset value;

[0128] If yes, proceed to step SC-3;

[0129] If not, proceed to step SC-4;

[0130] SC-3. Determine the elevator task queue q j If there is an exception, mark it and obtain the timed-out elevator tasks in all abnormal elevator task queues, and go to step SC-5;

[0131] SC-4. Determine the elevator task queue q j If there is no abnormality, return to step SC-1;

[0132] SC-5. Take the timed elevator task as a new AGV cross-floor task, call the elevator decision module to calculate its corresponding target elevator, and then update the elevator task queue.

[0133] In step SC-5 of this embodiment, after the elevator task queue is updated, the timed elevator task is deleted from the original elevator task queue; if there is no available elevator when the target elevator is re-determined, an alarm can be issued via SMS or other means.

[0134] The step S2 of the embodiment of the present invention is specifically:

[0135] S2-1. Subscribe to the elevator status data through the elevator task execution module;

[0136] S2-2. When the elevator status is idle, obtain the elevator task queue corresponding to the elevator, and take out the elevator task with the highest priority in the elevator task queue to execute the AGV cross-floor task to realize elevator scheduling.

[0137] In step S2-1 of this embodiment, the elevator status data is asynchronously sent to the outside at a certain frequency (usually in seconds). In step S2-2, if the elevator status data is in "task execution" when subscribing, no processing is performed until an elevator in idle state is known.

[0138] Embodiment 3:

[0139] The embodiment of the present invention provides a computer-readable storage medium, which stores a computer program. When the computer program is executed, the steps of the multi-AGV task elevator scheduling method in embodiment 2 are implemented. In the embodiment of the present invention, the computer-readable storage medium includes, but is not limited to, a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and other media that can store program codes.

[0140] Embodiment 4:

[0141] The embodiment of the present invention provides an example of implementing elevator scheduling based on the method in Embodiment 2:

[0142] In this embodiment, there are 4 AGV tasks on the 2nd and 3rd floors and 2 available elevators, as shown in Table 7:

[0143] Table 7: AGV cross-floor elevator tasks

[0144] VGA Receive task time Task Level Departure floor Target floor Distance to elevator 1 Distance to elevator 2 C1 09:00:15 1 3 10 28 meters 36 meters C2 09:00:30 1 3 12 28 meters 36 meters C3 09:0040 2 2 8 40 meters 20 meters C4 09:00:50 1 2 8 20 meters 28 meters

[0145] The elevator parameters are set as follows:

[0146] 1. Initially, elevator 1 is at the 5th floor and elevator 2 is at the 6th floor.

[0147] 2.AGV running speed is 1m / s

[0148] 3. It takes 2 seconds for the elevator to run to each floor. To simplify the calculation, it is assumed that the door opening and closing time for each elevator task is 4 seconds in total.

[0149] The calculation results of elevator selection for Task C1 are shown in Table 8;

[0150] Table 8: Task C1 elevator selection calculation (09:00:15)

[0151]

[0152]

[0153] It can be seen from Table 8 that after calculation by the elevator decision module, AGV task C1 selects elevator No. 1 and the queue priority is 1.

[0154] The calculation results of elevator selection for Task C2 are shown in Table 9;

[0155] Table 8: Task C2 elevator selection calculation (09:00:30)

[0156]

[0157] It can be seen from Table 9 that after calculation by the elevator decision module, the C2 task selects elevator No. 2, and the queue priority is 1.

[0158] The calculation results of elevator selection for Task C3 are shown in Table 10;

[0159] Table 10: Task C3 Elevator Selection Calculation (09:00:40)

[0160]

[0161] It can be seen from Table 10 that after calculation by the elevator decision module, task C3 selects elevator No. 1 and the queue priority is 2.

[0162] The calculation results of elevator selection for task C4 are shown in Table 11;

[0163] Table 11: Task C4 Elevator Selection Calculation (09:00:50)

[0164]

[0165]

[0166] As shown in Table 11, after the C4 task is calculated by the elevator decision module, elevator No. 1 is selected. At this time, since the C1 task has been taken out of the elevator No. 1 queue for execution, the priority of the C4 task queue becomes 1. The original C2 task is queued because its task priority is lower than that of C4, and the priority of the C2 task queue is still 2.

[0167] Elevator task time comparison:

[0168] The method of the present invention is used to execute the scheduling of the above four tasks, and the total time consumption is 241 seconds.

[0169] If the traditional method is used to schedule the above four tasks, the overall time consumption is shown in Table 12;

[0170] Table 12: Total time consumption of tasks C1-C4

[0171]

[0172]

[0173] As shown in Table 12, the total scheduling time of the present invention is reduced by 39 seconds and the efficiency is improved by about 14%.

[0174] In the description of the present invention, it is necessary to understand that the orientation or positional relationship indicated by the terms "center", "thickness", "upper", "lower", "horizontal", "top", "bottom", "inner", "outer", "radial", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In addition, the terms "first", "second", and "third" are used only for descriptive purposes, and cannot be understood as indicating or implying the relative importance or the number of implicitly specified technical features. Therefore, the features defined by "first", "second", and "third" may explicitly or implicitly include one or more of the features.

Claims

1. A multi-AGV task elevator dispatching method of a multi-AGV task elevator dispatching system, the multi-AGV task elevator dispatching system comprising: The elevator decision module is used to receive the AGV cross-floor task and determine the corresponding target elevator; wherein each elevator corresponds to an elevator task queue, and the elevator task queue contains the AGV cross-floor task that the elevator currently needs to execute; The elevator task refresh module is used to call the elevator decision module to regularly update the elevator task queue according to the actual operation status of the elevator and the task priority; The elevator task anomaly detection module is used to periodically detect abnormal elevator tasks in the current elevator task queue, and when an abnormal elevator task is detected, the elevator decision module is called to re-determine the target elevator for the corresponding AGV cross-floor task and update the elevator task queue; The elevator task execution module is used to call the target elevator to execute the AGV cross-floor task according to the elevator task queue; The elevator decision module uses the elevator that takes the least time to execute the AGV cross-floor task as the corresponding target elevator; The elevator task refresh module and the elevator task abnormality detection module are independent of each other and update the elevator task queue according to their respective preset time intervals; The elevator task execution module calls the target elevator according to the priority of the elevator task in the elevator task queue; The method is characterized in that the multi-AGV task elevator scheduling method comprises the following steps: S1, receiving cross-floor tasks of different AGVs, determining the corresponding target elevator through the elevator decision module, and forming an elevator task queue; Among them, in the process of forming the elevator task queue, the elevator task refresh module calls the elevator decision module to regularly update the elevator task queue according to the actual operation status of the elevator and the task priority, and the elevator task abnormality detection module regularly detects abnormal elevator tasks and calls the elevator decision module to update the elevator task queue; S2. Call the target elevator to execute the AGV cross-floor task according to the priority of each elevator task queue through the elevator task execution module to realize elevator scheduling; The step S1 is specifically as follows: SA-1, receiving AGV cross-floor tasks A i ={ agv_no , Pt , F , F , Ts , Ga }; in, agv_no is the AGV number, Pt is the task priority, F The departure floor. F The target floor, Ts Start the task at the moment, Ga is the current coordinate position of AGV, subscript i is the task sequence number; SA-2. Traverse all elevators on the AGV departure floor and obtain the elevator task queue set Q ={ q 1, q 2,…, q j ,…, q Q }, q j For the j The elevator task queue of each elevator; SA-3. Determine the elevator task queue in sequence q j Whether it is empty; If yes, proceed to step SA-4; If not, proceed to step SA-5; SA-4, Calculate the selection j The time it takes for an elevator to perform the AGV cross-floor task as the target elevator, and the elevator corresponding to the minimum time consumption is used as the target elevator, and the elevator task queue is obtained. q j , and then update the elevator task queue set Q; SA-5. Add the current AGV cross-floor task to the elevator task queue q j In the new elevator task queue q j 'Reorder and calculate the new elevator task queue q j 'The time consumed when executing the AGV cross-floor task, the elevator with the minimum time consumption is taken as the target elevator, and based on the new elevator task queue q j 'Update the elevator task queue set Q; Among them, for the new elevator task queue q j 'When re-sorting, the task priority of the current AGV cross-floor task is used as the first sorting factor, and the time when the AGV arrives at the corresponding elevator entrance is used as the second sorting factor.

2. The multi-AGV task elevator dispatching method according to claim 1 is characterized in that: In step SA-4, the time taken by the target elevator to perform AGV cross-floor task A t=Tee-Ts , where Tee The time when the elevator task is completed. Tee = Te + t 2+ t 3. Te For AG V Arriving at the elevator entrance, t 2 is the time the AGV spends waiting for the elevator. t 3 is the time taken by the elevator to perform the elevator task, t 3=| Fd- F |* tf ; Among them, when the elevator reaches the departure floor Tes Greater than Te When t 2= Tes - Te ,otherwise t 2=0, Tes=Tc+|Fs-Fc|* tf , Tc For the current moment, Fc is the current floor of the elevator, tf The average time it takes for an elevator to travel across one floor.

3. The multi-AGV task elevator dispatching method according to claim 1, characterized in that: In step SA-5, the new elevator task queue q j 'The time t = Tee-Ts when executing AGV cross-floor task A, where Tee The time when the elevator task is completed. Tee = Te + t 2+ t 3. Te For AG V Arriving at the elevator entrance, t 2 is the time the AGV spends waiting for the elevator. t 3 is the time taken by the elevator to perform the elevator task, t 3=| Fd-Fs |* tf ; Among them, the time AGV spends waiting for the elevator t 2: When the elevator task queue priority Pq When the elevator reaches the departure floor, Tes Greater than Te ,but t 2= Tes - Te ,otherwise t 2=0, Tes=Tc+|Fs-Fc|*tf , Tc For the current moment, Fc is the current floor of the elevator, tf The average time it takes for an elevator to cross a floor; When the elevator task queue priority Pq If the elevator reaches the departure floor, Tes Greater than Te ,but t 2= Tes - Te ,otherwise t 2=0, where Tes=Tee n-1 +|Fd n-1 -Fs n |*tf , n is the elevator task sequence number in the elevator task queue, Tee n-1 For the n -1 elevator mission completion time, F n-1 For the n - 1 target floor for the elevator mission, F n For the n The departure floor for an elevator mission.

4. The multi-AGV task elevator dispatching method according to claim 1, characterized in that: In step S1, the method of calling the elevator decision module to regularly update the elevator task queue according to the actual operation status and task priority of the elevator through the elevator task refresh module is specifically as follows: SB-1. Within the configured task refresh time interval M, traverse all elevator task queues q in the elevator task queue set Q. j ; SB-2, traverse the elevator task queue q j The elevator task in the program is executed, and the time when the AGV's current position reaches the elevator entrance is recalculated; SB-3, according to the recalculated AGV current position to reach the elevator entrance time and the corresponding elevator task priority, the elevator task queue q j Reorder the elevator tasks in the queue and mark the priority of the elevator task queue; SB-4. According to the elevator task queue marked with priority, the elevator decision module is called to calculate the target elevator for the AGV cross-floor task, and then the corresponding elevator task queue is updated.

5. The multi-AGV task elevator dispatching method according to claim 1, characterized in that: In step S1, the method of regularly detecting abnormal elevator tasks through the elevator task abnormality detection module and calling the elevator decision module to update the elevator task queue is specifically: SC-1. Within the configured task anomaly detection time interval N, traverse all elevator task queues q in the elevator task queue set Q. j ; SC-2, judge the elevator task queue q in sequence j Is there a timeout elevator task? Among them, the timeout elevator task is the elevator task in which the AGV waits for the elevator for a time greater than the preset value; If yes, proceed to step SC-3; If not, proceed to step SC-4; SC-3. Determine the elevator task queue q j If there is an exception, mark it and obtain the timed-out elevator tasks in all abnormal elevator task queues, and go to step SC-5; SC-4. Determine the elevator task queue q j If there is no abnormality, return to step SC-1; SC-5. Take the timed elevator task as a new AGV cross-floor task, call the elevator decision module to calculate its corresponding target elevator, and then update the elevator task queue.

6. The multi-AGV task elevator dispatching method according to claim 1, characterized in that: The step S2 is specifically as follows: S2-1. Subscribe to the elevator status data through the elevator task execution module; S2-2. When the elevator status is idle, obtain the elevator task queue corresponding to the elevator, and take out the elevator task with the highest priority in the elevator task queue to execute the AGV cross-floor task to realize elevator scheduling.

7. A computer storage medium, wherein: When the computer program is executed, the multi-AGV task elevator scheduling method as described in any one of claims 1 to 6 is implemented.

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