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AGV path planning method based on time window optimizing

A path planning and time window technology, applied in the field of logistics systems, can solve problems such as time window conflicts, and achieve the effects of simplifying path nodes and short paths, improving work efficiency, and reducing computational complexity.

Active Publication Date: 2017-09-19
HEFEI UNIV OF TECH +1
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Problems solved by technology

[0005] The purpose of the present invention is to provide a multi-path time window planning method to solve the problem of time window conflicts by establishing a time window model; according to the order in which the actual AGV completes tasks, the time window model can be adjusted in real time to greatly improve the working efficiency of the system. AGV path planning method based on time window optimization

Method used

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  • AGV path planning method based on time window optimizing

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Embodiment Construction

[0045] Such as figure 1 As shown, an AGV path planning method based on time window optimization, the method includes the following sequential steps:

[0046] (1) Set the information of key nodes and entry and exit stations in the map of the transportation system, establish a grid path map of the same transportation route as the workshop object, initialize system information and update the grid path map, and set the coordinate parameters of key nodes, grid The map information is stored in the database, and the information in the AGV vehicle dispatching management system is updated in real time;

[0047] (2) According to the request information of the machine tool processing station, the system receives the task, and sets the target position of the task, assigns the AGV in the idle state to receive the task, and takes the current position of the AGV as the starting position of the task, according to the starting position Select the corresponding outbound node and inbound node i...

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Abstract

The invention relates to an AGV path planning method based on time window optimizing. The AGV path planning method based on time window optimizing comprises the following steps: setting information of key joints, entering joints and exiting joints in a map of a transportation system, and establishing a grid path map in which a transportation line is the same as that of entities of workshops; establishing a storage path of AGV between an entering joint and a target position; detecting feasibility of the path on spatial planning according to the exiting joint and the entering joint, and planning and establishing time window models M of all paths; taking transformation time of the paths as an unique assessment parameter for path optimizing in the time window models M, and selecting the path with the shortest transportation time as an optimal path; and combining a delivery path, the optimal path and the storage path to generate a complete transportation path, establishing a complete path and time window model, successively reading complete path information, and finishing dispatching management of AGV. The time window models are adjusted in time, the working efficiency of the system is greatly improved, a multi-path time window planning method is adopted, and the models are established to solve the collision problem.

Description

technical field [0001] The invention relates to the technical field of logistics systems, in particular to an AGV path planning method based on time window optimization. Background technique [0002] Automated Guided Vehicle AGV (Automated Guided Vichel) is one of the key equipment of modern logistics system. The technology involved is similar to that of robots. Its appearance has changed the traditional rigid transportation equipment and manual labor in the field of industrial production. The situation saves production costs and improves transportation efficiency. On the basis of traditional AGV, study the key technologies of Multi Intelligent Automatic Guided Vehicle System (AGVs for short), laying a solid foundation for the industrialization of AGV. [0003] The time window means that in the logistics system, in order to reduce costs, it is stipulated to complete a specific task within a certain time, or that the enterprise serves a certain customer within a certain peri...

Claims

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Application Information

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IPC IPC(8): G01C21/20G05D1/02
CPCG01C21/20G05D1/0276
Inventor 吴焱明王吉祥郭亚杰赵韩杨少锋盛伟朱家诚
Owner HEFEI UNIV OF TECH
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