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Time window online correction-based multi-AGV (Automated Guided Vehicle) path planning method

A path planning and time window technology, applied in two-dimensional position/channel control, vehicle position/route/height control, non-electric variable control, etc., can solve problems such as multi-AGV path conflicts, and achieve path conflicts and improve Accuracy and efficiency, the effect of reducing errors

Active Publication Date: 2019-07-05
SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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Problems solved by technology

Combined with the actual information fed back from the site, the results of time window planning are corrected online, which reduces the accumulation of errors caused by actual errors and solves the problem of multi-AGV path conflicts

Method used

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  • Time window online correction-based multi-AGV (Automated Guided Vehicle) path planning method

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Embodiment Construction

[0037] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.

[0038] The present invention comprises the following steps:

[0039] (1) According to the workshop layout and route information, extract the points where the AGV needs to operate (dock, change direction, charge or feedback information), including: workstation points, warehouse points, turning points, positioning points, charging points and backup points .

[0040] Station point: The equipment that needs to be loaded and unloaded by AGV in the workshop needs to arrange a station point, which is divided into a loading area and an unloading area. Among them, the loading area is used to store the goods to be processed transported by the AGV from the previous process; the unloading area is used to store the goods to be taken away after processing at this station. For the scheduling algorithm, when assigning tasks, they are uniformly assigned as w...

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Abstract

The invention relates to a time window online correction-based multi-AGV (Automated Guided Vehicle) path planning method. The method includes the following steps that: the operation point sites of anAGV are extracted according to workshop layout information and path information, independent road sections are obtained through division according to the operation point sites; a scheduling system updates an AGV status list and a real-time task list in real time, assigns a task in the real-time task list to an idle AGV, and informs the AGV of a start point and an end point; a feasible path list isestablished, whether a feasible path exists is judged, a task corresponding to the feasible path is added in a time window model, the AGV executes the tasks and feeds back current AGV position information in real time; and whether the current AGV position information is consistent with the position information of the AGV in the time window model is judged, and the time window model is corrected online and updated synchronously. With the time window online correction-based multi-AGV (Automated Guided Vehicle) path planning method of the invention adopted, error accumulation caused by actual errors can be decreased; and a multi-AGV path conflict problem can be solved. The time window online correction-based multi-AGV (Automated Guided Vehicle) path planning is a new dynamic path planning solution suitable for any environment and any number of AGVs, and is suitable for being popularized.

Description

technical field [0001] The invention relates to the field of AGV path planning, in particular to a multi-AGV path planning method based on time window online correction. Background technique [0002] With the advent of Industry 4.0 and Made in China 2025, the development of automation and informatization in manufacturing, especially discrete manufacturing, has become the direction of enterprise transformation and upgrading. Automated Guided Vehicle (AGV) is an important means to realize automation and informatization in discrete manufacturing industry. In view of the characteristics of flexible production in the discrete manufacturing industry, each station needs to have a certain degree of flexibility. Traditional logistics transportation methods such as conveyor belts and human carts are inefficient and cannot meet the needs of flexible production. In warehouses, workshops and each station The use of AGV has become a general trend. [0003] In logistics transportation, w...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0221G05D1/0276
Inventor 王智凝刘意杨白洪飞邢韵杨仁枫曾鹏
Owner SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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