阅读说明：本技术 一种agv小车任务分配、充电管理方法及装置 (AGV trolley task allocation and charging management method and device ) 是由 吕雅琼 向尚佳 李一凡 于 2021-06-18 设计创作，主要内容包括：本发明涉及一种AGV小车任务分配、充电管理方法及装置,该方法包括：根据产品生产过程、生产完成过程和生产约束条件,建立生产线过程的第一Petri网模型；根据AGV送料过程、AGV充电过程和充电约束条件,建立AGV小车调度过程的第二Petri网模型；将第一Petri网模型和第二Petri网模型进行合并,并引入抑止弧进行约束,确定管理系统网络。本发明分别考虑管理系统中各组成部分的状态,对各部分分别进行建模,对AGV的工作状态进行描述和决策,引入抑止弧对petri网的冲突情况进行建模,提高了建模准确性。(The invention relates to an AGV trolley task allocation and charging management method and device, wherein the method comprises the following steps: establishing a first Petri net model of a production line process according to a product production process, a production completion process and production constraint conditions; establishing a second Petri network model of the AGV car scheduling process according to the AGV feeding process, the AGV charging process and the charging constraint condition; and combining the first Petri network model and the second Petri network model, introducing a restraining arc for constraint, and determining a management system network. The method respectively considers the states of all the components in the management system, respectively models all the components, describes and decides the working state of the AGV, introduces the restraining arcs to model the conflict situation of the petri net, and improves the modeling accuracy.)

1. An AGV trolley task allocation and charging management method is characterized by comprising the following steps:

establishing a first Petri net model of a production line process according to a product production process, a production completion process and production constraint conditions;

establishing a second Petri network model of the AGV car scheduling process according to the AGV feeding process, the AGV charging process and the charging constraint condition;

merging the first Petri network model and the second Petri network model, introducing a restraining arc for constraint, establishing an AGV trolley management model, and performing task allocation and charging management based on the AGV trolley management model.

2. The AGV cart task allocation and charge management method of claim 1, wherein the first Petri net model includes a first branch, a second branch and a production constraint branch, wherein:

the first branch is P0 → T0 → P2 and is used for representing the production process of the product;

the second branch is P2 → T1 → P0 and is used for representing the production completion process;

the production constraint branch is T1 → P1 → T0 and is used for representing the production constraint condition;

wherein, P0 represents the warehouse location of the idle state of the production line, P1 represents the warehouse location of the AGV trolley feeding to the production line, P2 represents the warehouse location of the production line waiting for production state, T0 represents the transition of the production line receiving production raw materials, and T1 represents the transition of the production line completing production.

3. The AGV car task allocation and charge management method of claim 2, wherein the second Petri Net model comprises a fourth branch, a fifth branch and a charge constraint branch, wherein:

the fourth branch is P3 → T2 → P1, P1 → T3 → P3, and is used for indicating the feeding process of the AGV;

the fifth branch is P3 → T4 → P5, P5 → T5 → P3, and is used for representing the AGV charging process;

the charging constraint branch is T2 → P4 → T5 and is used for representing the charging constraint condition;

the method comprises the following steps that P3 represents a place where the AGV is in an idle state, P4 represents a place where the residual electric quantity of the AGV is restrained, P5 represents a place where the AGV charges, T2 represents transition from AGV feeding to a production line, T3 represents transition from AGV feeding completion to a waiting area, T4 represents transition from AGV feeding to charging pile area charging, and T5 represents transition from AGV charging completion to the waiting area.

4. The AGV car task allocation and charge management method according to claim 3, wherein the library office P4 limits the transition T4 to form a quench arc, wherein when the library office P4 contains a token indicating that the AGV has remaining capacity, the transition T4 during the AGV charging process does not have the right to occur and cannot perform the charging process.

5. The AGV car task allocation and charge management method of claim 3, wherein the depot P4 limits the transition T4 to form a quench arc, wherein when no Token is contained in the depot P4 indicating that the remaining power of the AGV is insufficient, the transition T4 has an occurrence right and the AGV charges.

6. The AGV car task allocation and charge management method according to claim 5, wherein when the charging is completed, the value of the library P4 is re-assigned to the AGV full charge, the charging process is inhibited, and the AGV performs the material transportation.

7. The AGV car task allocation and charge management method of claim 3, wherein the library office P2 limits the transition T3 to form a quench arc, wherein when the library office P1 contains a false signal indicating that the AGV is performing a material handling process, the transition T3 for the AGV to return to the waiting area does not have any right to happen.

8. The AGV car task allocation and charge management method of claim 3, wherein the depot P2 limits the transition T3 to form a quench arc, wherein when the depot P1 does not contain a Token, it indicates that the AGV does not need to perform the feeding process, and the transition T3 has the right to occur and is directly placed back into the preparation area.

9. The utility model provides a AGV dolly task assignment, charge management device which characterized in that includes:

the first Petri network model establishing unit is used for establishing a first Petri network model of the production line process according to the product production process, the production completion process and the production constraint conditions;

the second Petri network model establishing unit is used for establishing a second Petri network model of the AGV car scheduling process according to the AGV feeding process, the AGV charging process and the charging constraint condition;

and the management system network establishing unit is used for merging the first Petri network model and the second Petri network model, introducing a restraining arc for constraint and determining a management system network.

10. An AGV task allocation and charging management system, comprising a processor and a memory, wherein the memory stores a computer program, and when the computer program is executed by the processor, the AGV task allocation and charging management method according to any one of claims 1 to 8 is implemented.

Technical Field

The invention relates to the technical field of AGV trolley management, in particular to a method and a device for task allocation and charging management of an AGV trolley.

Background

With the development of the times, the automation degree of the production and manufacturing process is continuously improved. The transportation of resources using AGVs (Automated Guided vehicles, AGVs for short) is an important means for saving manpower, and research and management thereof are necessary. In the existing industrial production, the AGV trolley is required to convey raw materials, the production process is carried out after the raw materials are received, meanwhile, the AGV trolley also needs to be charged, and in the process, the problem of how to carry out the task allocation of the AGV trolley and the efficient scheduling of the charging management is urgent to solve.

Disclosure of Invention

In view of the above, it is necessary to provide methods and apparatuses for task allocation and charging management of an AGV to solve the problem that an efficient scheduling process for task allocation and charging management of an AGV is lacked in the prior art.

The invention provides an AGV trolley task allocation and charging management method, which comprises the following steps:

establishing a first Petri net model of a production line process according to a product production process, a production completion process and production constraint conditions;

establishing a second Petri network model of the AGV car scheduling process according to the AGV feeding process, the AGV charging process and the charging constraint condition;

and merging the first Petri network model and the second Petri network model, introducing a restraining arc for constraint, and determining a management system network.

Further, the first Petri Net model comprises a first branch, a second branch and a production constraint branch, wherein:

the first branch is P0 → T0 → P2 and is used for representing the production process of the product;

the second branch is P2 → T1 → P0 and is used for representing the production completion process;

the production constraint branch is T1 → P1 → T0 and is used for representing the production constraint condition;

wherein, P0 represents the warehouse location of the idle state of the production line, P1 represents the warehouse location of the AGV trolley feeding to the production line, P2 represents the warehouse location of the production line waiting for production state, T0 represents the transition of the production line receiving production raw materials, and T1 represents the transition of the production line completing production.

Further, the second Petri net model includes a fourth leg, a fifth leg, and a charging constraint leg, wherein:

the fourth branch is P3 → T2 → P1, P1 → T3 → P3, and is used for indicating the feeding process of the AGV;

the fifth branch is P3 → T4 → P5, P5 → T5 → P3, and is used for representing the AGV charging process;

the charging constraint branch is T2 → P4 → T5 and is used for representing the charging constraint condition;

the method comprises the following steps that P3 represents a place where the AGV is in an idle state, P4 represents a place where the residual electric quantity of the AGV is restrained, P5 represents a place where the AGV charges, T2 represents transition from AGV feeding to a production line, T3 represents transition from AGV feeding completion to a waiting area, T4 represents transition from AGV feeding to charging pile area charging, and T5 represents transition from AGV charging completion to the waiting area.

Further, the depot P4 limits the transition T4 to form a quench arc, wherein, when the depot P4 contains a token indicating that the AGV has a remaining power, the transition T4 during the charging process of the AGV does not have the right to occur and the charging process cannot be performed.

Further, the depot P4 limits the transition T4 to form a quench arc, wherein, when the depot P4 does not contain a tobken and indicates that the AGV is low in remaining power, the transition T4 has the right to occur and the AGV is charged.

Further, when the charging is completed, the value of the bank P4 is newly given as the AGV full charge, the charging process is suppressed, and the AGV performs the material transporting work.

Further, the depot P2 limits the transition T3 to form a suppression arc, wherein when the depot P1 contains a token indicating that the AGV executes a material transportation process, the transition T3 of the AGV returning to the waiting area does not have the right to occur.

Further, the depot P2 limits the transition T3 to form a quench arc, wherein when the depot P1 does not contain a Token, it means that the AGV does not need to perform a feeding process, and the transition T3 has an occurrence right and is directly placed back to the preparation area.

The invention also provides an AGV car task allocation and charging management device, which comprises:

the first Petri network model establishing unit is used for establishing a first Petri network model of the production line process according to the product production process, the production completion process and the production constraint conditions;

the second Petri network model establishing unit is used for establishing a second Petri network model of the AGV car scheduling process according to the AGV feeding process, the AGV charging process and the charging constraint condition;

and the management system network establishing unit is used for merging the first Petri network model and the second Petri network model, introducing a restraining arc for constraint and determining a management system network.

The invention also provides an AGV trolley task allocation and charging management device which comprises a processor and a memory, wherein the memory is stored with a computer program, and when the computer program is executed by the processor, the AGV trolley task allocation and charging management method is realized.

Compared with the prior art, the invention has the beneficial effects that: firstly, establishing a first Petri net model by utilizing a product production process, a production completion process and production constraint conditions, and effectively describing a production line process; then, establishing a second Petri network model by utilizing an AGV feeding process, an AGV charging process and a charging constraint condition, and describing an AGV trolley scheduling process; and finally, combining the first Petri network model and the second Petri network model, describing the overall AGV feeding process, feeding back the AGV charging process and the scheduling process, describing three states of the AGV taking raw materials in the system, transporting materials to a production line and charging the AGV, performing effective management of task allocation and charging, introducing a restraining arc, and fully considering the conflict situation of the Petri network. In conclusion, the states of all components in the management system are considered respectively, modeling is performed on all the components, description and decision are performed on the working state of the AGV, the restraining arcs are introduced to model the conflict situation of the petri net, modeling accuracy is improved, the model is high in conformity with the actual production situation, and better practical guiding significance is achieved.

Drawings

FIG. 1 is a schematic flowchart illustrating an AGV task allocation and charging management method according to an embodiment of the present invention;

FIG. 2 is a schematic model diagram of an embodiment of a first Petri Net model according to the present invention;

FIG. 3 is a schematic model diagram of an embodiment of a second Petri Net model according to the present invention;

FIG. 4 is a schematic model diagram of an embodiment of a management system network provided by the present invention;

FIG. 5 is a schematic structural diagram of an AGV task allocation and charging management apparatus according to an embodiment of the present invention.

Detailed Description

The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate preferred embodiments of the invention and together with the description, serve to explain the principles of the invention and not to limit the scope of the invention.

The embodiment of the invention provides an AGV trolley task allocation and charging management method, and as seen in fig. 1, fig. 1 is a schematic flow chart of an embodiment of the AGV trolley task allocation and charging management method provided by the invention, and the method includes steps S1 to S3, where:

in step S1, a first Petri net model of the production line process is established according to the production process, the production completion process, and the production constraint conditions;

in step S2, a second Petri net model of the AGV car scheduling process is established according to the AGV feeding process, the AGV charging process, and the charging constraint condition;

in step S3, the first Petri net model and the second Petri net model are merged, and a restraining arc is introduced for constraint, so as to determine a management system network.

In the embodiment of the invention, firstly, a first Petri net model is established by utilizing a product production process, a production completion process and production constraint conditions, so that the production line process is effectively described; then, establishing a second Petri network model by utilizing an AGV feeding process, an AGV charging process and a charging constraint condition, and describing an AGV trolley scheduling process; and finally, combining the first Petri network model and the second Petri network model, describing the overall AGV feeding process, feeding back the AGV charging process and the scheduling process, describing three states of the AGV taking raw materials in the system, transporting materials to a production line and charging the AGV, performing effective management of task allocation and charging, introducing a restraining arc, and fully considering the conflict situation of the Petri network.

It should be noted that, in the feeding process considering the charging condition of the AGV in the industrial production, the problem can be decomposed into two objects, namely a production line and the AGV, which are respectively modeled and described, and finally, the models are merged to describe the overall AGV feeding process. The production process is executed by the production line, the AGV is required to convey raw materials for the production line, and the production process is carried out after the raw materials are received. On the premise of considering the charging problem, the AGV adds the residual electric quantity constraint to the AGV, and executes a material transporting task or executes the AGV charging process to make a decision through the residual electric quantity of the AGV, so that the actual task requirement is met.

It should be noted that the Petri network is a process model and comprises two nodes of a library and a transition, the nodes are connected by using directed arcs, a mutual relation is constructed, and the quantity of resources in the library is described by using a Token. And using different nodes in the problems described by the libraries, using transitions to describe specific behaviors of the connection nodes, using Token to describe resources such as characters in the problems, and finally using directed arcs to connect the libraries and the transitions to form the petri net.

As a preferred embodiment, referring to fig. 2, fig. 2 is a model schematic diagram of an embodiment of a first Petri net model provided in the present invention, where the first Petri net model includes a first branch, a second branch, and a production constraint branch, where:

the first branch is P0 → T0 → P2 and is used for representing the production process of the product;

the second branch is P2 → T1 → P0 and is used for representing the production completion process;

the production constraint branch is T1 → P1 → T0 and is used for representing the production constraint condition;

wherein, P0 represents the warehouse location of the idle state of the production line, P1 represents the warehouse location of the AGV trolley feeding to the production line, P2 represents the warehouse location of the production line waiting for production state, T0 represents the transition of the production line receiving production raw materials, and T1 represents the transition of the production line completing production.

As a specific embodiment, the embodiment of the invention effectively models the first Petri network model by utilizing a product production process and a production completion process, and effectively describes the working state of a production line.

In a specific embodiment of the present invention, a production line process is modeled, P0 → T0 → P2 is a product production process, P2 → T1 → P0 indicates that the production is completed, the production line enters an idle state, and P1 is a production constraint indicating that AGVs are available to provide production materials, as shown in table 1 below:

TABLE 1

Depot/transition	Detailed description of the invention
		P0	Production line idle state
P1	AGV pay-off to producing line
		P2	Production line production state
T0	The production line receives the production raw material
		T1	Production of production line is finished

As a preferred embodiment, referring to fig. 3, fig. 3 is a model schematic diagram of an embodiment of a second Petri net model provided in the present invention, where the second Petri net model includes a fourth branch, a fifth branch, and a charging constraint branch, where:

the fourth branch is P3 → T2 → P1, P1 → T3 → P3, and is used for indicating the feeding process of the AGV;

the fifth branch is P3 → T4 → P5, P5 → T5 → P3, and is used for representing the AGV charging process;

the charging constraint branch is T2 → P4 → T5 and is used for representing the charging constraint condition;

the method comprises the following steps that P3 represents a place where the AGV is in an idle state, P4 represents a place where the residual electric quantity of the AGV is restrained, P5 represents a place where the AGV charges, T2 represents transition from AGV feeding to a production line, T3 represents transition from AGV feeding completion to a waiting area, T4 represents transition from AGV feeding to charging pile area charging, and T5 represents transition from AGV charging completion to the waiting area.

As a specific embodiment, the second Petri network model is effectively modeled by utilizing an AGV feeding process, an AGV charging process and a charging constraint condition, so that the purpose of effective description is achieved.

In a preferred embodiment, the depot P4 limits the transition T4 to form a quench arc, wherein when the depot P4 contains a tobken indicating that the AGV has a remaining capacity, the transition T4 during the charging process of the AGV does not have the right to occur and the charging process cannot be performed. As a specific embodiment, the present invention effectively limits and describes the situation that the AGV still has the remaining power.

In a preferred embodiment, the depot P4 limits the transition T4 to form a quench arc, wherein the transition T4 has the right to occur when the depot P4 does not contain a tobken and indicates that the AGV is running low on remaining power, and the AGV charges. As a specific embodiment, the embodiment of the present invention effectively limits and describes the situation that the remaining power of the AGV is insufficient.

As a preferred embodiment, when the charging is completed, the value of the bank P4 is newly given as the AGV full capacity, the charging process is suppressed, and the AGV performs the material transporting work. As a specific embodiment, the present invention effectively limits and describes the situation that the charging of the AGV is completed and the charging process is further suppressed.

In a specific embodiment of the present invention, the AGV scheduling process is described in a modeling manner, and the motion states of AGVs can be described as AGV feeding and AGV charging processes. In AGV pay-off in-process, P4 retrains AGV fortune material process as AGV remaining power, and AGV carries out fortune material process at every turn and all can judge its remaining power, and when remaining power satisfied AGV pay-off demand, AGV consumed the required electric quantity of fortune material to carry out the material process. The AGV charging process is described by introducing a restraining arc, the transition T4 is limited by the depot P4, and when the depot P4 contains a token, namely the AGV has residual electric quantity, the AGV charging process transition T4 does not have the right to occur and cannot perform the charging process. Only when the depot P4 does not contain a token, that is, the AGV is insufficient in remaining capacity, the transition T4 has the right to occur, and the AGV performs charging. When charging is complete, the value of depot P4 is reassigned to AGV full charge, the charging process is inhibited and the AGV performs transport work as follows, see table 2:

TABLE 2

Depot/transition	Detailed description of the invention
		P3	AGV is in idle state
P1	AGV feeding process
		P4	AGV remaining power constraint
P5	AGV charging Process
		T2	AGV pay-off to production line
T3	AGV feeding is completed, and returns to the waiting area
		T4	AGV goes to filling electric pile area and charges
T5	AGV charging completion, return to waiting area

As a preferred embodiment, referring to fig. 4, fig. 4 is a schematic model diagram of an embodiment of a management system network provided by the present invention, and a depository P2 limits a transition T3 to form a suppression arc, wherein when the depository P1 contains a token indicating that an AGV performs a material transportation process, the transition T3 of the AGV returning to a waiting area does not have an occurrence right. As a specific embodiment, the embodiment of the invention introduces the arc suppression, and effectively limits and describes the process of carrying out material transportation by the AGV when the production line is in a to-be-produced state.

In a preferred embodiment, the depot P2 limits the transition T3 to form a quench arc, wherein the absence of a tobken in the depot P1 indicates that the AGV is not required to perform the feeding process and the transition T3 has the right to occur and is placed back in the staging area. As a specific embodiment, the embodiment of the invention introduces the arc suppression, and effectively limits and describes the feeding process which is not required by the AGV when the production line is in a to-be-produced state.

In one particular embodiment of the present invention, the AGVs are merged with the production line network resulting in a management system network, similarly with conflicts at the library P1, again constrained by the introduction of a containment arc. When the production line is in a to-be-produced state, a tray exists in the warehouse P1, the AGV executes a material conveying process, and the transition T3 when the AGV returns to the waiting area does not have the right to happen. And when the library P1 does not have a confirmation, the AGV does not need to carry out a feeding process and is directly placed back to the preparation area, and at the moment, the AGV can be considered to carry out a virtual task, but the actual AGV does not run. The petri net decomposition method is used for respectively modeling each sub-part of the system and combining the sub-parts to obtain an overall model of the management system, and the overall model has a good management control effect on the overall system, so that modeling control is performed on actual problems.

The embodiment of the present invention further provides an AGV task allocation and charging management device, and as shown in fig. 5, fig. 5 is a schematic structural diagram of an embodiment of an AGV task allocation and charging management device provided in the present invention, where the AGV task allocation and charging management device 500 includes:

the first Petri network model establishing unit is used for establishing a first Petri network model of the production line process according to the product production process, the production completion process and the production constraint conditions;

the second Petri network model establishing unit is used for establishing a second Petri network model of the AGV car scheduling process according to the AGV feeding process, the AGV charging process and the charging constraint condition;

and the management system network establishing unit is used for merging the first Petri network model and the second Petri network model, introducing a restraining arc for constraint and determining a management system network.

The embodiment of the invention also provides an AGV trolley task allocation and charging management device which comprises a processor and a memory, wherein the memory is stored with a computer program, and when the computer program is executed by the processor, the AGV trolley task allocation and charging management method is realized.

The invention discloses an AGV trolley task allocation and charging management method and device, which comprises the following steps of firstly, establishing a first Petri net model by utilizing a product production process, a production completion process and production constraint conditions, and effectively describing a production line process; then, establishing a second Petri network model by utilizing an AGV feeding process, an AGV charging process and a charging constraint condition, and describing an AGV trolley scheduling process; and finally, combining the first Petri network model and the second Petri network model, describing the overall AGV feeding process, feeding back the AGV charging process and the scheduling process, describing three states of the AGV taking raw materials in the system, transporting materials to a production line and charging the AGV, performing effective management of task allocation and charging, introducing a restraining arc, and fully considering the conflict situation of the Petri network.

According to the technical scheme, the states of all components in the management system are considered respectively, modeling is performed on all the components respectively, description and decision are performed on the working state of the AGV, the restraining arcs are introduced to model the conflict situation of the petri net, modeling accuracy is improved, the model is high in conformity with the actual production situation, and better practical guiding significance is achieved.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention.