Coordination control method for multiple AGV paths

Abstract

The invention discloses a multi-AGV path coordination control method. The method comprises the following steps: constructing a path coordination control system according to a moving path of an AGV; planning the path into two path types of a forward path and a return path; the coordination controller obtains call requests of the tool library end and the hangar end in real time; the coordination controller analyzes the call request to obtain a transportation starting point and a transportation ending point; the coordination controller carries out path planning according to the transportation starting point and the transportation ending point obtained through analysis; and the coordination controller is used for coordinating and controlling the AGV trolley end to execute the determined forward path or return path. According to the coordination control method, the AGV trolley end is used for executing the going path or the returning path, so that the maintenance personnel can be prevented from manually going and going between the tool library end and the hangar end to borrow, return and transport the maintenance tools, the time wasted by the maintenance personnel on borrowing and returning the maintenance tools is effectively reduced, and the maintenance progress is ensured.

Description

Technical Field

[0001] The present invention relates to an AGV path planning method, in particular to a coordinated control method for multiple AGV paths. Background Art

[0002] The current factory building construction consists of a tool warehouse, a first maintenance hangar and a second maintenance hangar, and there is a certain distance between the tool warehouse and the two maintenance hangars; the tool warehouse is provided with a first tool room, a second tool room and a third tool room, and the tool warehouse is also provided with a first entrance of the tool warehouse, a second entrance of the tool warehouse and a tool warehouse exit; the first maintenance hangar is provided with a first workstation of the first hangar, a second workstation of the first hangar and a third workstation of the first hangar, and the first maintenance hangar is also provided with a first entrance of the first hangar, a second entrance of the first hangar and a first hangar exit; the second maintenance hangar is provided with a first workstation of the second hangar, a second workstation of the second hangar and a third workstation of the second hangar, and the second maintenance hangar is also provided with a first entrance of the second hangar, a second entrance of the second hangar and a second hangar exit; a first stop, a second stop and a third stop are provided between the tool warehouse and the two maintenance hangars to dock the idle first AGV cart, the second AGV cart and the third AGV cart.

[0003] A variety of maintenance tools are needed during aircraft maintenance. Therefore, people need to be sent back and forth between the tool library and the maintenance hangar to borrow and return maintenance tools, which consumes manpower and affects the maintenance progress. Summary of the Invention

[0004] The purpose of the invention is to provide a coordinated control method for multiple AGV paths, which can transport borrowed and returned maintenance tools between the tool library and the maintenance hangar through the AGV trolley end, effectively reducing the time wasted by maintenance workers on borrowing and returning maintenance tools, and ensuring the maintenance progress.

[0005] Technical solution: The coordinated control method of multiple AGV paths described in the present invention includes the following steps: Step 1, constructing a path coordination control system based on the moving path of the AGV cart. The path coordination control system includes a coordination controller, an AGV cart end, a tool library end, and a hangar end. The coordination controller communicates with the AGV cart end, the tool library end, and the hangar end through wireless networking respectively.

[0006] Step 2: Plan the path into two types: the outbound path and the return path. The outbound path is used for the AGV to carry the maintenance tools from the tool library to the hangar, and the return path is used for the AGV to carry the maintenance tools from the hangar to the tool library.

[0007] Step 3: The coordination controller obtains the call requests from the tool library and the hangar in real time.

[0008] Step 4: After receiving the call request, the coordination controller analyzes the call request to obtain the transportation starting point and transportation destination.

[0009] In step 5, the coordination controller performs path planning based on the transportation starting point and transportation destination obtained by the analysis, and determines the forward path or return path.

[0010] Step 6: The coordination controller coordinates and controls the AGV vehicle to execute the determined forward path or return path.

[0011] Furthermore, in step 1, the AGV trolley end includes the first AGV trolley unit, the second AGV trolley unit and the third AGV trolley unit; the tool library end includes the first tool room unit, the second tool room unit, the third tool room unit, the tool library first entrance unit, the tool library second entrance unit and the tool library exit unit; the hangar end includes the first hangar first entrance unit, the first hangar second entrance unit, the first hangar exit unit, the second hangar first entrance unit, the second hangar second entrance unit, the second hangar exit unit, the first hangar first workstation unit, the first The second workstation unit of the hangar, the third workstation unit of the first hangar, the first workstation unit of the second hangar, the second workstation unit of the second hangar and the third workstation unit of the second hangar; the coordination controller communicates with the first AGV trolley unit, the second AGV trolley unit, the third AGV trolley unit, the first tool room unit, the second tool room unit, the third tool room unit, the first workstation unit of the first hangar, the second workstation unit of the first hangar, the third workstation unit of the first hangar, the first workstation unit of the second hangar, the second workstation unit of the second hangar and the third workstation unit of the second hangar through wireless networking respectively.

[0012] Furthermore, in step 2, the outward path is composed of the outward path starting point, the outward path first point, the outward path second point, the outward path third point, the outward path fourth point, the outward path fifth point, the outward path sixth point and the outward path end point; the return path is composed of the return path starting point, the return path first point, the return path second point, the return path third point, the return path fourth point, the return path fifth point, the return path sixth point and the return path end point.

[0013] Further, in step 2, the starting point of the path is the first stop point, the second stop point or the third stop point; the first waypoint on the path is the first entrance unit of the tool library or the second entrance unit of the tool library; the second waypoint on the path is the first tool room unit, the second tool room unit or the third tool room unit; the third waypoint on the path is the tool library exit unit; the fourth waypoint on the path is the first entrance unit of the first hangar, the second entrance unit of the first hangar, the first entrance unit of the second hangar or the second entrance unit of the second hangar; the fifth waypoint on the path is the first workstation unit of the first hangar, the second workstation unit of the first hangar, the third workstation unit of the second hangar, the second workstation unit of the second hangar or the third workstation unit of the second hangar; the sixth waypoint on the path is the first hangar exit unit or the second hangar exit unit; the end point of the path is the first stop point, the second stop point or the third stop point.

[0014] The moving path between two adjacent points of the AGV vehicle end when going to the starting point of the path, the first point of the path, the second point of the path, the third point of the path, the fourth point of the path, the fifth point of the path, the sixth point of the path and the end point of the path is fixed.

[0015] The starting point of the return path is the first stop point, the second stop point or the third stop point; the first waypoint of the return path is the first entrance unit of the first hangar, the second entrance unit of the first hangar, the first entrance unit of the second hangar or the second entrance unit of the second hangar; the second waypoint of the return path is the first workstation unit of the first hangar, the second workstation unit of the first hangar, the third workstation unit of the first hangar, the first workstation unit of the second hangar, the second workstation unit of the second hangar or the third workstation unit of the second hangar; the third waypoint of the return path is the exit unit of the first hangar or the exit unit of the second hangar; the fourth waypoint of the return path is the first entrance unit of the tool library or the second entrance unit of the tool library; the fifth waypoint of the return path is the first tool room unit, the second tool room unit or the third tool room unit; the sixth waypoint of the return path is the exit unit of the tool library; the end point of the return path is the first stop point, the second stop point or the third stop point.

[0016] The moving path between the adjacent two points of the return path starting point, the return path first approach point, the return path second approach point, the return path third approach point, the return path fourth approach point, the return path fifth approach point, the return path sixth approach point and the return path end point is fixed.

[0017] Furthermore, in step 3, when obtaining the call requests from the tool library end and the hangar end, the call request from the tool library end is a call request to the second waypoint of the path, and the call request from the hangar end is a call request to return to the second waypoint of the path.

[0018] Furthermore, in step 4, when parsing the call request, if it is a call request issued by the tool library end, the transport starting point obtained by parsing is one of the second waypoints on the way to the destination, and the transport end point is one of the fifth waypoints on the way to the destination, and the current call request is a forward delivery request; if it is a call request issued by the hangar end, the transport starting point obtained by parsing is one of the second waypoints on the return path, and the transport end point is one of the fifth waypoints on the return path, and the current call request is a return delivery request.

[0019] Furthermore, in step 5, the specific steps for path planning are as follows: if the current call request is a forwarding transport request, the coordination controller selects a forwarding path starting point, a forwarding path first waypoint, a transportation starting point, a forwarding path third waypoint, a forwarding path fourth waypoint, a transportation end point, a forwarding path sixth waypoint and a forwarding path end point in sequence to generate various forwarding optional paths, and then selects an optimal path from each of the forwarding optional paths as the forwarding path according to the route screening rules.

[0020] Among the generated optional paths: if the fourth point on the path is the first entrance unit of the first hangar or the second entrance unit of the first hangar, then the fifth point on the path is the first workstation unit of the first hangar, the second workstation unit of the first hangar or the third workstation unit of the first hangar, and the sixth point on the path is the exit unit of the first hangar; if the fourth point on the path is the first entrance unit of the second hangar or the second entrance unit of the second hangar, then the fifth point on the path is the first workstation unit of the second hangar, the second workstation unit of the second hangar or the third workstation unit of the second hangar, and the sixth point on the path is the exit unit of the second hangar.

[0021] If the current call request is a return transport request, the coordination controller selects a return path starting point, a return path first path point, a transportation starting point, a return path third path point, a return path fourth path point, a transportation end point, a return path sixth path point and a return path end point in sequence to generate various return optional paths, and then selects an optimal path from each return optional path as the return path according to the route screening rules.

[0022] In each generated optional return path: if the first route point of the return path is the first entrance unit of the first hangar or the second entrance unit of the first hangar, the second route point of the return path is the first workstation unit of the first hangar, the second workstation unit of the first hangar or the third workstation unit of the first hangar, and the third route point of the return path is the exit unit of the first hangar; if the first route point of the return path is the first entrance unit of the second hangar or the second entrance unit of the second hangar, the second route point of the return path is the first workstation unit of the second hangar, the second workstation unit of the second hangar or the third workstation unit of the second hangar, and the third route point of the return path is the exit unit of the second hangar.

[0023] Furthermore, the specific steps of selecting an optimal path as the destination path from each optional destination path according to the route screening rules are as follows: first, the coordination controller obtains the occupied information of the moving path between the first waypoint of each destination path, the transportation starting point, the third waypoint of the destination path, the fourth waypoint of each destination path, the transportation end point and the sixth waypoint of each destination path. The occupied information includes the occupied time period and the occupied priority. The occupied priority includes priority occupation and ordinary occupancy.

[0024] The coordination controller then obtains the working status of the first AGV trolley unit, the second AGV trolley unit and the third AGV trolley unit, which include idle state and busy state, and selects the first AGV trolley unit, the second AGV trolley unit or the third AGV trolley unit in the idle state as the executing AGV trolley.

[0025] The coordination controller then simulates and calculates the pre-occupied time period and pre-passing duration of the moving path between the first waypoint of the path, the transportation starting point, the third waypoint of the path, the fourth waypoint of the path, the transportation end point, and the sixth waypoint of the path in each optional path after the AGV vehicle departs from the current moment, and adds up the pre-passing durations of each optional path to obtain the total pre-passing duration of each optional path.

[0026] The coordination controller then parses the call request to obtain the pending priority of the current call request. The pending priority includes priority occupation and ordinary occupation. The path is then selected based on the occupied priority and the pending priority: if the occupied priority is ordinary occupation and the pending priorities are both priority occupation, the path with the shortest total expected passing time among all the optional paths is selected as the path to go.

[0027] If both the occupied priority and the to-be-occupied priority are priority occupied, both the occupied priority and the to-be-occupied priority are ordinary occupied, or the occupied priority is priority occupied and the to-be-occupied priority is ordinary occupied, then the optional path with the shortest total duration of the overlapping time period between the pre-occupied time period and the occupied time period is selected as the destination path; if there are multiple selected optional paths to go, then the one with the shortest total pre-passing time is selected from the selected optional paths to go as the destination path.

[0028] Furthermore, the specific steps of selecting an optimal path as the return path from each optional return path according to the route screening rules are as follows: first, the coordination controller obtains the occupied information of the moving path between two adjacent first waypoints of each return path, the transportation starting point, the third waypoints of each return path, the fourth waypoints of each return path, the transportation end point, and the sixth waypoint of the return path. The occupied information includes the occupied time period and the occupied priority. The occupied priority includes priority occupation and ordinary occupancy.

[0029] The coordination controller then obtains the working status of the first AGV trolley unit, the second AGV trolley unit and the third AGV trolley unit, which include idle state and busy state, and selects the first AGV trolley unit, the second AGV trolley unit or the third AGV trolley unit in the idle state as the executing AGV trolley.

[0030] The coordination controller then simulates and calculates the pre-occupied time period and pre-passing duration of the moving path between the first waypoint of the return path, the transportation starting point, the third waypoint of the return path, the fourth waypoint of the return path, the transportation end point, and the sixth waypoint of the return path in each return optional path after the AGV vehicle departs from the current moment, and adds up the pre-passing durations of each return optional path to obtain the total pre-passing duration of each return optional path.

[0031] The coordination controller then parses the call request to obtain the pending priority of the current call request. The pending priority includes priority occupation and ordinary occupation. The path is then selected based on the occupied priority and the pending priority: if the occupied priority is ordinary occupation and the pending priorities are both priority occupation, the return path with the shortest total pre-passing time is selected as the return path.

[0032] If both the occupied priority and the to-be-occupied priority are priority occupied, both the occupied priority and the to-be-occupied priority are ordinary occupied, or the occupied priority is priority occupied and the to-be-occupied priority is ordinary occupied, then the return optional path with the shortest total duration of the overlapping time period between the pre-occupation time period and the occupied time period is selected as the return path. If there are multiple selected return optional paths, then the one with the shortest total pre-passing time is selected from the selected return optional paths as the return path.

[0033] Furthermore, in step 6, when the coordination controller coordinates and controls the AGV car end to execute the determined forward path or return path: if the forward path is executed, the coordination controller controls the idle AGV car end to move from the starting point of the forward path along the determined forward path, and finally arrive at the end point of the forward path.

[0034] If the return path is executed, the coordination controller controls the idle AGV car end to move from the starting point of the return path along the determined return path and finally reach the end point of the return path.

[0035] Compared with the prior art, the present invention has the following advantages: the forward path or the return path is executed by using the AGV trolley end, thereby avoiding the maintenance personnel from manually traveling back and forth between the tool library end and the hangar end to borrow and return maintenance tools, effectively reducing the time wasted by maintenance workers on borrowing and returning maintenance tools, and ensuring the maintenance progress; the coordinated controller is used for path planning to determine the forward path or the return path, thereby effectively improving the transportation efficiency of the AGV trolley end. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 Flow chart of the method of the present invention.

[0037] Figure 2 Schematic diagram of the path planning of the present invention. DETAILED DESCRIPTION

[0038] The technical solution of the present invention is described in detail below with reference to the accompanying drawings, but the protection scope of the present invention is not limited to the embodiments.

[0039] like Figure 1 As shown, the coordinated control method of multiple AGV paths disclosed in the present invention includes the following steps: Step 1, constructing a path coordination control system according to the moving path of the AGV trolley, the path coordination control system includes a coordination controller, an AGV trolley end, a tool library end and a hangar end, the coordination controller communicates with the AGV trolley end, the tool library end and the hangar end through wireless networking respectively, the moving path of the AGV trolley is the AGV trolley end traveling back and forth between the tool library end and the hangar end, and after completing the transportation, the AGV trolley end needs to return to the stop point.

[0040] Step 2: Plan the path into two types: the outbound path and the return path. The outbound path is used for the AGV to carry the maintenance tools from the tool library to the hangar, and the return path is used for the AGV to carry the maintenance tools from the hangar to the tool library.

[0041] Step 3: The coordination controller obtains the call requests from the tool library and the hangar in real time.

[0042] Step 4: After receiving the call request, the coordination controller analyzes the call request to obtain the transportation starting point and transportation destination.

[0043] In step 5, the coordination controller performs path planning based on the transportation starting point and transportation destination obtained by the analysis, and determines the forward path or return path.

[0044] Step 6: The coordination controller coordinates and controls the AGV vehicle to execute the determined forward path or return path.

[0045] The AGV trolley side is used to execute the forward path or the return path, thereby avoiding the maintenance personnel from manually traveling back and forth between the tool library and the hangar side to borrow and return maintenance tools, effectively reducing the time wasted by maintenance workers on borrowing and returning maintenance tools, and ensuring the progress of maintenance; the coordinated controller is used for path planning to determine the forward path or the return path, thereby effectively improving the transportation efficiency of the AGV trolley side.

[0046] Further, such as Figure 2 As shown, in step 1, the AGV trolley end includes the first AGV trolley unit, the second AGV trolley unit and the third AGV trolley unit; the tool storage end includes the first tool room unit, the second tool room unit, the third tool room unit, the tool storage first entrance unit, the tool storage second entrance unit and the tool storage exit unit; the hangar end includes the first hangar first entrance unit, the first hangar second entrance unit, the first hangar exit unit, the second hangar first entrance unit, the second hangar second entrance unit, the second hangar exit unit, the first hangar first workstation unit, the first hangar The coordination controller communicates with the first AGV trolley unit, the second AGV trolley unit, the third AGV trolley unit, the first tool room unit, the second tool room unit, the third tool room unit, the first workstation unit of the first hangar, the second workstation unit of the first hangar, the third workstation unit of the first hangar, the first workstation unit of the second hangar, the second workstation unit of the second hangar and the third workstation unit of the second hangar through wireless networking respectively.

[0047] Furthermore, in step 2, the outward path is composed of the outward path starting point, the outward path first point, the outward path second point, the outward path third point, the outward path fourth point, the outward path fifth point, the outward path sixth point and the outward path end point; the return path is composed of the return path starting point, the return path first point, the return path second point, the return path third point, the return path fourth point, the return path fifth point, the return path sixth point and the return path end point.

[0048] Further, in step 2, the starting point of the path is the first stop point, the second stop point or the third stop point; the first waypoint on the path is the first entrance unit of the tool library or the second entrance unit of the tool library; the second waypoint on the path is the first tool room unit, the second tool room unit or the third tool room unit; the third waypoint on the path is the tool library exit unit; the fourth waypoint on the path is the first entrance unit of the first hangar, the second entrance unit of the first hangar, the first entrance unit of the second hangar or the second entrance unit of the second hangar; the fifth waypoint on the path is the first workstation unit of the first hangar, the second workstation unit of the first hangar, the third workstation unit of the second hangar, the second workstation unit of the second hangar or the third workstation unit of the second hangar; the sixth waypoint on the path is the first hangar exit unit or the second hangar exit unit; the end point of the path is the first stop point, the second stop point or the third stop point.

[0049] The moving path between two adjacent points of the AGV vehicle end when going to the starting point of the path, the first point of the path, the second point of the path, the third point of the path, the fourth point of the path, the fifth point of the path, the sixth point of the path and the end point of the path is fixed.

[0050] The starting point of the return path is the first stop point, the second stop point or the third stop point; the first waypoint of the return path is the first entrance unit of the first hangar, the second entrance unit of the first hangar, the first entrance unit of the second hangar or the second entrance unit of the second hangar; the second waypoint of the return path is the first workstation unit of the first hangar, the second workstation unit of the first hangar, the third workstation unit of the first hangar, the first workstation unit of the second hangar, the second workstation unit of the second hangar or the third workstation unit of the second hangar; the third waypoint of the return path is the exit unit of the first hangar or the exit unit of the second hangar; the fourth waypoint of the return path is the first entrance unit of the tool library or the second entrance unit of the tool library; the fifth waypoint of the return path is the first tool room unit, the second tool room unit or the third tool room unit; the sixth waypoint of the return path is the exit unit of the tool library; the end point of the return path is the first stop point, the second stop point or the third stop point.

[0051] The moving path between the adjacent two points of the return path starting point, the return path first approach point, the return path second approach point, the return path third approach point, the return path fourth approach point, the return path fifth approach point, the return path sixth approach point and the return path end point is fixed.

[0052] Furthermore, in step 3, when obtaining the call requests from the tool library end and the hangar end, the call request from the tool library end is a call request to the second waypoint of the path, and the call request from the hangar end is a call request to return to the second waypoint of the path.

[0053] Furthermore, in step 4, when parsing the call request, if it is a call request issued by the tool library end, the transport starting point obtained by parsing is one of the second waypoints on the way to the destination, and the transport end point is one of the fifth waypoints on the way to the destination, and the current call request is a forward delivery request; if it is a call request issued by the hangar end, the transport starting point obtained by parsing is one of the second waypoints on the return path, and the transport end point is one of the fifth waypoints on the return path, and the current call request is a return delivery request.

[0054] Furthermore, in step 5, the specific steps for path planning are as follows: if the current call request is a forwarding transport request, the coordination controller selects a forwarding path starting point, a forwarding path first waypoint, a transportation starting point, a forwarding path third waypoint, a forwarding path fourth waypoint, a transportation end point, a forwarding path sixth waypoint and a forwarding path end point in sequence to generate various forwarding optional paths, and then selects an optimal path from each of the forwarding optional paths as the forwarding path according to the route screening rules.

[0055] Among the generated optional paths: if the fourth point on the path is the first entrance unit of the first hangar or the second entrance unit of the first hangar, then the fifth point on the path is the first workstation unit of the first hangar, the second workstation unit of the first hangar or the third workstation unit of the first hangar, and the sixth point on the path is the exit unit of the first hangar; if the fourth point on the path is the first entrance unit of the second hangar or the second entrance unit of the second hangar, then the fifth point on the path is the first workstation unit of the second hangar, the second workstation unit of the second hangar or the third workstation unit of the second hangar, and the sixth point on the path is the exit unit of the second hangar.

[0056] If the current call request is a return transport request, the coordination controller selects a return path starting point, a return path first path point, a transportation starting point, a return path third path point, a return path fourth path point, a transportation end point, a return path sixth path point and a return path end point in sequence to generate various return optional paths, and then selects an optimal path from each return optional path as the return path according to the route screening rules.

[0057] In each generated optional return path: if the first route point of the return path is the first entrance unit of the first hangar or the second entrance unit of the first hangar, the second route point of the return path is the first workstation unit of the first hangar, the second workstation unit of the first hangar or the third workstation unit of the first hangar, and the third route point of the return path is the exit unit of the first hangar; if the first route point of the return path is the first entrance unit of the second hangar or the second entrance unit of the second hangar, the second route point of the return path is the first workstation unit of the second hangar, the second workstation unit of the second hangar or the third workstation unit of the second hangar, and the third route point of the return path is the exit unit of the second hangar.

[0058] Furthermore, the specific steps of selecting an optimal path as the destination path from each optional destination path according to the route screening rules are as follows: first, the coordination controller obtains the occupied information of the moving path between the first waypoint of each destination path, the transportation starting point, the third waypoint of the destination path, the fourth waypoint of each destination path, the transportation end point and the sixth waypoint of each destination path. The occupied information includes the occupied time period and the occupied priority. The occupied priority includes priority occupation and ordinary occupancy.

[0059] The coordination controller then obtains the working status of the first AGV trolley unit, the second AGV trolley unit and the third AGV trolley unit, which include idle state and busy state, and selects the first AGV trolley unit, the second AGV trolley unit or the third AGV trolley unit in the idle state as the executing AGV trolley.

[0060] The coordination controller then simulates and calculates the pre-occupied time period and pre-passing duration of the moving path between the first waypoint of the path, the transportation starting point, the third waypoint of the path, the fourth waypoint of the path, the transportation end point, and the sixth waypoint of the path in each optional path after the AGV vehicle departs from the current moment, and adds up the pre-passing durations of each optional path to obtain the total pre-passing duration of each optional path.

[0061] The coordination controller then parses the call request to obtain the priority of the current call request to be occupied. The priority to be occupied includes priority occupation and ordinary occupation. Then the path is selected according to the occupied priority and the priority to be occupied: if the occupied priority is ordinary occupation and the priorities to be occupied are both priority occupation, then the path with the shortest total pre-passing time among all the optional paths is selected as the path to go, that is, the execution AGV car with ordinary occupation needs to wait and avoid the execution AGV car with priority occupation.

[0062] If both the occupied priority and the to-be-occupied priority are priority occupied, both the occupied priority and the to-be-occupied priority are ordinary occupied, or the occupied priority is priority occupied and the to-be-occupied priority is ordinary occupied, then the optional path with the shortest total duration of the overlapping time period between the pre-occupied time period and the occupied time period is selected as the destination path; if there are multiple selected optional paths to go, then the one with the shortest total pre-passing time is selected from the selected optional paths to go as the destination path.

[0063] Furthermore, the specific steps for selecting an optional path with the shortest total overlapping time period between the pre-occupied time period and the occupied time period are as follows: Step a1, select an optional path, compare each pre-occupied time period in the selected optional path with each occupied time period, and calculate the overlapping time length of each overlapping time period.

[0064] Step b1: Add up the overlapping durations to obtain the total duration of the overlapping time periods for the current optional path.

[0065] Step c1, determine whether there are any optional paths for which the total duration of the overlapping time period has not been calculated. If there are any that have not been calculated, return to step a1, otherwise go to step d1.

[0066] Step d1: compare the total durations of the overlapping time periods of the various optional routes to the destination, and find the optional route with the shortest total duration of the overlapping time periods.

[0067] Furthermore, the specific steps of selecting an optimal path as the return path from each optional return path according to the route screening rules are as follows: first, the coordination controller obtains the occupied information of the moving path between two adjacent first waypoints of each return path, the transportation starting point, the third waypoints of each return path, the fourth waypoints of each return path, the transportation end point, and the sixth waypoint of the return path. The occupied information includes the occupied time period and the occupied priority. The occupied priority includes priority occupation and ordinary occupancy.

[0068] The coordination controller then obtains the working status of the first AGV trolley unit, the second AGV trolley unit and the third AGV trolley unit, which include idle state and busy state, and selects the first AGV trolley unit, the second AGV trolley unit or the third AGV trolley unit in the idle state as the executing AGV trolley.

[0069] The coordination controller then simulates and calculates the pre-occupied time period and pre-passing duration of the moving path between the first waypoint of the return path, the transportation starting point, the third waypoint of the return path, the fourth waypoint of the return path, the transportation end point, and the sixth waypoint of the return path in each return optional path after the AGV vehicle departs from the current moment, and adds up the pre-passing durations of each return optional path to obtain the total pre-passing duration of each return optional path.

[0070] The coordination controller then analyzes the call request to obtain the priority of the current call request to be occupied, which includes priority occupation and ordinary occupation, and then selects the path based on the occupied priority and the priority to be occupied.

[0071] If the occupied priority is normal occupation and the priorities to be occupied are all priority occupation, the path with the shortest total pre-passing time among all the optional return paths is selected as the return path, that is, the normally occupied AGV needs to wait and give way to the priority occupied AGV.

[0072] If both the occupied priority and the to-be-occupied priority are priority occupied, both the occupied priority and the to-be-occupied priority are ordinary occupied, or the occupied priority is priority occupied and the to-be-occupied priority is ordinary occupied, then the return optional path with the shortest total duration of the overlapping time period between the pre-occupation time period and the occupied time period is selected as the return path. If there are multiple selected return optional paths, then the one with the shortest total pre-passing time is selected from the selected return optional paths as the return path.

[0073] Furthermore, the specific steps for selecting a return optional path with the shortest total overlapping time period between the pre-occupied time period and the occupied time period are as follows: Step a2, select a return optional path, compare each pre-occupied time period in the selected return optional path with each occupied time period, and calculate the overlapping time length of each overlapping time period.

[0074] Step b2: Add up the overlapping durations to obtain the total overlapping duration of the current return optional path.

[0075] Step c2: determine whether there are any optional return paths whose total duration of the overlapping time period has not been calculated. If there are any that have not been calculated, return to step a2; otherwise, go to step d2.

[0076] Step d2: compare the total durations of the overlapping time periods of the various optional return paths, and find the optional return path with the shortest total duration of the overlapping time period.

[0077] Furthermore, in step 6, when the coordination controller coordinates and controls the AGV cart end to execute the determined forward path or return path: if the forward path is executed, the coordination controller controls the idle AGV cart end to start from the starting point of the forward path and move along the determined forward path, and finally arrive at the end point of the forward path; if the return path is executed, the coordination controller controls the idle AGV cart end to start from the starting point of the return path and move along the determined return path, and finally arrive at the end point of the return path.

[0078] As described above, although the present invention has been shown and described with reference to specific preferred embodiments, it should not be construed as limiting the present invention itself. Various changes may be made to it in form and detail without departing from the spirit and scope of the present invention as defined in the appended claims.

Claims

1. A coordinated control method for multiple AGV paths, characterized in that: The steps include: Step 1: Build a path coordination control system based on the moving path of the AGV. The path coordination control system includes a coordination controller, an AGV vehicle side, a tool storage side, and a hangar side. The coordination controller communicates with the AGV vehicle side, the tool storage side, and the hangar side through wireless networking. Step 2: Plan the path into two types: an outbound path and a return path. The outbound path is used by the AGV to transport the maintenance tools from the tool storage to the hangar, and the return path is used by the AGV to return the maintenance tools from the hangar to the tool storage. Step 3: The coordination controller obtains the call requests from the tool library and the hangar in real time; Step 4: After receiving the call request, the coordination controller parses the call request to obtain the transport starting point and transport destination; Step 5: The coordination controller performs path planning based on the transportation starting point and transportation destination obtained by the analysis to determine the forward path or return path; Step 6: The coordination controller coordinates and controls the AGV vehicle to execute the determined forward path or return path.

2. The coordinated control method of multiple AGV paths according to claim 1, characterized in that: In step 1, the AGV trolley end includes the first AGV trolley unit, the second AGV trolley unit and the third AGV trolley unit; the tool storage end includes the first tool room unit, the second tool room unit, the third tool room unit, the tool storage first entrance unit, the tool storage second entrance unit and the tool storage exit unit; the hangar end includes the first entrance unit of the first hangar, the second entrance unit of the first hangar, the first hangar exit unit, the second hangar first entrance unit, the second hangar second entrance unit, the second hangar exit unit, the first hangar first workstation unit, the first hangar second The second workstation unit, the third workstation unit of the first hangar, the first workstation unit of the second hangar, the second workstation unit of the second hangar and the third workstation unit of the second hangar; the coordination controller communicates with the first AGV trolley unit, the second AGV trolley unit, the third AGV trolley unit, the first tool room unit, the second tool room unit, the third tool room unit, the first workstation unit of the first hangar, the second workstation unit of the first hangar, the third workstation unit of the first hangar, the first workstation unit of the second hangar, the second workstation unit of the second hangar and the third workstation unit of the second hangar through wireless networking respectively.

3. The coordinated control method of multiple AGV paths according to claim 2, characterized in that: In step 2, the outward path consists of the outward path starting point, the outward path first point, the outward path second point, the outward path third point, the outward path fourth point, the outward path fifth point, the outward path sixth point, and the outward path end point; the return path consists of the return path starting point, the return path first point, the return path second point, the return path third point, the return path fourth point, the return path fifth point, the return path sixth point, and the return path end point.

4. The coordinated control method of multiple AGV paths according to claim 3, characterized in that: In step 2, the starting point of the path to be taken is the first stop point, the second stop point, or the third stop point; the first waypoint of the path to be taken is the first entrance unit of the tool library or the second entrance unit of the tool library; the second waypoint of the path to be taken is the first tool room unit, the second tool room unit, or the third tool room unit; the third waypoint of the path to be taken is the exit unit of the tool library; the fourth waypoint of the path to be taken is the first entrance unit of the first hangar, the second entrance unit of the first hangar, the first entrance unit of the second hangar, or the second entrance unit of the second hangar; the fifth waypoint of the path to be taken is the first workstation unit of the first hangar, the second workstation unit of the first hangar, the third workstation unit of the second hangar, the second workstation unit of the second hangar, or the third workstation unit of the second hangar; the sixth waypoint of the path to be taken is the first exit unit of the first hangar or the second hangar exit unit; the end point of the path to be taken is the first stop point, the second stop point, or the third stop point; The movement path between the adjacent two of the path starting point, the path first point, the path second point, the path third point, the path fourth point, the path fifth point, the path sixth point, and the path end point of the AGV is fixed; The starting point of the return path is the first stop point, the second stop point or the third stop point; the first waypoint of the return path is the first entrance unit of the first hangar, the second entrance unit of the first hangar, the first entrance unit of the second hangar or the second entrance unit of the second hangar; the second waypoint of the return path is the first workstation unit of the first hangar, the second workstation unit of the first hangar, the third workstation unit of the first hangar, the first workstation unit of the second hangar, the second workstation unit of the second hangar or the third workstation unit of the second hangar; the third waypoint of the return path is the exit unit of the first hangar or the exit unit of the second hangar; the fourth waypoint of the return path is the first entrance unit of the tool library or the second entrance unit of the tool library; the fifth waypoint of the return path is the first tool room unit, the second tool room unit or the third tool room unit; the sixth waypoint of the return path is the exit unit of the tool library; the end point of the return path is the first stop point, the second stop point or the third stop point; The moving path between the adjacent two points of the return path starting point, the return path first approach point, the return path second approach point, the return path third approach point, the return path fourth approach point, the return path fifth approach point, the return path sixth approach point and the return path end point is fixed.

5. The coordinated control method of multiple AGV paths according to claim 4, characterized in that: In step 3, when obtaining the call requests from the tool library end and the hangar end, the call request from the tool library end is a call request to the second waypoint of the path, and the call request from the hangar end is a call request to the second waypoint of the return path.

6. The coordinated control method of multiple AGV paths according to claim 5, characterized in that: In step 4, when parsing the call request, if it is a call request issued by the tool library end, the transport starting point obtained by parsing is one of the second waypoints on the outgoing path, and the transport end point is one of the fifth waypoints on the outgoing path, and the current call request is a forward delivery request; if it is a call request issued by the hangar end, the transport starting point obtained by parsing is one of the second waypoints on the return path, and the transport end point is one of the fifth waypoints on the return path, and the current call request is a return delivery request.

7. The coordinated control method of multiple AGV paths according to claim 6, characterized in that: In step 5, the specific steps for path planning are: If the current call request is a forwarding transport request, the coordination controller selects a forwarding path starting point, a forwarding path first waypoint, a transport starting point, a forwarding path third waypoint, a forwarding path fourth waypoint, a transport destination, a forwarding path sixth waypoint, and a forwarding path destination in order to generate various forwarding optional paths, and then selects an optimal path from each of the forwarding optional paths as the forwarding path according to the route screening rule; In each generated optional path: if the fourth waypoint on the path is the first entrance unit of the first hangar or the second entrance unit of the first hangar, then the fifth waypoint on the path is the first workstation unit of the first hangar, the second workstation unit of the first hangar, or the third workstation unit of the first hangar, and the sixth waypoint on the path is the exit unit of the first hangar; if the fourth waypoint on the path is the first entrance unit of the second hangar or the second entrance unit of the second hangar, then the fifth waypoint on the path is the first workstation unit of the second hangar, the second workstation unit of the second hangar, or the third workstation unit of the second hangar, and the sixth waypoint on the path is the exit unit of the second hangar; If the current call request is a return transport request, the coordination controller selects a return path starting point, a return path first waypoint, a transportation starting point, a return path third waypoint, a return path fourth waypoint, a transportation end point, a return path sixth waypoint, and a return path end point in order to generate various return optional paths, and then selects an optimal path from each return optional path as the return path according to the route screening rule; In each generated optional return path: if the first route point of the return path is the first entrance unit of the first hangar or the second entrance unit of the first hangar, the second route point of the return path is the first workstation unit of the first hangar, the second workstation unit of the first hangar or the third workstation unit of the first hangar, and the third route point of the return path is the exit unit of the first hangar; if the first route point of the return path is the first entrance unit of the second hangar or the second entrance unit of the second hangar, the second route point of the return path is the first workstation unit of the second hangar, the second workstation unit of the second hangar or the third workstation unit of the second hangar, and the third route point of the return path is the exit unit of the second hangar.

8. The coordinated control method for multiple AGV paths according to claim 7, characterized in that: The specific steps for selecting the optimal path from various optional paths as the destination path according to the route screening rules are as follows: First, the coordination controller obtains occupancy information of the movement path between two adjacent first waypoints, the transportation starting point, the third waypoint, the fourth waypoints, the transportation end point, and the sixth waypoint. The occupancy information includes the occupied time period and the occupied priority. The occupied priority includes priority occupation and normal occupation. The coordination controller then obtains the working status of the first AGV trolley unit, the second AGV trolley unit, and the third AGV trolley unit, which includes an idle state and a busy state, and selects the first AGV trolley unit, the second AGV trolley unit, or the third AGV trolley unit in the idle state as the executing AGV trolley; The coordination controller then simulates and calculates the pre-occupied time period and pre-passing time of the moving path between the first waypoint, the transport starting point, the third waypoint, the fourth waypoint, the transport end point, and the sixth waypoint in each optional path after the AGV starts at the current moment, and adds up the pre-passing time of each optional path to obtain the total pre-passing time of each optional path. The coordination controller then parses the call request to obtain the priority of the current call request. The priority of the call request includes priority occupation and normal occupation. The path is then selected based on the occupied priority and the priority of the call request: If the occupied priority is normal occupation and the pending priorities are both priority occupation, the path with the shortest total estimated time among all the optional paths to go is selected as the path to go; If both the occupied priority and the to-be-occupied priority are priority occupied, both the occupied priority and the to-be-occupied priority are ordinary occupied, or the occupied priority is priority occupied and the to-be-occupied priority is ordinary occupied, then the optional path with the shortest total duration of the overlapping time period between the pre-occupied time period and the occupied time period is selected as the destination path; if there are multiple selected optional paths to go, then the one with the shortest total pre-passing time is selected from the selected optional paths to go as the destination path.

9. The coordinated control method of multiple AGV paths according to claim 7, characterized in that: The specific steps for selecting an optimal path from various optional return paths as the return path according to the route screening rules are as follows: First, the coordination controller obtains occupancy information of the movement path between two adjacent ones of the first waypoint of each return path, the transportation starting point, the third waypoint of each return path, the fourth waypoint of each return path, the transportation end point, and the sixth waypoint of the return path. The occupancy information includes the occupied time period and the occupied priority. The occupied priority includes priority occupation and normal occupation. The coordination controller then obtains the working status of the first AGV trolley unit, the second AGV trolley unit, and the third AGV trolley unit, which includes an idle state and a busy state, and selects the first AGV trolley unit, the second AGV trolley unit, or the third AGV trolley unit in the idle state as the executing AGV trolley; The coordination controller then simulates and calculates the pre-occupied time period and pre-passing time of the movement path between the first waypoint of the return path, the transport starting point, the third waypoint of the return path, the fourth waypoint of the return path, the transport end point, and the sixth waypoint of the return path in each optional return path after the AGV starts from the current moment, and adds up the pre-passing time of each optional return path to obtain the total pre-passing time of each optional return path; The coordination controller then parses the call request to obtain the priority of the current call request. The priority of the call request includes priority occupation and normal occupation. The path is then selected based on the occupied priority and the priority of the call request: If the occupied priority is normal occupation and the pending priorities are both priority occupation, the path with the shortest total expected passing time among all the optional return paths is selected as the return path; If both the occupied priority and the to-be-occupied priority are priority occupied, both the occupied priority and the to-be-occupied priority are ordinary occupied, or the occupied priority is priority occupied and the to-be-occupied priority is ordinary occupied, then the return optional path with the shortest total duration of the overlapping time period between the pre-occupation time period and the occupied time period is selected as the return path. If there are multiple selected return optional paths, then the one with the shortest total pre-passing time is selected from the selected return optional paths as the return path.

10. The coordinated control method of multiple AGV paths according to claim 7, characterized in that: In step 6, when the coordination controller coordinates and controls the AGV vehicle to execute the determined forward path or return path: If the going path is executed, the coordination controller controls the idle AGV car end to move from the starting point of the going path along the determined going path and finally reach the end point of the going path; If the return path is executed, the coordination controller controls the idle AGV car end to move from the starting point of the return path along the determined return path and finally reach the end point of the return path.

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