CN108891830A - A kind of dispatch control method and automated guided vehicle of automated guided vehicle - Google Patents
A kind of dispatch control method and automated guided vehicle of automated guided vehicle Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 52
- 238000003032 molecular docking Methods 0.000 claims abstract description 155
- 239000000463 material Substances 0.000 claims abstract description 119
- 230000003287 optical effect Effects 0.000 claims abstract description 51
- 238000005007 materials handling Methods 0.000 claims abstract description 29
- 230000005540 biological transmission Effects 0.000 claims abstract description 16
- 239000013077 target material Substances 0.000 claims description 89
- 238000001514 detection method Methods 0.000 claims description 16
- 238000013024 troubleshooting Methods 0.000 claims description 8
- 108010001267 Protein Subunits Proteins 0.000 claims description 3
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
- G05B19/4189—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the transport system
- G05B19/41895—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the transport system using automatic guided vehicles [AGV]
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/31—From computer integrated manufacturing till monitoring
- G05B2219/31023—Master production scheduler and microprocessor and schedule analysis and shop control
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/60—Electric or hybrid propulsion means for production processes
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- Manufacturing & Machinery (AREA)
- Quality & Reliability (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
A kind of dispatch control method and automated guided vehicle of automated guided vehicle, including：Automated guided vehicle, which can receive, receives the scheduling signals that material picks and places transmission after demand by scheduling system；Automated guided vehicle can be moved to the target docking location of material, there is the target the service of connection devices for carrying material to automated guided vehicle on target docking location, automated guided vehicle is exported to target the service of connection devices for indicating ready first optical signal of automated guided vehicle again, if automated guided vehicle also detects that target device is outputed for indicating ready second optical signal of target the service of connection devices, then start to execute includes the docking operation at least one of taking materials handling and putting materials handling, the work of material dispatch can be completed by the interaction between equipment in this way, reduce manual operation and reduce manual operation bring material and picks and places error.Implement the embodiment of the present invention, can be improved the precision of material pick-and-place.
Description
Technical field
The present invention relates to automated guided vehicle technical fields, and in particular to a kind of scheduling controlling of automated guided vehicle
Method and automated guided vehicle.
Background technique
Factory realizes the movement of storage material usually using automated guided vehicle, such as：From docking facilities (such as board or
Manipulator) at take material and place on the shelf in stock area etc..In practical applications, automated guided vehicle take material it
Before, it needs to complete to dock with docking facilities, if automated guided vehicle docks not accurate with docking facilities, will affect material
Pick-and-place precision, the more serious damage that will lead to material.As it can be seen that how to improve pair of automated guided vehicle and docking facilities
Precision is connect, and then improve the precision that material picks and places to be particularly important.
Summary of the invention
The embodiment of the invention discloses a kind of dispatch control method of automated guided vehicle and automated guided vehicle, energy
Enough improve the precision that material picks and places.
First aspect of the embodiment of the present invention discloses a kind of dispatch control method of automated guided vehicle, the method packet
It includes：
Automated guided vehicle receives the scheduling signals that scheduling system is sent；Wherein, the scheduling signals include target pair
Position is connect, and the scheduling signals are to be received after material picks and places demand to issue by the scheduling system；
The automated guided vehicle is moved to the target docking location according to the scheduling signals, and to the target
Target the service of connection devices at docking location is exported for indicating ready first optical signal of the automated guided vehicle；
The automated guided vehicle judges whether to receive by target the service of connection devices output for indicating described
Ready second optical signal of target the service of connection devices；
If receiving second optical signal, the automated guided vehicle executes pair with the target the service of connection devices
Operation is connect, the docking operation includes at least one of taking materials handling and putting materials handling.
As an alternative embodiment, the automated guided vehicle connects in first aspect of the embodiment of the present invention
Receive after the scheduling signals that scheduling system is sent and the automated guided vehicle be moved to according to the scheduling signals it is described
Before target docking location, the method also includes：
The automated guided vehicle determines the current task to be done of the automated guided vehicle, and determination is described certainly
Dynamic guide transport lorry completes most growing in short-term for each single item required by task in the current task to be done；
The automated guided vehicle will complete most growing in short-term for each single item required by task in the current task to be done
The scheduling system is fed back to, judges to be appointed according to each single item in the completion current task to be done to trigger the scheduling system
Most grown in short-term needed for business it is calculated complete all required by task in the current task to be done it is total most it is long in short-term whether
Less than target duration threshold value corresponding with the scheduling signals, and judging result is issued to the automated guided vehicle；
The automated guided vehicle receives the judging result, and whether detect in the judging result includes continuing to hold
Row instruction, when detect in the judging result comprising it is described continue to execute instruction when, execute described according to scheduling letter
Number it is moved to the target docking location.
As an alternative embodiment, in first aspect of the embodiment of the present invention, in the automated guided vehicle
Judge not receive by target the service of connection devices output for indicating the target the service of connection devices ready second
After optical signal, the method also includes：
The automated guided vehicle exports the first feedback signal to the scheduling system, and the feedback signal is for indicating
The target the service of connection devices failure；
The current working status of the automated guided vehicle is switched to wait state by the automated guided vehicle, and
It detects whether to receive the second feedback signal sent by the scheduling system, second feedback signal is for indicating the mesh
Mark the service of connection devices trouble shooting；
When receiving second feedback signal, the automated guided vehicle is worked as the automated guided vehicle
Preceding working condition is switched to execution state by the wait state, and to the target at the target docking location described in execution
The service of connection devices is exported for indicating ready first optical signal of the automated guided vehicle.
As an alternative embodiment, the automated guided vehicle is held in first aspect of the embodiment of the present invention
The capable docking operation with the target the service of connection devices, the docking operation includes taking materials handling and putting in materials handling extremely
Few one kind, including：
The automated guided vehicle judges the object that the target the service of connection devices is loaded on the automated guided vehicle
Whether material is target material；
If it is the target material, the automated guided vehicle judge the target material placement location whether be
Target position；
If not the target position, the automated guided vehicle sends adjustment letter to the target the service of connection devices
Number, the adjustment signal adjusts the placement location of the target material until the target for triggering the target the service of connection devices
Material is in the target position.
As an alternative embodiment, the scheduling signals further include institute in first aspect of the embodiment of the present invention
The total quantity of target material is stated, after the automated guided vehicle executes the docking operation with the target the service of connection devices, institute
The method of stating further includes：
The automated guided vehicle judges whether the current quantity of the target material reaches the total of the target material
Quantity；
If not up to, the automated guided vehicle is to the scheduling system feedback for indicating the incomplete letter of material
Breath；
If reached, the automated guided vehicle executes the operation of transported material, and to the scheduling system feedback pair
Connect the instruction information finished.
Second aspect of the embodiment of the present invention discloses a kind of automated guided vehicle, and the automated guided vehicle includes：
Receiving unit, for receiving the scheduling signals of scheduling system transmission；Wherein, the scheduling signals include target docking
Position, and the scheduling signals are to be received after material picks and places demand to issue by the scheduling system；
Mobile control unit, for being moved to the target docking location according to the scheduling signals；
First output unit, for the target the service of connection devices output at the target docking location for indicate it is described from
Dynamic ready first optical signal of guide transport lorry；
Judging unit, for judging whether to receive by target the service of connection devices output for indicating the target pair
Connect the second optical signal of ER equipment ready；
Docking unit is executed, receives the use exported by the target the service of connection devices for judging in the judging unit
After indicating ready second optical signal of target the service of connection devices, execution docks behaviour with the target the service of connection devices
Make, the docking operation includes at least one of taking materials handling and putting materials handling.
As an alternative embodiment, the automated guided vehicle is also in second aspect of the embodiment of the present invention
Including：
Determination unit, for after the scheduling signals that the receiving unit receives the transmission of scheduling system and described
Before mobile control unit is moved to the target docking location according to the scheduling signals, the automated guided vehicle is determined
Current task to be done, and determine that the automated guided vehicle completes each single item task institute in the current task to be done
What is needed most grows in short-term；
Feedback unit is fed back to for that will complete the most long in short-term of each single item required by task in the current task to be done
The scheduling system is judged with triggering the scheduling system according to each single item required by task in the completion current task to be done
Most grow in short-term it is calculated complete all required by task in the current task to be done it is total most it is long in short-term whether be less than with
The corresponding target duration threshold value of the scheduling signals, and judging result is issued to the automated guided vehicle；
The receiving unit is also used to receive the judging result；
Detection unit, for whether detecting in the judging result including continuing to execute instruction；
The mobile control unit, specifically for the detection unit detect in the judging result comprising it is described after
Continue after executing instruction, is moved to the target docking location according to the scheduling signals.
As an alternative embodiment, the automated guided vehicle is also in second aspect of the embodiment of the present invention
Including：
Second output unit, for judging not receive by target the service of connection devices output in the judging unit
After indicating ready second optical signal of the target the service of connection devices, output the first feedback signal to the scheduling is
System, the feedback signal is for indicating the target the service of connection devices failure；
Switch unit, for the current working status of the automated guided vehicle to be switched to wait state；
The detection unit is also used to detect whether to receive the second feedback signal sent by the scheduling system, institute
The second feedback signal is stated for indicating the target the service of connection devices trouble shooting；
The switch unit is also used to detect in the detection unit to receive second sent by the scheduling system
After feedback signal, the current working status of the automated guided vehicle is switched to execution state by the wait state；
First output unit is also used to judge not receive by the target the service of connection devices in the judging unit
Output for indicating after ready second optical signal of the target the service of connection devices and in the switch unit by institute
State automated guided vehicle current working status the execution state is switched to by the wait state after, to the target
Target the service of connection devices at docking location is exported for indicating ready first optical signal of the automated guided vehicle.
As an alternative embodiment, unit, packet are docked in the execution in second aspect of the embodiment of the present invention
It includes：
Judgment sub-unit is used for for judging to receive in the judging unit by target the service of connection devices output
After indicating ready second optical signal of the target the service of connection devices, judge that the target the service of connection devices is led automatically to described
Draw whether the material loaded on transport vehicle is target material；
The judgment sub-unit is also used to judging that the target the service of connection devices fills on the automated guided vehicle
The material of load be target material after, judge whether the placement location of the target material is target position；
Transmission sub-unit, for judging that the placement location of the target material is not target position in the judgment sub-unit
After setting, adjustment signal is sent to the target the service of connection devices, the adjustment signal is for triggering the target the service of connection devices tune
The placement location of the whole target material is in the target position until the target material.
As an alternative embodiment, the scheduling signals further include institute in second aspect of the embodiment of the present invention
State the total quantity of target material：
The judging unit is also used to judging to receive by target the service of connection devices output for indicating described
After ready second optical signal of target the service of connection devices, and executes in execution docking unit and docked with the target
After the docking operation of equipment, judge whether the current quantity of the target material reaches the total quantity of the target material；
The feedback unit is also used to judge that the current quantity of the target material is not up to institute in the judging unit
After the total quantity for stating target material, to the scheduling system feedback for indicating material imperfect information；
The feedback unit is also used to judge that the current quantity of the target material reaches described in the judging unit
After the total quantity of target material, the operation of transported material, and the instruction letter finished to the scheduling system feedback docking are executed
Breath.
The third aspect of the embodiment of the present invention discloses a kind of automated guided vehicle, including：
It is stored with the memory of executable program code；
The processor coupled with the memory；
The processor calls the executable program code stored in the memory, executes the embodiment of the present invention the
The dispatch control method of automated guided vehicle disclosed in one side.
Fourth aspect of the embodiment of the present invention discloses a kind of computer readable storage medium, stores computer program,
In, the computer program makes the scheduling of automated guided vehicle disclosed in computer execution first aspect of the embodiment of the present invention
Control method.
The 5th aspect of the embodiment of the present invention discloses a kind of computer program product, when the computer program product is being counted
When being run on calculation machine, so that the computer executes the dispatch control method of automated guided vehicle disclosed in first aspect.
Compared with prior art, the embodiment of the present invention has the advantages that：
In the embodiment of the present invention, automated guided vehicle can receive material pick-and-place demand is received by scheduling system after
The scheduling signals of transmission；Automated guided vehicle can be moved to the target docking location of material, useful on target docking location
In the target the service of connection devices for carrying material to automated guided vehicle, automated guided vehicle exports to target the service of connection devices use again
In indicating ready first optical signal of automated guided vehicle, if automated guided vehicle also detects that target device is defeated
Go out for indicating ready second optical signal of target the service of connection devices, has then started to execute including taking materials handling and putting object
The docking operation of at least one of material operation can be completed the work of material dispatch by the interaction between equipment in this way, be subtracted
Lack manual operation and reduced manual operation bring material and picks and places error.In conclusion implementing the embodiment of the present invention, energy
Enough improve the precision that material picks and places.
Detailed description of the invention
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to needed in the embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for ability
For the those of ordinary skill of domain, without creative efforts, it can also be obtained according to these attached drawings other attached
Figure.
Fig. 1 is a kind of flow diagram of the dispatch control method of automated guided vehicle disclosed by the embodiments of the present invention；
Fig. 2 is the process signal of the dispatch control method of another automated guided vehicle disclosed by the embodiments of the present invention
Figure；
Fig. 3 is the process signal of the dispatch control method of another automated guided vehicle disclosed by the embodiments of the present invention
Figure；
Fig. 4 is a kind of structural schematic diagram of automated guided vehicle disclosed by the embodiments of the present invention；
Fig. 5 is the structural schematic diagram of another automated guided vehicle disclosed by the embodiments of the present invention；
Fig. 6 is the structural schematic diagram of another automated guided vehicle disclosed by the embodiments of the present invention；
Fig. 7 is the structural schematic diagram of another automated guided vehicle disclosed by the embodiments of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that the described embodiment is only a part of the embodiment of the present invention, instead of all the embodiments.Based on this
Embodiment in invention, every other reality obtained by those of ordinary skill in the art without making creative efforts
Example is applied, shall fall within the protection scope of the present invention.
It should be noted that term " includes " and " having " and their any changes in the embodiment of the present invention and attached drawing
Shape, it is intended that cover and non-exclusive include.Such as contain the process, method of a series of steps or units, system, product or
Equipment is not limited to listed step or unit, but optionally further comprising the step of not listing or unit or optional
Ground further includes the other step or units intrinsic for these process, methods, product or equipment.
The embodiment of the invention discloses a kind of dispatch control method of automated guided vehicle and automated guided vehicle, energy
Enough improve the precision that material picks and places.It is described in detail separately below.
Embodiment one
Referring to Fig. 1, Fig. 1 is a kind of stream of the dispatch control method of automated guided vehicle disclosed by the embodiments of the present invention
Journey schematic diagram.The dispatch control method of automated guided vehicle as shown in Figure 1 may comprise steps of：
101, automated guided vehicle receives the scheduling signals that scheduling system is sent；Wherein, scheduling signals include target pair
Position is connect, and scheduling signals are to be received after material picks and places demand to issue by scheduling system.
In the embodiment of the present invention, scheduling signals can also include in target docking location target the service of connection devices number,
Need in target docking location carry the quantity information of material and need to carry at least one of the type information of material, this hair
Bright embodiment is not construed as limiting.
In the embodiment of the present invention, automated guided vehicle (Automated Guided Vehicle, AGV) refers to equipment
There is electricity magnetically or optically to wait homing guidances device, it can be travelled along defined guided path, have safeguard protection and various shiftings
Carry the carrier of function.
102, automated guided vehicle is moved to target docking location according to scheduling signals, and at target docking location
Target the service of connection devices is exported for indicating ready first optical signal of automated guided vehicle.
In the embodiment of the present invention, the form that target the service of connection devices exports the first optical signal can may be for predetermined constant
Default flashing, the embodiment of the present invention are not construed as limiting.
In the embodiment of the present invention, optionally, infrared inductor or ultrasonic sensing has been can be set in target docking location
Device, the embodiment of the present invention are not construed as limiting.The sensing device of target docking location is connect with target the service of connection devices, works as homing guidance
When transport vehicle is moved to target docking location according to scheduling signals, the sensing device of target docking location can sense leads automatically
Draw transport vehicle；Sense automated guided vehicle remain static (that is, automated guided vehicle has come to a complete stop) when, induction dress
Setting will can be used to indicate that the signal that automated guided vehicle arrived to be sent to target the service of connection devices.It can be improved so automatic
The docking efficiency of guide transport lorry and target the service of connection devices.
103, automated guided vehicle, which judges whether to receive, is used to indicate that target to be docked by what target the service of connection devices exported
Second optical signal of ER equipment ready, if so, 104 are thened follow the steps, if not, thening follow the steps 103.
104, automated guided vehicle executes the docking operation with target the service of connection devices, and docking operation includes taking materials handling
At least one of and put materials handling.
In the embodiment of the present invention, optionally, the docking operation with target the service of connection devices that automated guided vehicle executes can
To include：Material on automated guided vehicle is removed and placed in the preset range where target docking location, and
At least one of material in preset range where target docking location is placed on automated guided vehicle, the present invention
Embodiment is not construed as limiting.
As an alternative embodiment, after the scheduling signals that step 101 receives that scheduling system is sent, it can be with
Include the following steps：
Automated guided vehicle determines movement according to the position that is presently in of target docking location and automated guided vehicle
Route；Wherein, mobile route can be for used time shortest route or apart from shortest route；
Automated guided vehicle is moved to target docking location according to scheduling signals, may include：
Automated guided vehicle is moved to target docking location according to scheduling signals and mobile route.
As it can be seen that executing the optional embodiment, mobile route can be automatically determined out, reduces cost of labor, in turn
Improve handling efficiency.
As another optional embodiment, step 102 is moved to target docking location according to scheduling signals, and to mesh
The target the service of connection devices at docking location is marked to export for indicating ready first optical signal of automated guided vehicle, it can be with
Include the following steps：
Automated guided vehicle is moved to target docking location according to scheduling signals；
Automated guided vehicle determines using on target the service of connection devices to interface, and to exporting to interface by camera
In expression ready first optical signal of automated guided vehicle.
As it can be seen that execute the optional embodiment of the another kind, can by the determination on target the service of connection devices to interface,
It avoids automated guided vehicle from exporting the case where the first optical signal causes target the service of connection devices can not receive to interface to non-, improves
Dock efficiency.
May be used also after the scheduling signals that step 101 receives that scheduling system is sent as another optional embodiment
To include the following steps：
Automated guided vehicle obtains current task to be done and current mobile route；Wherein, current mobile route is
Automated guided vehicle completes the travel route of current task to be done using the shortest time；
The target that automated guided vehicle includes according to current task, current mobile route and the scheduling signals to be done
Docking location determines target mobile route, to replace above-mentioned current mobile route；Wherein, target mobile route is to lead automatically
Draw the travel route that transport vehicle completes current task to be done and the task to be done including the scheduling signals using the shortest time；
Automated guided vehicle is according to the specific embodiment that scheduling signals are moved to target docking location：Homing guidance
Transport vehicle is moved to target docking location according to scheduling signals and target mobile route.
As it can be seen that executing another optional embodiment, row can be adjusted in time when receiving new scheduler task
Route is sailed, to complete all scheduler tasks within the shortest time, and then improves the dispatching efficiency of automated guided vehicle.
As another optional embodiment, step 104 executes the docking operation with target the service of connection devices, may include
Following steps：
Automated guided vehicle judges according to scheduling signals and what the docking operation of target the service of connection devices included is to take material
Operation still puts materials handling or picks and places materials handling, and determines the material information for including in scheduling signals, wherein material letter
Breath includes material type and material quantity；
If what the docking operation with target the service of connection devices included is to take materials handling, automated guided vehicle can be in mesh
After marking the service of connection devices completion carrying task, judge that target the service of connection devices is placed on certainly by way of camera scans the two-dimensional code
Whether the information of the material on dynamic guide transport lorry matches with the material information for including in scheduling signals, if it is, terminating
This takes material task；
If what the docking operation with target the service of connection devices included is to put materials handling, automated guided vehicle passes through camera shooting
The form that head scans the two-dimensional code screens the target material in the preset range where needing to be placed on target docking location, and marks
Remember target material, docks position in target so that target the service of connection devices removes and places target material from automated guided vehicle
In preset range where setting, in turn, after target the service of connection devices completes carrying task, automated guided vehicle can also lead to
It crosses the form that camera scans the two-dimensional code and judges whether there is also target materials in automated guided vehicle, if it does not exist, then
Terminate this and puts material task；
If what the docking operation with target the service of connection devices included is to pick and place materials handling, automated guided vehicle can be according to
Material task is taken according to above-mentioned steps completion and puts material task, and is passed through after material task completing to take material task and put
The form that camera scans the two-dimensional code judges on automated guided vehicle with the presence or absence of taking the material for including in material task and not
In the presence of the material for including in material task is put, if it is, terminating this picks and places material task.
As it can be seen that executing another optional embodiment, object can be improved by way of camera scans the two-dimensional code
The pick-and-place precision of material.
As it can be seen that implementing method described in Fig. 1, the docking effect of automated guided vehicle and target the service of connection devices can be improved
Rate, and by automatically determining out mobile route, cost of labor is reduced, and then improve handling efficiency；And by connecing
Travel route is adjusted in time when receiving new scheduler task, to complete all scheduler tasks within the shortest time, in turn
Improve the scheduling effect of automated guided vehicle；And the pick-and-place of raising material is accurate by way of camera scans the two-dimensional code
Degree.
Embodiment two
Referring to Fig. 2, Fig. 2 is the dispatch control method of another automated guided vehicle disclosed by the embodiments of the present invention
Flow diagram.The dispatch control method of the automated guided vehicle as shown in Figure 2 may comprise steps of：
In embodiments of the present invention, the dispatch control method of the automated guided vehicle includes step 201, step 205, step
Rapid 206 and step 210 for the description of step 201, step 205, step 206 and step 210 please refer to embodiment one
In be directed to the detailed description of step 101- step 104, the embodiment of the present invention repeats no more.
202, automated guided vehicle determines the current task to be done of automated guided vehicle, and determines homing guidance fortune
Each single item required by task most grows in short-term in the defeated current task to be done of vehicle completion.
In the embodiment of the present invention, optionally, automated guided vehicle can determine that homing guidance is transported according to historical record
Defeated vehicle completes most growing in short-term for each single item required by task in current task to be done, and automated guided vehicle can also have been determined
At the longest duration of each single item required by task in current task to be done, the embodiment of the present invention is not construed as limiting.
203, automated guided vehicle will complete the most long feedback in short-term of each single item required by task in current task to be done
To scheduling system, judge that each single item required by task is most grown in short-term in task to be done according to completing currently to trigger scheduling system
Whether all required by task is total most long in short-term less than corresponding with scheduling signals in the calculated current task to be done of completion
Target duration threshold value, and judging result is issued to automated guided vehicle.
In the embodiment of the present invention, each single item required by task in current task to be done will be completed in automated guided vehicle
Most length is fed back to after scheduling system in short-term, and scheduling system can be determined to complete the total duration S of all current tasks to be done
(it should be noted that S is the most the sum of long in short-term of each single item required by task)；Scheduling system can also be according to S and current time
Determine to complete the moment t of execution the latest of the task of T and above-mentioned scheduling signals at the time of all current tasks to be done, and
Subtract each other the longest of the position X1 to target docking location X2 when determining to complete all current tasks to be done according to T and t
Duration S1；Scheduling system can also determine the actually required most in short-term long S2 of X1 to X2, and judge S1-S2 value whether
Greater than zero, if it is, determining that automated guided vehicle can be before the moment t of execution the latest of the task of above-mentioned scheduling signals
Target docking location is reached, if it is not, then determining that automated guided vehicle cannot holding the latest in the task of above-mentioned scheduling signals
Target docking location is reached before row moment t.I.e.：Target duration threshold value corresponding with above-mentioned scheduling signals is equal to (t-t0)-S2,
Wherein, t0For the current time for receiving above-mentioned scheduling signals.
Further, if automated guided vehicle can the moment of the execution the latest t of the task of above-mentioned scheduling signals it
Preceding arrival target docking location, thens follow the steps 205, if automated guided vehicle cannot be in the task of above-mentioned scheduling signals
Target docking location is reached before executing moment t the latest, then dispatches believing with scheduling for the above-mentioned automated guided vehicle of system finishing
Number corresponding task process, and by scheduling signals be sent to can the moment of the execution the latest t of the task of above-mentioned scheduling signals it
The preceding automated guided vehicle for reaching target docking location.
For example, each single item required by task in current 3 tasks to be done will be completed in automated guided vehicle
Most in short-term long (wherein, most in short-term a length of 10min needed for task 1；Most in short-term a length of 15min needed for task 2；Task 3 is to adjust
Spend the corresponding docking mission of signal, i.e. this newest docking mission to be completed) it feeds back to after scheduling system, dispatch system
It can determine that completing the total duration that 2 tasks need is 10min+15min=25min and current time 09：00, and
The moment of execution the latest 10 of the corresponding task of above-mentioned scheduling signals：00 and automated guided vehicle complete task 1 and task 2
When at the time of 09：25.From the foregoing, it will be observed that if automated guided vehicle it is calculated from complete the location of task 2 to completion
Most in short-term a length of 30min that the location of task 3 is spent, since 25min is less than or equal to 60min-30min, so scheduling
System default automated guided vehicle can be at the moment of execution the latest 10 of the task of above-mentioned scheduling signals：Target is reached before 00
Docking location.
As it can be seen that executing the optional embodiment, the handling efficiency of material can be improved.
204, automated guided vehicle receives judging result, and whether detect in judging result includes continuing to execute instruction,
If so, 205 are thened follow the steps, if it is not, then terminating this process.
207, automated guided vehicle exports the first feedback signal to the system of dispatching, and feedback signal is for indicating that target is docked
Equipment fault.
In the embodiment of the present invention, it is used to indicate by what target the service of connection devices exported if step 206 is judged not receive
Ready second optical signal of target the service of connection devices thens follow the steps the behaviour of 207 the first feedback signals of output to the system of scheduling
Make.
In the embodiment of the present invention, optionally, after step 207 exports the first feedback signal to scheduling system, scheduling system
The equipment that the equipment fault for including in first feedback signal can be fed back to related personnel by system, so that related personnel is right in time
Target the service of connection devices is overhauled；After related personnel completes service work, scheduling system be can receive by relevant people
The information of (that is, trouble shooting) is completed in the maintenance that the equipment of member is sent, and scheduling system is used for automated guided vehicle transmission again
Indicate the second feedback signal of trouble shooting.
208, the current working status of automated guided vehicle is switched to wait state by automated guided vehicle, and is detected
Whether second feedback signal that by scheduling system is sent is received, and the second feedback signal is for indicating target the service of connection devices failure solution
It removes.
As an alternative embodiment, working as automated guided vehicle for the current working status of automated guided vehicle
It is switched to after wait state after detecting the second feedback signal for not receiving and being sent by scheduling system, homing guidance transport
Vehicle detects whether to receive the third feedback signal damaged for indicating target the service of connection devices, if it is, it is right to terminate this
Take over business.
209, when receiving the second feedback signal, automated guided vehicle is by the work at present shape of automated guided vehicle
State is switched to execution state by wait state, and executes step 205.
As it can be seen that implementing method described in Fig. 2, the docking effect of automated guided vehicle and target the service of connection devices can be improved
Rate, and by automatically determining out mobile route, cost of labor is reduced, and then improve handling efficiency；And by connecing
Travel route is adjusted in time when receiving new scheduler task, to complete all scheduler tasks within the shortest time, in turn
Improve the scheduling effect of automated guided vehicle；And the pick-and-place of raising material is accurate by way of camera scans the two-dimensional code
Degree；And improve the handling efficiency of material；And improve reporting for when the service of connection devices unreacted timely reporting scheduling system
Speed.
Embodiment three
Referring to Fig. 3, Fig. 3 is the dispatch control method of another automated guided vehicle disclosed by the embodiments of the present invention
Flow diagram.Wherein, scheduling signals further include the total quantity of target material, the tune of the automated guided vehicle as shown in Figure 3
Degree control method may comprise steps of：
In embodiments of the present invention, the dispatch control method of the automated guided vehicle includes step 301- step 309, needle
Description to step 301- step 309 please refers to the detailed description that step 201- step 209 is directed in embodiment two, the present invention
Embodiment repeats no more.
310, automated guided vehicle judge material that target the service of connection devices is loaded on automated guided vehicle whether be
Target material, if so, 311 are thened follow the steps, if it is not, then feeding back error signal to control centre.
In the embodiment of the present invention, optionally, detect that target the service of connection devices completes docking behaviour in automated guided vehicle
After work, automated guided vehicle can scan the two-dimensional code camera/bar code by way of judge target the service of connection devices to
Whether the material loaded on automated guided vehicle is target material, if so, 311 are thened follow the steps, if it is not, then to scheduling
Feed back error signal in center.
311, automated guided vehicle judges whether the placement location of target material is target position, if it is, executing
Step 313, if not, thening follow the steps 312.
312, automated guided vehicle sends adjustment signal to target the service of connection devices, and adjustment signal is for triggering target docking
The placement location of equipment adjustment target material is in target position until target material.
In the embodiment of the present invention, after step 312 sends adjustment signal to target the service of connection devices, automated guided vehicle
It can detecte whether target the service of connection devices (example, manipulator) is picked up the target material on automated guided vehicle, if it is,
The guidance information for guiding target the service of connection devices mobile is exported until target pair further according to the current overhead positions of target material
It connects equipment target material is placed on target position.If target material is placed on target position, automated guided vehicle exists
Shelf-stability of the target material on automated guided vehicle is higher during transport, can reduce target material from automatic
The probability fallen on guide transport lorry.
For example, if target material is 8 and shape is cube, automated guided vehicle control target docking is set
It is standby that target material is placed on target position in the form of long 2 * high 2 of * wide 2.
313, automated guided vehicle judges whether the current quantity of target material reaches the total quantity of target material, if
It is to then follow the steps 315, if not, thening follow the steps 314.
314, automated guided vehicle is to scheduling system feedback for indicating material imperfect information.
In the embodiment of the present invention, optionally, in step 314 to scheduling system feedback for indicating material imperfect information
Later, automated guided vehicle can also detect whether to receive is sent by target the service of connection devices.It can be improved docking in this way
The consistency of material information in the information and scheduling signals of target material in operation.
315, automated guided vehicle executes the operation of transported material, and the instruction letter finished to scheduling system feedback docking
Breath.
As it can be seen that method described in implementing Fig. 3, can be improved the docking effect of automated guided vehicle and target the service of connection devices
Rate, and by automatically determining out mobile route, cost of labor is reduced, and then improve handling efficiency；And by connecing
Travel route is adjusted in time when receiving new scheduler task, to complete all scheduler tasks within the shortest time, in turn
Improve the scheduling effect of automated guided vehicle；And the pick-and-place of raising material is accurate by way of camera scans the two-dimensional code
Degree；And improve the handling efficiency of material；And improve reporting for when the service of connection devices unreacted timely reporting scheduling system
Speed；And when target material is placed on target position, automated guided vehicle during transportation target material automatic
Shelf-stability on guide transport lorry is higher, can reduce the probability that target material is fallen from automated guided vehicle；With
And the consistency of the material information in the information and scheduling signals of the target material in raising docking operation.
Example IV
Referring to Fig. 4, Fig. 4 is a kind of structural schematic diagram of automated guided vehicle disclosed by the embodiments of the present invention.Such as Fig. 4
Shown, which may include：Receiving unit 401, the first output unit 403, is sentenced mobile control unit 402
Disconnected unit 404 and execution docking unit 405, wherein
Receiving unit 401, for receiving the scheduling signals of scheduling system transmission；Wherein, scheduling signals include target docking
Position, and scheduling signals are to be received after material picks and places demand to issue by scheduling system.
In the embodiment of the present invention, scheduling signals can also include in target docking location target the service of connection devices number,
Need in target docking location carry the quantity information of material and need to carry at least one of the type information of material, this hair
Bright embodiment is not construed as limiting.
In the embodiment of the present invention, automated guided vehicle (Automated Guided Vehicle, AGV) refers to equipment
There is electricity magnetically or optically to wait homing guidances device, it can be travelled along defined guided path, have safeguard protection and various shiftings
Carry the carrier of function.
In the embodiment of the present invention, after the scheduling signals that receiving unit 401 receives the transmission of scheduling system, triggering movement
Control unit 402 starts.
Mobile control unit 402, for being moved to target docking location according to scheduling signals.
In the embodiment of the present invention, after mobile control unit 402 is moved to target docking location according to scheduling signals, touching
Send out the starting of the first output unit 403.
First output unit 403, for exporting to the target the service of connection devices at target docking location for indicating to lead automatically
Draw ready first optical signal of transport vehicle.
In the embodiment of the present invention, the form that the first output unit 403 exports the first optical signal can be that predetermined constant can also
Think default flashing, the embodiment of the present invention is not construed as limiting.
In the embodiment of the present invention, optionally, infrared inductor or ultrasonic sensing has been can be set in target docking location
Device, the embodiment of the present invention are not construed as limiting.The sensing device of target docking location is connect with target the service of connection devices, is controlled when mobile
When unit 402 is moved to target docking location according to scheduling signals, the sensing device of target docking location can be sensed automatically
Guide transport lorry；Sense automated guided vehicle remain static (that is, automated guided vehicle has come to a complete stop) when, induction
Device will can be used to indicate that the signal that automated guided vehicle arrived to be sent to target the service of connection devices.It can be improved so certainly
The docking efficiency of dynamic guide transport lorry and target the service of connection devices.
In the embodiment of the present invention, exports and use to the target the service of connection devices at target docking location in the first output unit 403
After indicating ready first optical signal of automated guided vehicle, triggering judging unit 404 starts.
Judging unit 404 is set by what target the service of connection devices exported for indicating that target is docked for judging whether to receive
Standby ready second optical signal.
Docking unit 405 is executed, is used for for judging to receive in judging unit 404 by what target the service of connection devices exported
After indicating ready second optical signal of target the service of connection devices, the docking operation with target the service of connection devices, docking behaviour are executed
Make to include at least one of taking materials handling and putting materials handling.
In the embodiment of the present invention, optionally, execute that docking unit 405 executes with the docking operation of target the service of connection devices
Specific embodiment can be：Material on automated guided vehicle is removed and placed default where target docking location
In range, and by the material in the preset range where target docking location be placed on automated guided vehicle at least
One kind, the embodiment of the present invention are not construed as limiting.
As an alternative embodiment, being connect after the scheduling signals that receiving unit 401 receives that scheduling system is sent
Receiving unit 401 can be also used for executing following operation：
It is presently in position according to target docking location and automated guided vehicle, determines mobile route；Wherein, mobile
Route can be for used time shortest route or apart from shortest route；
It is moved to target docking location according to scheduling signals, may include：
Target docking location is moved to according to scheduling signals and mobile route.
As it can be seen that executing the optional embodiment, mobile route can be automatically determined out, reduces cost of labor, in turn
Improve handling efficiency.
As another optional embodiment, the first output unit 403 is set to the target docking at target docking location
Can be for the specific embodiment exported for indicating ready first optical signal of automated guided vehicle：
Exporting to interface, and to interface for indicating homing guidance on target the service of connection devices is determined by camera
Ready first optical signal of transport vehicle.
As it can be seen that execute the optional embodiment of the another kind, can by the determination on target the service of connection devices to interface,
It avoids automated guided vehicle from exporting the case where the first optical signal causes target the service of connection devices can not receive to interface to non-, improves
Dock efficiency.
As another optional embodiment, after the scheduling signals that receiving unit 401 receives that scheduling system is sent,
Receiving unit 401 can be also used for executing following operation：
Obtain current task to be done and current mobile route；Wherein, current mobile route is automated guided vehicle
The travel route of current task to be done is completed using the shortest time；
According to the target docking location that current task, current mobile route and the scheduling signals to be done include, determine
Target mobile route, to replace above-mentioned current mobile route；Wherein, target mobile route is automated guided vehicle using most
Short time completes the travel route of current task to be done and the task to be done including the scheduling signals；
It is according to the specific embodiment that scheduling signals are moved to target docking location：Automated guided vehicle is according to scheduling
Signal and target mobile route are moved to target docking location.
As it can be seen that executing another optional embodiment, row can be adjusted in time when receiving new scheduler task
Route is sailed, to complete all scheduler tasks within the shortest time, and then improves the dispatching efficiency of automated guided vehicle.
As another optional embodiment, the docking operation of docking unit 405 execution and target the service of connection devices is executed,
It may comprise steps of：
It takes materials handling according to what scheduling signals judgement and the docking operation of target the service of connection devices included or puts material
Operation or the material information for picking and placing materials handling, and including in determining scheduling signals, wherein material information includes material type
And material quantity；
If what the docking operation with target the service of connection devices included is to take materials handling, can be completed in target the service of connection devices
After carrying task, judge that target the service of connection devices is placed on automated guided vehicle by way of camera scans the two-dimensional code
The information of material whether match with the material information for including in scheduling signals, if it is, terminating this takes material task；
If what the docking operation with target the service of connection devices included is to put materials handling, scanned the two-dimensional code by camera
Form screens the target material in the preset range where needing to be placed on target docking location, and marking target material, with
Just target the service of connection devices is by target material from being removed and placed in automated guided vehicle default where target docking location
In range, in turn, after target the service of connection devices completes carrying task, automated guided vehicle can also be scanned by camera
The form of two dimensional code judges whether there is also target materials in automated guided vehicle, if it does not exist, then terminating this puts object
Material task；
If what the docking operation with target the service of connection devices included is to pick and place materials handling, can be completed according to above-mentioned steps
It takes material task and puts material task, and take material task completing and put two-dimentional by camera scanning after material task
The form of code, which judges to whether there is on automated guided vehicle to take the material for including in material task and be not present, puts material task
In include material, if it is, terminate this pick and place material task.
As it can be seen that executing another optional embodiment, object can be improved by way of camera scans the two-dimensional code
The pick-and-place precision of material.
As it can be seen that implementing automated guided vehicle described in Fig. 4, it can be improved automated guided vehicle and target docking set
Standby docking efficiency, and by automatically determining out mobile route, cost of labor is reduced, and then improve handling efficiency；With
And by adjusting travel route in time when receiving new scheduler task, to complete all scheduling within the shortest time
Task, and then improve the scheduling effect of automated guided vehicle；And material is improved by way of camera scans the two-dimensional code
Pick and place precision.
Embodiment five
Referring to Fig. 5, Fig. 5 is the structural schematic diagram of another automated guided vehicle disclosed by the embodiments of the present invention.Its
In, automated guided vehicle shown in fig. 5 is that automated guided vehicle as shown in Figure 4 optimizes.With shown in Fig. 4
Automated guided vehicle compare, automated guided vehicle shown in fig. 5 can also include：Determination unit 406, feedback unit
407, detection unit 408, the second output unit 409 and switch unit 410, wherein
Determination unit 406, for receiving unit 401 receive scheduling system transmission scheduling signals after, Yi Jiyi
Before dynamic control unit 402 is moved to target docking location according to scheduling signals, the current to complete of automated guided vehicle is determined
At task, and determine that automated guided vehicle completes most growing in short-term for each single item required by task in current task to be done.
In the embodiment of the present invention, optionally, determination unit 406 can determine automated guided vehicle according to historical record
Most growing in short-term for each single item required by task in current task to be done is completed, determination unit 406 can also be determined to complete current
The longest duration of each single item required by task, the embodiment of the present invention are not construed as limiting in task to be done.
In the embodiment of the present invention, the current task to be done of automated guided vehicle is determined in determination unit 406, and determine
After automated guided vehicle completes most the growing in short-term of each single item required by task in current task to be done, feedback unit is triggered
407 startings.
Feedback unit 407 is fed back to for that will complete the most long in short-term of each single item required by task in current task to be done
Scheduling system, by trigger scheduling system judge according to complete each single item required by task in current task to be done it is most long in short-term in terms of
Whether all required by task is total most long in short-term less than mesh corresponding with scheduling signals in the current task to be done of the completion of calculating
Duration threshold value is marked, and judging result is issued to automated guided vehicle.
In the embodiment of the present invention, the most long in short-term of each single item required by task is fed back in it will complete current task to be done
After scheduling system, scheduling system can determine the total duration S for completing all current tasks to be done (it should be noted that S
It is the most the sum of long in short-term of each single item required by task)；Scheduling system can also be determined to complete all work as according to S and current time
The moment t of execution the latest of the task of T and above-mentioned scheduling signals at the time of preceding task to be done, and determination is subtracted each other according to T and t
The longest duration S1 of position X1 to target docking location X2 when completing all current tasks to be done out；Scheduling system
It can also determine the actually required most in short-term long S2 of X1 to X2, and judge whether the value of S1-S2 is greater than zero, if it is,
Determine that automated guided vehicle can reach target docking position before the moment t of execution the latest of the task of above-mentioned scheduling signals
It sets, if it is not, then determining that automated guided vehicle cannot reach before the moment t of execution the latest of the task of above-mentioned scheduling signals
Target docking location.I.e.：Target duration threshold value corresponding with above-mentioned scheduling signals is equal to (t-t0)-S2, wherein t0To receive
The current time of above-mentioned scheduling signals.
Further, if target docking can be reached before the moment t of execution the latest of the task of above-mentioned scheduling signals
Position then triggers mobile control unit 402 and executes the above-mentioned operation for being moved to target docking location according to scheduling signals, if
Target docking location cannot be reached before the moment t of execution the latest of the task of above-mentioned scheduling signals, then is dispatched on system finishing
The task process corresponding with scheduling signals of automated guided vehicle is stated, and scheduling signals are sent to and can be believed in above-mentioned scheduling
Number task the latest execute moment t before reach target docking location automated guided vehicle.
As it can be seen that executing the optional embodiment, the handling efficiency of material can be improved.
Receiving unit 401 is also used to receive judging result.
In the embodiment of the present invention, each single item required by task will be completed in current task to be done most in feedback unit 407
Length is fed back to after scheduling system in short-term, and triggering receiving unit 401 executes the operation for receiving judging result.
In the embodiment of the present invention, after receiving unit 401 receives judging result, detection trigger unit 408 starts.
Detection unit 408, for whether detecting in judging result including continuing to execute instruction.
Mobile control unit 402, specifically for detecting in judging result in detection unit 408 comprising continuing to execute instruction
Later, target docking location is moved to according to scheduling signals.
Second output unit 409 does not receive the use exported by target the service of connection devices for judging in judging unit 404
After indicating ready second optical signal of target the service of connection devices, the first feedback signal of output to the system of dispatching, feedback letter
Number for indicating target the service of connection devices failure.
In the embodiment of the present invention, optionally, the second output unit 409 export the first feedback signal to scheduling system it
Afterwards, the equipment that the equipment fault for including in the first feedback signal can be fed back to related personnel by scheduling system, so that related
Personnel in time overhaul target the service of connection devices；After related personnel completes service work, scheduling system be can receive
The information that (that is, trouble shooting) is completed to the maintenance of the equipment transmission by related personnel, dispatches system automated guided vehicle again
Send the second feedback signal for indicating trouble shooting.
In the embodiment of the present invention, after the second output unit 409 exports the first feedback signal to scheduling system, triggering is cut
Change the starting of unit 410.
Switch unit 410, for the current working status of automated guided vehicle to be switched to wait state.
In the embodiment of the present invention, the current working status of automated guided vehicle is switched to waiting in switch unit 410
After state, detection trigger unit 408 executes the operation for detecting whether to receive the second feedback signal sent by scheduling system.
As an alternative embodiment, when switch unit 410 cuts the current working status of automated guided vehicle
It is changed to after wait state after detecting the second feedback signal for not receiving and being sent by scheduling system, detection unit 408 is examined
It surveys and whether receives the third feedback signal damaged for indicating target the service of connection devices, if it is, terminating this to taking over
Business.
Detection unit 408 is also used to detect whether to receive the second feedback signal sent by scheduling system, the second feedback
Signal is for indicating target the service of connection devices trouble shooting.
Switch unit 410 is also used to detect in detection unit 408 to receive the second feedback letter sent by scheduling system
After number, the current working status of automated guided vehicle is switched to execution state by wait state.
First output unit 403, is also used to judge not receive in judging unit 408 and is exported by target the service of connection devices
For indicating after ready second optical signal of target the service of connection devices and in switch unit 410 by automated guided vehicle
Current working status execution state is switched to by wait state after, at target docking location target the service of connection devices output
For indicating ready first optical signal of automated guided vehicle.
As it can be seen that automated guided vehicle described in implementation Fig. 5 can be improved automated guided vehicle and target docking is set
Standby docking efficiency, and by automatically determining out mobile route, cost of labor is reduced, and then improve handling efficiency；With
And by adjusting travel route in time when receiving new scheduler task, to complete all scheduling within the shortest time
Task, and then improve the scheduling effect of automated guided vehicle；And material is improved by way of camera scans the two-dimensional code
Pick and place precision；And improve the handling efficiency of material；And improve the timely reporting scheduling system when the service of connection devices unreacted
The report speed of system.
Embodiment six
Referring to Fig. 6, Fig. 6 is the structural schematic diagram of another automated guided vehicle disclosed by the embodiments of the present invention.Its
In, automated guided vehicle shown in fig. 6 is that automated guided vehicle as shown in Figure 5 optimizes.Wherein, it dispatches
Signal further includes the total quantity of target material, compared with automated guided vehicle shown in fig. 5, homing guidance shown in fig. 6
Transport vehicle, executing docking unit 405 may include：Judgment sub-unit 4051 and transmission sub-unit 4052, wherein
Judgment sub-unit 4051 is used for for judging to receive in judging unit 404 by what target the service of connection devices exported
After indicating ready second optical signal of target the service of connection devices, judge that target the service of connection devices is filled on automated guided vehicle
Whether the material of load is target material.
In the embodiment of the present invention, optionally, after detecting that target the service of connection devices completes docking operation, judge sub single
Member 4051 can scan the two-dimensional code camera/bar code by way of judge target the service of connection devices on automated guided vehicle
Whether the material of loading is target material, if it is, triggering judgment sub-unit 4051 executes the placement position for judging target material
It sets and whether is the operation of target position, if it is not, then feeding back error signal to control centre.
Judgment sub-unit 4051 is also used in the material for judging that target the service of connection devices is loaded on automated guided vehicle
After target material, judge whether the placement location of target material is target position.
Transmission sub-unit 4052, for judging that the placement location of target material is not target position in judgment sub-unit 4051
After setting, adjustment signal is sent to target the service of connection devices, adjustment signal is used to trigger target the service of connection devices adjustment target material
Placement location is in target position until target material.
In the embodiment of the present invention, after transmission sub-unit 4052 sends adjustment signal to target the service of connection devices, son is sent
Unit 4052 can detecte whether target the service of connection devices (example, manipulator) is picked up the target material on automated guided vehicle,
If it is, the guidance information exported further according to the current overhead positions of target material for guiding target the service of connection devices mobile is straight
Target material is placed on target position to target the service of connection devices.If target material is placed on target position, homing guidance
Shelf-stability of the target material on automated guided vehicle is higher during transportation for transport vehicle, can reduce object
Expect the probability fallen from automated guided vehicle.
Judging unit 404, be also used to judge to receive by target the service of connection devices export for indicating that target is docked
After second optical signal of ER equipment ready, and executing docking unit 405 and executing behaviour is docked with target the service of connection devices
After work, judge whether the current quantity of marked material reaches the total quantity of target material.
Feedback unit 407 is also used to judge the current quantity miss the mark material of target material in judging unit 404
Total quantity after, to scheduling system feedback for indicating material imperfect information.
In the embodiment of the present invention, optionally, in feedback unit 407 to scheduling system feedback for indicating that material is incomplete
After information, feedback unit 407 can also detect whether to receive to be sent by target the service of connection devices.It can be improved docking in this way
The consistency of material information in the information and scheduling signals of target material in operation.
Feedback unit 407 is also used to judge that the current quantity of target material reaches target material in judging unit 404
After total quantity, the operation of transported material is executed, and dock the instruction information finished to scheduling system feedback.
As it can be seen that automated guided vehicle described in implementation Fig. 6 can be improved automated guided vehicle and target docking is set
Standby docking efficiency, and by automatically determining out mobile route, cost of labor is reduced, and then improve handling efficiency；With
And by adjusting travel route in time when receiving new scheduler task, to complete all scheduling within the shortest time
Task, and then improve the scheduling effect of automated guided vehicle；And material is improved by way of camera scans the two-dimensional code
Pick and place precision；And improve the handling efficiency of material；And improve the timely reporting scheduling system when the service of connection devices unreacted
The report speed of system；And when target material is placed on target position, automated guided vehicle object during transportation
Expect that the shelf-stability on automated guided vehicle is higher, can reduce what target material was fallen from automated guided vehicle
Probability；And the consistency of the material information in the information and scheduling signals of the target material in raising docking operation.
Embodiment seven
Referring to Fig. 7, Fig. 7 is the structural schematic diagram of another automated guided vehicle disclosed by the embodiments of the present invention.Such as
Shown in Fig. 7, which may include：
It is stored with the memory 701 of executable program code；
The processor 702 coupled with memory 701；
Wherein, processor 702 calls the executable program code stored in memory 701, and it is any one to execute FIG. 1 to FIG. 3
The dispatch control method of kind automated guided vehicle.
The embodiment of the present invention discloses a kind of computer readable storage medium, stores computer program, wherein the computer
Program makes the dispatch control method of computer execution any one automated guided vehicle of FIG. 1 to FIG. 3.
Those of ordinary skill in the art will appreciate that all or part of the steps in the various methods of above-described embodiment is can
It is completed with instructing relevant hardware by program, which can be stored in a computer readable storage medium, storage
Medium include read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory,
RAM), programmable read only memory (Programmable Read-only Memory, PROM), erasable programmable is read-only deposits
Reservoir (Erasable Programmable Read Only Memory, EPROM), disposable programmable read-only memory (One-
Time Programmable Read-Only Memory, OTPROM), the electronics formula of erasing can make carbon copies read-only memory
(Electrically-Erasable Programmable Read-Only Memory, EEPROM), CD-ROM (Compact
Disc Read-Only Memory, CD-ROM) or other disc memories, magnetic disk storage, magnetic tape storage or can
For carrying or any other computer-readable medium of storing data.
In the above-described embodiments, it can be realized wholly or partly by software, hardware, firmware or any combination thereof.When
When using software realization, can entirely or partly it realize in the form of a computer program product.The computer program product packet
Include one or more computer instructions.When loading on computers and executing the computer program instructions, entirely or partly
It generates according to process or function described in the embodiment of the present application.The computer can be general purpose computer, special purpose computer, calculating
Machine network or other programmable devices.The computer instruction may be stored in a computer readable storage medium, Huo Zhecong
One computer readable storage medium is transmitted to another computer readable storage medium, for example, the computer instruction can be with
Pass through wired (such as coaxial cable, optical fiber, Digital Subscriber Line) from a web-site, computer, server or data center
Or wireless (such as infrared, wireless, microwave etc.) mode is transmitted to another web-site, computer, server or data center.
The computer-readable medium can be any usable medium that computer can access or include one or more available
The data storage devices such as medium integrated server, data center.The usable medium can be magnetic medium (magnetic medium example
Such as can be floppy disk, hard disk, tape), optical medium (such as CD) or semiconductor medium (such as solid state hard disk).Above-mentioned
It in embodiment, all emphasizes particularly on different fields to the description of each embodiment, there is no the part being described in detail in some embodiment, may refer to other
The associated description of embodiment.
In several embodiments provided herein, it should be understood that disclosed device, it can be by others side
Formula is realized.For example, the apparatus embodiments described above are merely exemplary, such as the division of said units, only
A kind of logical function partition, there may be another division manner in actual implementation, for example, multiple units or components can combine or
Person is desirably integrated into another system, or some features can be ignored or not executed.Another point, shown or discussion phase
Coupling, direct-coupling or communication connection between mutually can through some interfaces, the INDIRECT COUPLING or communication link of device or unit
It connects, can be electrical or other forms.
Above-mentioned unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, can be in one place, or may be distributed over multiple nets
On network unit.Some or all of units can be selected to achieve the purpose of the solution of this embodiment according to the actual needs.
In addition, each functional unit in each embodiment of the application can integrate in one processing unit, it is also possible to
Each unit physically exists alone, and can also be integrated in one unit with two or more units.Above-mentioned integrated unit
Both it can take the form of hardware realization, can also realize in the form of software functional units.
If above-mentioned integrated unit is realized in the form of SFU software functional unit and when sold or used as an independent product,
It can store in a retrievable memory of computer.Based on this understanding, the technical solution of the application substantially or
Say all or part of of the part that contributes to existing technology or the technical solution, it can body in the form of software products
Reveal and, which is stored in a memory, including several requests are used so that a computer equipment
(can be personal computer, server or network equipment etc., specifically can be the processor in computer equipment) executes sheet
The all or part of the steps of each embodiment above method of application.
The above, above embodiments are only to illustrate the technical solution of the application rather than its limitations；Although referring to before
Embodiment is stated the application is described in detail, however those skilled in the art should understand that；It still can be with
It modifies the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features；And
These are modified or replaceed, the spirit and model of each embodiment technical solution of the application that it does not separate the essence of the corresponding technical solution
It encloses.
Claims (10)
1. a kind of dispatch control method of automated guided vehicle, which is characterized in that the method includes：
Automated guided vehicle receives the scheduling signals that scheduling system is sent；Wherein, the scheduling signals include target docking position
It sets, and the scheduling signals are to be received after material picks and places demand to issue by the scheduling system；
The automated guided vehicle is moved to the target docking location according to the scheduling signals, and docks to the target
Target the service of connection devices at position is exported for indicating ready first optical signal of the automated guided vehicle；
The automated guided vehicle judges whether to receive by target the service of connection devices output for indicating the target
Ready second optical signal of the service of connection devices；
If receiving second optical signal, the automated guided vehicle execution docks behaviour with the target the service of connection devices
Make, the docking operation includes at least one of taking materials handling and putting materials handling.
2. the method according to claim 1, wherein the automated guided vehicle receives what scheduling system was sent
After scheduling signals and the automated guided vehicle according to the scheduling signals be moved to the target docking location it
Before, the method also includes：
The automated guided vehicle determines the current task to be done of the automated guided vehicle, and determines and described lead automatically
Draw transport vehicle and completes most growing in short-term for each single item required by task in the current task to be done；
The automated guided vehicle will be completed the most long in short-term of each single item required by task in the current task to be done and be fed back
To the scheduling system, judged with triggering the scheduling system according to each single item task institute in the completion current task to be done
What is needed most grows whether the always most long in short-term of all required by task in the calculated completion current task to be done is less than in short-term
Target duration threshold value corresponding with the scheduling signals, and judging result is issued to the automated guided vehicle；
The automated guided vehicle receives the judging result, and whether detect in the judging result includes continuing to execute finger
Enable, when detect in the judging result comprising it is described continue to execute instruction when, execute and described moved according to the scheduling signals
It moves to the target docking location.
3. according to the method described in claim 2, it is characterized in that, the automated guided vehicle judge not receive by
After what the target the service of connection devices exported is used to indicate ready second optical signal of the target the service of connection devices, the side
Method further includes：
The automated guided vehicle exports the first feedback signal to the scheduling system, and the feedback signal is for indicating described
Target the service of connection devices failure；
The current working status of the automated guided vehicle is switched to wait state by the automated guided vehicle, and is detected
Whether second feedback signal that by the scheduling system is sent is received, and second feedback signal is for indicating the target pair
Connect equipment fault releasing；
When receiving second feedback signal, the automated guided vehicle is by the current work of the automated guided vehicle
Make state and execution state is switched to by the wait state, and to the target docking at the target docking location described in execution
Equipment is exported for indicating ready first optical signal of the automated guided vehicle.
4. described in any item methods according to claim 1~3, which is characterized in that the automated guided vehicle executes and institute
State the docking operation of target the service of connection devices, the docking operation include take materials handling and put in materials handling at least one
Kind, including：
The material that the automated guided vehicle judges that the target the service of connection devices is loaded on the automated guided vehicle is
No is target material；
If it is the target material, the automated guided vehicle judges whether the placement location of the target material is target
Position；
If not the target position, the automated guided vehicle sends adjustment signal, institute to the target the service of connection devices
It states adjustment signal and adjusts the placement location of the target material until the target material for triggering the target the service of connection devices
In the target position.
5. according to the method described in claim 4, it is characterized in that, the scheduling signals further include the sum of the target material
Amount, after the automated guided vehicle executes the docking operation with the target the service of connection devices, the method also includes：
The automated guided vehicle judges whether the current quantity of the target material reaches the total quantity of the target material；
If not up to, the automated guided vehicle is to the scheduling system feedback for indicating material imperfect information；
If reached, the automated guided vehicle executes the operation of transported material, and has docked to the scheduling system feedback
Complete instruction information.
6. a kind of automated guided vehicle, which is characterized in that the automated guided vehicle includes：
Receiving unit, for receiving the scheduling signals of scheduling system transmission；Wherein, the scheduling signals include target docking position
It sets, and the scheduling signals are to be received after material picks and places demand to issue by the scheduling system；
Mobile control unit, for being moved to the target docking location according to the scheduling signals；
First output unit is led for exporting to the target the service of connection devices at the target docking location for indicating described automatically
Draw ready first optical signal of transport vehicle；
Judging unit, for judging whether to receive by target the service of connection devices output for indicating that the target docking is set
Standby ready second optical signal；
Docking unit is executed, for judging to receive by target the service of connection devices output for table in the judging unit
After showing ready second optical signal of the target the service of connection devices, the docking operation with the target the service of connection devices is executed,
The docking operation includes at least one of taking materials handling and putting materials handling.
7. automated guided vehicle according to claim 6, which is characterized in that the automated guided vehicle further includes：
Determination unit, for the receiving unit receive scheduling system transmission scheduling signals after and the movement
Before control unit is moved to the target docking location according to the scheduling signals, working as the automated guided vehicle is determined
Preceding task to be done, and determine that the automated guided vehicle completes each single item required by task in the current task to be done
Most grow in short-term；
Feedback unit, for will complete each single item required by task in the current task to be done it is most long in short-term feed back to it is described
Scheduling system is judged according to each single item required by task in the completion current task to be done most with triggering the scheduling system
Grow in short-term it is calculated complete all required by task in the current task to be done it is total most it is long in short-term whether be less than with it is described
The corresponding target duration threshold value of scheduling signals, and judging result is issued to the automated guided vehicle；
The receiving unit is also used to receive the judging result；
Detection unit, for whether detecting in the judging result including continuing to execute instruction；
The mobile control unit, specifically for detecting to continue to hold comprising described in the judging result in the detection unit
After row instruction, the target docking location is moved to according to the scheduling signals.
8. automated guided vehicle according to claim 7, which is characterized in that the automated guided vehicle further includes：
Second output unit is used for for judging not receive in the judging unit by target the service of connection devices output
After indicating ready second optical signal of the target the service of connection devices, the first feedback signal of output to the scheduling system,
The feedback signal is for indicating the target the service of connection devices failure；
Switch unit, for the current working status of the automated guided vehicle to be switched to wait state；
The detection unit, is also used to detect whether to receive the second feedback signal sent by the scheduling system, and described the
Two feedback signals are for indicating the target the service of connection devices trouble shooting；
The switch unit is also used to detect in the detection unit to receive the second feedback sent by the scheduling system
After signal, the current working status of the automated guided vehicle is switched to execution state by the wait state；
First output unit is also used to judge not receive by target the service of connection devices output in the judging unit
For indicate after ready second optical signal of the target the service of connection devices and the switch unit will it is described from
After the current working status of dynamic guide transport lorry is switched to the execution state by the wait state, docked to the target
Target the service of connection devices at position is exported for indicating ready first optical signal of the automated guided vehicle.
9. according to the described in any item automated guided vehicles of claim 6~8, which is characterized in that unit is docked in the execution,
Including：
Judgment sub-unit, for judging to receive by target the service of connection devices output for indicating in the judging unit
After ready second optical signal of target the service of connection devices, judge that the target the service of connection devices is transported to the homing guidance
Whether the material loaded on defeated vehicle is target material；
The judgment sub-unit is also used to judging what the target the service of connection devices was loaded on the automated guided vehicle
Material be target material after, judge whether the placement location of the target material is target position；
Transmission sub-unit, for judge in the judgment sub-unit placement location of the target material be not target position it
Afterwards, adjustment signal is sent to the target the service of connection devices, the adjustment signal is for triggering target the service of connection devices adjustment institute
The placement location of target material is stated until the target material is in the target position.
10. automated guided vehicle according to claim 9, which is characterized in that the scheduling signals further include the mesh
Mark the total quantity of material：
The judging unit is also used to judging to receive by target the service of connection devices output for indicating the target
After ready second optical signal of the service of connection devices, and in execution docking unit execution and the target the service of connection devices
Docking operation after, judge whether the current quantity of the target material reaches the total quantity of the target material；
The feedback unit is also used to judge that the current quantity of the target material is not up to the mesh in the judging unit
After the total quantity for marking material, to the scheduling system feedback for indicating material imperfect information；
The feedback unit is also used to judge that the current quantity of the target material reaches the target in the judging unit
After the total quantity of material, the operation of transported material is executed, and dock the instruction information finished to the scheduling system feedback.
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