AGV task execution method based on task decomposition and state judgment
The invention provides an AGV task execution method based on task decomposition and state judgment, and the method comprises the steps: carrying out the decomposition of an AGV task based on an AKKA Actor model, and obtaining three layers of subtasks related to the task; the first layer of subtasks...
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Format: | Patent |
Sprache: | chi ; eng |
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Zusammenfassung: | The invention provides an AGV task execution method based on task decomposition and state judgment, and the method comprises the steps: carrying out the decomposition of an AGV task based on an AKKA Actor model, and obtaining three layers of subtasks related to the task; the first layer of subtasks are travel tasks, a plurality of end points of the travel tasks are connected, and the subtasks only containing one starting point and one end point are obtained; the second-layer subtask is a first action subtask, and the second-layer subtask is an action task at a set position of the first-layer subtask and comprises movement, lifting and descending actions; the third-time subtask is a second action subtask, and the third-layer subtask is a necessary program obtained by decomposing the action task and used for completing the action task. In order to solve the three problems of task execution congestion, not fine enough control and insufficient state judgment of an AGV scheduling system, the invention adopts the t |
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