CN108891830B - Dispatching control method of automatic guided transport vehicle and automatic guided transport vehicle - Google Patents

Dispatching control method of automatic guided transport vehicle and automatic guided transport vehicle Download PDF

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CN108891830B
CN108891830B CN201810570170.1A CN201810570170A CN108891830B CN 108891830 B CN108891830 B CN 108891830B CN 201810570170 A CN201810570170 A CN 201810570170A CN 108891830 B CN108891830 B CN 108891830B
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target
guided vehicle
docking
automatic guided
scheduling
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CN108891830A (en
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彭华明
宋济川
朱忠
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GUANGZHOU YONEGY LOGISTICS AUTOMATION TECHNOLOGY Co Ltd
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GUANGZHOU YONEGY LOGISTICS AUTOMATION TECHNOLOGY Co Ltd
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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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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • 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 dispatching control method of an automatic guided vehicle and the automatic guided vehicle comprise the following steps: the automatic guide transport vehicle can receive a dispatching signal sent by the dispatching system after receiving the material taking and placing requirement; the automatic guided transporting vehicle can move to a target docking position of materials, target docking equipment used for carrying the materials to the automatic guided transporting vehicle is arranged on the target docking position, the automatic guided transporting vehicle outputs a first optical signal used for indicating the readiness of the automatic guided transporting vehicle to the target docking equipment, if the automatic guided transporting vehicle detects that the target equipment outputs a second optical signal used for indicating the readiness of the target docking equipment, the docking operation including at least one of material taking operation and material placing operation is started to be executed, the material scheduling operation can be completed through interaction between the equipment, manual operation is reduced, and material taking and placing errors caused by manual operation are reduced. By implementing the embodiment of the invention, the accuracy of taking and placing the material can be improved.

Description

Dispatching control method of automatic guided transport vehicle and automatic guided transport vehicle
Technical Field
The invention relates to the technical field of automatic guided vehicles, in particular to a dispatching control method of an automatic guided vehicle and the automatic guided vehicle.
Background
Factories typically use automated guided vehicles to effect movement of warehoused materials, such as: take material from a docking device (e.g., a machine or robot) and place on a shelf in a stock area, etc. In practical application, the automatic guide transport vechicle need accomplish with interfacing apparatus's butt joint before getting the material, if the automatic guide transport vechicle docks with interfacing apparatus not accurately, can influence getting of material and put the precision, and more serious can lead to the damage of material. Therefore, how to improve the butt joint accuracy of the automatic guided transport vehicle and the butt joint device and further improve the accuracy of material taking and placing is very important.
Disclosure of Invention
The embodiment of the invention discloses a scheduling control method of an automatic guided transport vehicle and the automatic guided transport vehicle, which can improve the accuracy of material taking and placing.
The first aspect of the embodiment of the invention discloses a scheduling control method of an automatic guided vehicle, which comprises the following steps:
the automatic guided vehicle receives a scheduling signal sent by a scheduling system; the dispatching signal comprises a target docking position, and is sent out after the dispatching system receives a material taking and placing requirement;
the automatic guided transporting vehicle moves to the target docking position according to the scheduling signal and outputs a first optical signal for indicating the readiness of the automatic guided transporting vehicle to target docking equipment at the target docking position;
the automated guided vehicle determines whether a second optical signal output by the target docking device is received indicating that the target docking device is ready;
and if the second optical signal is received, the automatic guided vehicle performs a docking operation with the target docking equipment, wherein the docking operation comprises at least one of a material taking operation and a material placing operation.
As an optional implementation manner, in the first aspect of the embodiment of the present invention, after the automated guided vehicle receives the scheduling signal sent by the scheduling system, and before the automated guided vehicle moves to the target docking position according to the scheduling signal, the method further includes:
the automatic guided transport vehicle determines the current tasks to be completed of the automatic guided transport vehicle and determines the shortest time required by the automatic guided transport vehicle to complete each task in the current tasks to be completed;
the automatic guided transporting vehicle feeds back the shortest time length required for completing each task in the current tasks to be completed to the scheduling system so as to trigger the scheduling system to judge whether the total shortest time length required for completing all tasks in the current tasks to be completed, which is calculated according to the shortest time length required for completing each task in the current tasks to be completed, is less than a target time length threshold value corresponding to the scheduling signal or not, and sends a judgment result to the automatic guided transporting vehicle;
and the automatic guided vehicle receives the judgment result, detects whether the judgment result comprises a continuous execution instruction, and executes the movement to the target docking position according to the scheduling signal when detecting that the judgment result comprises the continuous execution instruction.
As an optional implementation manner, in the first aspect of the embodiment of the present invention, after the automated guided vehicle determines that the second optical signal output by the target docking device and indicating that the target docking device is ready is not received, the method further includes:
the automated guided vehicle outputs a first feedback signal to the dispatching system, wherein the feedback signal is used for indicating the fault of the target docking equipment;
the automatic guided vehicle switches the current working state of the automatic guided vehicle into a waiting state and detects whether a second feedback signal sent by the dispatching system is received or not, wherein the second feedback signal is used for indicating that the fault of the target docking equipment is relieved;
when the second feedback signal is received, the automatic guided vehicle switches the current working state of the automatic guided vehicle from the waiting state to an executing state, and executes the outputting of the first optical signal for indicating the readiness of the automatic guided vehicle to the target docking device at the target docking position.
As an alternative implementation, in the first aspect of the embodiment of the present invention, the automated guided vehicle performs a docking operation with the target docking device, where the docking operation includes at least one of a material taking operation and a material placing operation, and the docking operation includes:
the automatic guided transporting vehicle judges whether the material loaded onto the automatic guided transporting vehicle by the target docking equipment is a target material;
if the target material is detected, the automatic guided vehicle judges whether the placement position of the target material is the target position;
if the target position is not the target position, the automatic guided vehicle sends an adjusting signal to the target docking equipment, and the adjusting signal is used for triggering the target docking equipment to adjust the placement position of the target material until the target material is located at the target position.
As an optional implementation manner, in the first aspect of the embodiment of the present invention, the scheduling signal further includes a total amount of the target material, and after the automated guided vehicle performs the docking operation with the target docking apparatus, the method further includes:
the automated guided vehicle determines whether the current quantity of the target material reaches the total quantity of the target material;
if the quantity of the materials is not reached, the automatic guided vehicle feeds back information for indicating that the materials are incomplete to the dispatching system;
and if so, the automatic guided transport vehicle executes the operation of transporting the materials and feeds back the indication information of the completion of the butt joint to the dispatching system.
A second aspect of the embodiments of the present invention discloses an automated guided vehicle, including:
the receiving unit is used for receiving the scheduling signal sent by the scheduling system; the dispatching signal comprises a target docking position, and is sent out after the dispatching system receives a material taking and placing requirement;
the mobile control unit is used for moving to the target docking position according to the scheduling signal;
a first output unit for outputting a first optical signal indicating readiness of the automated guided vehicle to a target docking device at the target docking location;
a determination unit configured to determine whether a second optical signal output by the target docking apparatus is received to indicate that the target docking apparatus is ready;
and the execution docking unit is used for executing a docking operation with the target docking device after the judgment unit judges that the second optical signal which is output by the target docking device and is used for indicating the readiness of the target docking device is received, wherein the docking operation comprises at least one of a material taking operation and a material placing operation.
As an alternative implementation, in the second aspect of the embodiment of the present invention, the automated guided vehicle further includes:
the determining unit is used for determining the current tasks to be completed of the automatic guided transport vehicle and determining the shortest time required by the automatic guided transport vehicle to complete each task in the current tasks to be completed after the receiving unit receives the scheduling signals sent by the scheduling system and before the mobile control unit moves to the target docking position according to the scheduling signals;
the feedback unit is used for feeding back the shortest time length required by finishing each task in the current to-be-finished tasks to the dispatching system so as to trigger the dispatching system to judge whether the total shortest time length required by finishing all tasks in the current to-be-finished tasks, which is calculated according to the shortest time length required by finishing each task in the current to-be-finished tasks, is less than a target time length threshold value corresponding to the dispatching signal or not, and sending a judgment result to the automatic guided transport vehicle;
the receiving unit is further configured to receive the determination result;
the detection unit is used for detecting whether the judgment result comprises a continuous execution instruction or not;
the movement control unit is specifically configured to move to the target docking position according to the scheduling signal after the detection unit detects that the determination result includes the continuous execution instruction.
As an alternative implementation, in the second aspect of the embodiment of the present invention, the automated guided vehicle further includes:
a second output unit, configured to output a first feedback signal to the scheduling system after the determining unit determines that the second optical signal output by the target docking device and used for indicating that the target docking device is ready is not received, where the feedback signal is used for indicating that the target docking device is faulty;
the switching unit is used for switching the current working state of the automatic guided vehicle into a waiting state;
the detection unit is further configured to detect whether a second feedback signal sent by the scheduling system is received, where the second feedback signal is used to indicate that the target docking device is released from the fault;
the switching unit is further used for switching the current working state of the automatic guided vehicle from the waiting state to an executing state after the detection unit detects that a second feedback signal sent by the dispatching system is received;
the first output unit is further configured to output a first optical signal indicating readiness of the automated guided vehicle to the target docking device at the target docking position after the determination unit determines that the second optical signal indicating readiness of the target docking device output by the target docking device is not received and after the switching unit switches the current operating state of the automated guided vehicle from the waiting state to the executing state.
As an optional implementation manner, in a second aspect of the embodiment of the present invention, the execution docking unit includes:
the judging subunit is configured to, after the judging unit judges that the second optical signal output by the target docking device and used for indicating the readiness of the target docking device is received, judge whether the material loaded onto the automated guided transport vehicle by the target docking device is a target material;
the judging subunit is further configured to judge whether a placement position of the target material is a target position after judging that the material loaded onto the automated guided vehicle by the target docking equipment is the target material;
and the sending subunit is configured to send an adjustment signal to the target docking equipment after the judging subunit judges that the placement position of the target material is not the target position, where the adjustment signal is used to trigger the target docking equipment to adjust the placement position of the target material until the target material is at the target position.
As an optional implementation manner, in the second aspect of the embodiment of the present invention, the scheduling signal further includes a total amount of the target material:
the judging unit is further configured to judge whether the current amount of the target material reaches the total amount of the target material after judging that the second optical signal output by the target docking device and indicating that the target docking device is ready is received and after the executing docking unit executes the docking operation with the target docking device;
the feedback unit is further configured to feed back information used for indicating incomplete materials to the scheduling system after the judging unit judges that the current quantity of the target materials does not reach the total quantity of the target materials;
the feedback unit is further configured to execute an operation of transporting the materials after the judging unit judges that the current quantity of the target materials reaches the total quantity of the target materials, and feed back the indication information of the completed butt joint to the scheduling system.
The third aspect of the embodiment of the invention discloses an automatic guided vehicle, which comprises:
a memory storing executable program code;
a processor coupled with the memory;
the processor calls the executable program code stored in the memory to execute the dispatching control method of the automated guided vehicle disclosed by the first aspect of the embodiment of the invention.
A fourth aspect of the embodiments of the present invention discloses a computer-readable storage medium storing a computer program, where the computer program causes a computer to execute the method for controlling the scheduling of an automated guided vehicle disclosed in the first aspect of the embodiments of the present invention.
A fifth aspect of an embodiment of the present invention discloses a computer program product, which, when running on a computer, causes the computer to execute the method for controlling the dispatching of an automated guided vehicle disclosed in the first aspect.
Compared with the prior art, the embodiment of the invention has the following beneficial effects:
in the embodiment of the invention, the automatic guided transport vehicle can receive the dispatching signal sent after the dispatching system receives the material taking and placing requirement; the automatic guided transporting vehicle can move to a target docking position of materials, target docking equipment used for carrying the materials to the automatic guided transporting vehicle is arranged on the target docking position, the automatic guided transporting vehicle outputs a first optical signal used for indicating the readiness of the automatic guided transporting vehicle to the target docking equipment, if the automatic guided transporting vehicle detects that the target equipment outputs a second optical signal used for indicating the readiness of the target docking equipment, the docking operation including at least one of material taking operation and material placing operation is started to be executed, the material scheduling operation can be completed through interaction between the equipment, manual operation is reduced, and material taking and placing errors caused by manual operation are reduced. In conclusion, by implementing the embodiment of the invention, the accuracy of taking and placing the material can be improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic flow chart of a scheduling control method for an automated guided vehicle according to an embodiment of the present invention;
fig. 2 is a schematic flow chart of another method for controlling the dispatching of the automated guided vehicle according to the embodiment of the invention;
fig. 3 is a schematic flow chart of another method for controlling the dispatching of the automated guided vehicle according to the embodiment of the present invention;
fig. 4 is a schematic structural diagram of an automated guided vehicle according to an embodiment of the present invention;
FIG. 5 is a schematic structural view of another automated guided vehicle according to an embodiment of the present invention;
FIG. 6 is a schematic structural diagram of another automated guided vehicle according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of another automated guided vehicle according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It is to be noted that the terms "comprises" and "comprising" and any variations thereof in the embodiments and drawings of the present invention are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.
The embodiment of the invention discloses a scheduling control method of an automatic guided transport vehicle and the automatic guided transport vehicle, which can improve the accuracy of material taking and placing. The following are detailed below.
Example one
Referring to fig. 1, fig. 1 is a schematic flow chart illustrating a scheduling control method for an automated guided vehicle according to an embodiment of the present invention. The dispatch control method of the automated guided vehicle as shown in fig. 1 may include the steps of:
101. the automatic guided vehicle receives a scheduling signal sent by a scheduling system; the scheduling signal comprises a target butt joint position, and is sent out after the scheduling system receives a material taking and placing requirement.
In this embodiment of the present invention, the scheduling signal may further include at least one of a number of the target docking device located at the target docking position, information on the quantity of the materials to be transported located at the target docking position, and information on the type of the materials to be transported, which is not limited in this embodiment of the present invention.
In the embodiment of the present invention, an Automated Guided Vehicle (AGV) is a transport Vehicle equipped with an electromagnetic or optical automatic guide device, which can travel along a predetermined guide route and has safety protection and various transfer functions.
102. The automated guided vehicle moves to the target docking position according to the scheduling signal, and outputs a first optical signal indicating readiness of the automated guided vehicle to the target docking device at the target docking position.
In this embodiment of the present invention, the form of the first optical signal output by the target docking device may be a preset constant or a preset flicker, which is not limited in this embodiment of the present invention.
In the embodiment of the present invention, optionally, an infrared sensing device or an ultrasonic sensing device may be disposed at the target docking position, which is not limited in the embodiment of the present invention. The sensing device of the target docking position is connected with the target docking equipment, and when the automatic guided transport vehicle moves to the target docking position according to the scheduling signal, the sensing device of the target docking position can sense the automatic guided transport vehicle; upon sensing that the automated guided vehicle is stationary (i.e., the automated guided vehicle is stationary), the sensing device may send a signal to the target docking device indicating that the automated guided vehicle has arrived. Therefore, the docking efficiency of the automatic guide transport vehicle and the target docking equipment can be improved.
103. The automated guided vehicle determines whether a second optical signal output by the target docking device indicating that the target docking device is ready is received, and if so, performs step 104, and if not, performs step 103.
104. The automated guided vehicle performs a docking operation with the target docking device, the docking operation including at least one of a material pick-up operation and a material drop-off operation.
In this embodiment of the present invention, optionally, the docking operation performed by the automated guided vehicle with the target docking device may include: and taking out the material on the automated guided vehicle and placing the material in the preset range of the target docking position, and placing the material in the preset range of the target docking position on the automated guided vehicle, which is not limited in the embodiment of the present invention.
As an optional implementation manner, after receiving the scheduling signal sent by the scheduling system in step 101, the method may further include the following steps:
the automatic guided transport vehicle determines a moving route according to the target butt joint position and the current position of the automatic guided transport vehicle; the moving route can be the shortest route in time use or the shortest route in distance;
the automated guided vehicle moving to the target docking position according to the scheduling signal may include:
and the automatic guiding transport vehicle moves to the target docking position according to the scheduling signal and the moving route.
Therefore, the optional implementation mode is executed, the moving route can be automatically determined, the labor cost is reduced, and the carrying efficiency is improved.
As another alternative, the step 102 of moving to the target docking position according to the scheduling signal and outputting the first optical signal indicating the readiness of the automated guided vehicle to the target docking device at the target docking position may include the following steps:
the automatic guided transport vehicle moves to a target butt joint position according to the scheduling signal;
the automatic guided vehicle determines a docking port on the target docking device through the camera and outputs a first optical signal for indicating the readiness of the automatic guided vehicle to the docking port.
Therefore, by implementing the alternative embodiment, the situation that the target docking device cannot receive the first optical signal output by the automatic guided vehicle to the non-docking port can be avoided by determining the docking port on the target docking device, and the docking efficiency is improved.
As another optional implementation manner, after receiving the scheduling signal sent by the scheduling system in step 101, the method may further include the following steps:
the automatic guided vehicle acquires a current task to be completed and a current moving route; the current moving route is a running route for the automatic guided vehicle to finish the current task to be finished in the shortest time;
the automatic guided vehicle determines a target moving route according to the current task to be completed, the current moving route and the target docking position included by the scheduling signal so as to replace the current moving route; the target moving route is a running route for the automatic guided vehicle to finish the current task to be finished and the task to be finished comprising the scheduling signal within the shortest time;
the specific implementation mode that the automatic guided vehicle moves to the target docking position according to the scheduling signal is as follows: and the automatic guiding transport vehicle moves to the target docking position according to the scheduling signal and the target moving route.
Therefore, the execution of the alternative implementation mode can adjust the driving route in time when a new scheduling task is received, so that all scheduling tasks are completed in the shortest time, and the scheduling efficiency of the automatic guided vehicle is improved.
As still another alternative, step 104 may perform a docking operation with the target docking device, and may include the following steps:
the automatic guided vehicle judges whether the docking operation with the target docking equipment comprises material taking operation, material placing operation or material taking and placing operation according to the scheduling signal, and determines material information contained in the scheduling signal, wherein the material information comprises material types and material quantity;
if the docking operation with the target docking equipment comprises material taking operation, the automatic guided vehicle can judge whether the information of the materials placed on the automatic guided vehicle by the target docking equipment is matched with the material information contained in the scheduling signal or not in a mode that the camera scans the two-dimensional code after the target docking equipment completes the carrying task, and if so, the material taking task is ended;
if the docking operation with the target docking equipment comprises a material placing operation, the automatic guided vehicle screens a target material which needs to be placed in a preset range where a target docking position is located in through a mode that a camera scans a two-dimensional code, and marks the target material, so that the target docking equipment takes the target material out of the automatic guided vehicle and places the target material in the preset range where the target docking position is located, and then after the target docking equipment completes a carrying task, the automatic guided vehicle can judge whether the target material still exists in the automatic guided vehicle or not through a mode that the camera scans the two-dimensional code, and if the target material does not exist, the material placing task is finished;
if the butt joint operation with the target butt joint equipment comprises material taking and placing operation, the automatic guide transport vehicle can finish the material taking task and the material placing task according to the steps, and after the material taking task and the material placing task are finished, whether materials contained in the material taking task and materials contained in the material placing task exist on the automatic guide transport vehicle or not is judged through the form of scanning the two-dimensional code through the camera, and if yes, the material taking and placing task is finished.
Therefore, the execution of the alternative implementation mode can improve the material taking and placing accuracy in a mode that the camera scans the two-dimensional code.
Therefore, by implementing the method described in fig. 1, the docking efficiency of the automated guided vehicle and the target docking device can be improved, and the moving route can be automatically determined, so that the labor cost is reduced, and the carrying efficiency is improved; the driving route is adjusted in time when a new scheduling task is received, so that all scheduling tasks are completed in the shortest time, and the scheduling effect of the automatic guided vehicle is improved; and the form of scanning the two-dimensional code through the camera improves the precision of getting and putting of material.
Example two
Referring to fig. 2, fig. 2 is a schematic flow chart illustrating another method for controlling dispatching of an automated guided vehicle according to an embodiment of the present invention. The dispatch control method of the automated guided vehicle as shown in fig. 2 may include the steps of:
in the embodiment of the present invention, the method for controlling the dispatching of the automated guided vehicle includes step 201, step 205, step 206, and step 210, and for the description of step 201, step 205, step 206, and step 210, please refer to the detailed description of step 101 to step 104 in the first embodiment, which is not repeated in the embodiment of the present invention.
202. The automatic guided vehicle determines the current tasks to be completed of the automatic guided vehicle and determines the shortest time required by the automatic guided vehicle to complete each task in the current tasks to be completed.
In the embodiment of the present invention, optionally, the automated guided vehicle may determine the shortest time required for the automated guided vehicle to complete each task of the tasks to be completed currently according to the history, and the automated guided vehicle may also determine the longest time required for the automated guided vehicle to complete each task of the tasks to be completed currently, which is not limited in the embodiment of the present invention.
203. The automatic guided transporting vehicle feeds back the shortest time length required for completing each task in the current tasks to be completed to the scheduling system, so as to trigger the scheduling system to judge whether the total shortest time length required for completing all tasks in the current tasks to be completed, which is calculated according to the shortest time length required for completing each task in the current tasks to be completed, is less than a target time length threshold corresponding to the scheduling signal or not, and sends the judgment result to the automatic guided transporting vehicle.
In the embodiment of the invention, after the automatic guided vehicle feeds back the shortest time length required for completing each task in the current tasks to be completed to the scheduling system, the scheduling system can determine the total time length S for completing all the current tasks to be completed (it needs to be noted that S is the sum of the shortest time lengths required for each task); the scheduling system may also be based on S and currentDetermining the time T of completing all current tasks to be completed and the latest execution time T of the tasks of the scheduling signals at any time, and determining the longest time length S1 from the position X1 to the target docking position X2 when all the current tasks to be completed are completed according to the subtraction of the time T and the time T; the scheduling system may also determine the actual required minimum duration S2 of X1 to X2 and determine whether the values of S1-S2 are greater than zero, and if so, determine that the automated guided vehicle may reach the target docking position before the latest execution time t of the task of the scheduling signal, and if not, determine that the automated guided vehicle may not reach the target docking position before the latest execution time t of the task of the scheduling signal. Namely: the target duration threshold corresponding to the scheduling signal is equal to (t-t)0) -S2, wherein t0Is the current time when the scheduling signal is received.
Further, if the automated guided vehicle can reach the target docking position before the latest execution time t of the task of the scheduling signal, step 205 is performed, and if the automated guided vehicle cannot reach the target docking position before the latest execution time t of the task of the scheduling signal, the scheduling system ends the task progress of the automated guided vehicle corresponding to the scheduling signal and transmits the scheduling signal to the automated guided vehicle that can reach the target docking position before the latest execution time t of the task of the scheduling signal.
For example, after the automated guided vehicle feeds back the shortest time required for completing each of the 3 tasks to be completed currently (where the shortest time required for task 1 is 10min, the shortest time required for task 2 is 15min, and task 3 is a docking task corresponding to the scheduling signal, that is, the latest docking task to be completed this time) to the scheduling system, the scheduling system may determine that the total time required for completing the 2 tasks is 10min +15min — 25min, and that the current time is 09: 00, and the latest execution time 10 of the task corresponding to the scheduling signal: 00, and time 09 when the automated guided vehicle completes tasks 1 and 2: 25. as can be seen from the above, if the shortest time length from the position where task 2 is completed to the position where task 3 is completed, which is calculated by the automated guided vehicle, is 30min, since 25min is less than or equal to 60min to 30min, the scheduling system defaults that the automated guided vehicle can execute the following tasks at the latest execution time 10 of the task of the scheduling signal: 00 before reaching the target docking position.
It can be seen that the implementation of this alternative embodiment can improve the material handling efficiency.
204. And the automated guided vehicle receives the judgment result and detects whether the judgment result comprises a continuous execution instruction, if so, the step 205 is executed, and if not, the process is ended.
207. The automated guided vehicle outputs a first feedback signal to the dispatch system, the feedback signal being indicative of a failure of the target docking device.
In this embodiment of the present invention, if it is determined in step 206 that the second optical signal output by the target docking device for indicating that the target docking device is ready is not received, step 207 of outputting the first feedback signal to the scheduling system is performed.
In this embodiment of the present invention, optionally, after the step 207 outputs the first feedback signal to the scheduling system, the scheduling system may feed back the equipment fault included in the first feedback signal to the equipment of the relevant person, so that the relevant person can overhaul the target docking equipment in time; after the relevant person completes the maintenance work, the scheduling system may receive the maintenance completion (i.e., trouble-free) information transmitted by the equipment of the relevant person, and then transmit a second feedback signal indicating trouble-free to the automated guided vehicle.
208. And the automatic guided vehicle switches the current working state of the automatic guided vehicle into a waiting state and detects whether a second feedback signal sent by the dispatching system is received, wherein the second feedback signal is used for indicating that the fault of the target docking equipment is relieved.
As an optional implementation manner, after the automated guided vehicle switches the current working state of the automated guided vehicle to the waiting state and detects that the second feedback signal sent by the scheduling system is not received, the automated guided vehicle detects whether a third feedback signal indicating that the target docking device is damaged is received, and if so, ends the docking task this time.
209. When the second feedback signal is received, the automated guided vehicle switches the current working state of the automated guided vehicle from the waiting state to the executing state, and performs step 205.
Therefore, the implementation of the method described in fig. 2 can improve the docking efficiency of the automated guided vehicle and the target docking device, and the moving route is automatically determined, so that the labor cost is reduced, and the carrying efficiency is improved; the driving route is adjusted in time when a new scheduling task is received, so that all scheduling tasks are completed in the shortest time, and the scheduling effect of the automatic guided vehicle is improved; the picking and placing accuracy of the materials is improved in a mode that the two-dimensional codes are scanned by the camera; and the material handling efficiency is improved; and the reporting speed of the timely reporting scheduling system when the butt joint equipment does not react is improved.
EXAMPLE III
Referring to fig. 3, fig. 3 is a schematic flow chart illustrating a scheduling control method for an automated guided vehicle according to an embodiment of the present invention. Wherein the scheduling signal further includes the total amount of the target materials, the scheduling control method of the automated guided vehicle as shown in fig. 3 may include the steps of:
in the embodiment of the present invention, the method for controlling the dispatching of the automated guided vehicle includes steps 301 to 309, and for the description of steps 301 to 309, please refer to the detailed description of steps 201 to 209 in the second embodiment, which is not repeated herein.
310. The automated guided vehicle judges whether the material loaded on the automated guided vehicle by the target docking equipment is the target material, if so, step 311 is executed, and if not, an error signal is fed back to the dispatching center.
In the embodiment of the present invention, optionally, after the automated guided vehicle detects that the target docking device completes the docking operation, the automated guided vehicle may determine, in a form that the camera scans the two-dimensional code/barcode, whether the material loaded onto the automated guided vehicle by the target docking device is the target material, if so, execute step 311, and if not, feed back an error signal to the scheduling center.
311. The automated guided vehicle determines whether the placement position of the target material is the target position, if so, performs step 313, and if not, performs step 312.
312. The automatic guide transport vehicle sends an adjusting signal to the target docking equipment, and the adjusting signal is used for triggering the target docking equipment to adjust the placing position of the target material until the target material is located at the target position.
In this embodiment of the present invention, after the step 312 sends the adjustment signal to the target docking device, the automated guided vehicle may detect whether the target docking device (e.g., the manipulator) picks up the target material on the automated guided vehicle, and if so, output the guidance information for guiding the target docking device to move according to the current suspended position of the target material until the target docking device places the target material at the target position. If the target material is placed at the target position, the placing stability of the target material on the automatic guide transport vehicle is higher in the transportation process of the automatic guide transport vehicle, and the probability that the target material falls from the automatic guide transport vehicle can be reduced.
For example, if the target material is 8 pieces and the shape is a cube, the automated guided vehicle controls the target docking apparatus to place the target material at the target location in 2 pieces long by 2 pieces wide by 2 pieces high.
313. The automated guided vehicle determines whether the current quantity of target material reaches the total quantity of target material, and if so, performs step 315, and if not, performs step 314.
314. The automated guided vehicle feeds back information to the dispatch system indicating that the material is incomplete.
315. The automatic guide transport vehicle carries out the operation of transporting materials and feeds back the indication information of the completion of butt joint to the dispatching system.
Therefore, by implementing the method described in fig. 3, the docking efficiency of the automated guided vehicle and the target docking device can be improved, and the moving route can be automatically determined, so that the labor cost is reduced, and the carrying efficiency is improved; the driving route is adjusted in time when a new scheduling task is received, so that all scheduling tasks are completed in the shortest time, and the scheduling effect of the automatic guided vehicle is improved; the picking and placing accuracy of the materials is improved in a mode that the two-dimensional codes are scanned by the camera; and the material handling efficiency is improved; the reporting speed of the scheduling system is increased when the docking equipment does not react; when the target material is placed at the target position, the placing stability of the target material on the automatic guide transport vehicle is higher in the transportation process of the automatic guide transport vehicle, and the probability that the target material falls off from the automatic guide transport vehicle can be reduced; and improving the consistency of the information of the target material in the docking operation and the material information in the scheduling signal.
Example four
Referring to fig. 4, fig. 4 is a schematic structural diagram of an automated guided vehicle according to an embodiment of the present invention. As shown in fig. 4, the automated guided vehicle may include: a receiving unit 401, a movement control unit 402, a first output unit 403, a judging unit 404, and an execution docking unit 405, wherein,
a receiving unit 401, configured to receive a scheduling signal sent by a scheduling system; the scheduling signal comprises a target butt joint position, and is sent out after the scheduling system receives a material taking and placing requirement.
In this embodiment of the present invention, the scheduling signal may further include at least one of a number of the target docking device located at the target docking position, information on the quantity of the materials to be transported located at the target docking position, and information on the type of the materials to be transported, which is not limited in this embodiment of the present invention.
In the embodiment of the present invention, an Automated Guided Vehicle (AGV) is a transport Vehicle equipped with an electromagnetic or optical automatic guide device, which can travel along a predetermined guide route and has safety protection and various transfer functions.
In this embodiment of the present invention, after the receiving unit 401 receives the scheduling signal sent by the scheduling system, the mobile control unit 402 is triggered to start.
A moving control unit 402, configured to move to the target docking position according to the scheduling signal.
In the embodiment of the present invention, after the mobile control unit 402 moves to the target docking position according to the scheduling signal, the first output unit 403 is triggered to start.
A first output unit 403 for outputting a first optical signal indicating readiness of the automated guided vehicle to the target docking device at the target docking location.
In this embodiment of the present invention, the first output unit 403 may output the first optical signal in a form of a preset constant or a preset flicker, which is not limited in this embodiment of the present invention.
In the embodiment of the present invention, optionally, an infrared sensing device or an ultrasonic sensing device may be disposed at the target docking position, which is not limited in the embodiment of the present invention. The sensing device of the target docking position is connected with the target docking equipment, and when the mobile control unit 402 moves to the target docking position according to the scheduling signal, the sensing device of the target docking position can sense the automatic guided vehicle; upon sensing that the automated guided vehicle is stationary (i.e., the automated guided vehicle is stationary), the sensing device may send a signal to the target docking device indicating that the automated guided vehicle has arrived. Therefore, the docking efficiency of the automatic guide transport vehicle and the target docking equipment can be improved.
In the embodiment of the present invention, after the first output unit 403 outputs the first optical signal indicating the readiness of the automated guided vehicle to the target docking apparatus at the target docking position, the trigger determining unit 404 is activated.
A determining unit 404, configured to determine whether a second optical signal output by the target docking device and indicating that the target docking device is ready is received.
And an executing unit 405, configured to execute a docking operation with the target docking apparatus after the determining unit 404 determines that the second optical signal output by the target docking apparatus and indicating that the target docking apparatus is ready is received, where the docking operation includes at least one of a material taking operation and a material placing operation.
In this embodiment of the present invention, optionally, a specific implementation manner of performing the docking operation performed by the docking unit 405 with the target docking device may be: and taking out the material on the automated guided vehicle and placing the material in the preset range of the target docking position, and placing the material in the preset range of the target docking position on the automated guided vehicle, which is not limited in the embodiment of the present invention.
As an optional implementation manner, after the receiving unit 401 receives the scheduling signal sent by the scheduling system, the receiving unit 401 may further be configured to perform the following operations:
determining a moving route according to the target docking position and the current position of the automatic guided vehicle; the moving route can be the shortest route in time use or the shortest route in distance;
moving to the target docking position according to the scheduling signal may include:
and moving to the target docking position according to the scheduling signal and the moving route.
Therefore, the optional implementation mode is executed, the moving route can be automatically determined, the labor cost is reduced, and the carrying efficiency is improved.
As another alternative, the specific implementation manner of the first output unit 403 outputting the first optical signal for indicating the readiness of the automated guided vehicle to the target docking device at the target docking position may be:
and determining a docking interface on the target docking equipment through the camera, and outputting a first optical signal for indicating the readiness of the automatic guided vehicle to the docking interface.
Therefore, by implementing the alternative embodiment, the situation that the target docking device cannot receive the first optical signal output by the automatic guided vehicle to the non-docking port can be avoided by determining the docking port on the target docking device, and the docking efficiency is improved.
As another optional implementation manner, after the receiving unit 401 receives the scheduling signal sent by the scheduling system, the receiving unit 401 may further be configured to perform the following operations:
acquiring a current task to be completed and a current moving route; the current moving route is a running route for the automatic guided vehicle to finish the current task to be finished in the shortest time;
determining a target moving route according to the current task to be completed, the current moving route and the target docking position included by the scheduling signal so as to replace the current moving route; the target moving route is a running route for the automatic guided vehicle to finish the current task to be finished and the task to be finished comprising the scheduling signal within the shortest time;
the specific implementation mode of moving to the target docking position according to the scheduling signal is as follows: and the automatic guiding transport vehicle moves to the target docking position according to the scheduling signal and the target moving route.
Therefore, the execution of the alternative implementation mode can adjust the driving route in time when a new scheduling task is received, so that all scheduling tasks are completed in the shortest time, and the scheduling efficiency of the automatic guided vehicle is improved.
As still another alternative embodiment, the executing docking unit 405 executing the docking operation with the target docking device may include the following steps:
judging whether the docking operation with the target docking equipment comprises a material taking operation, a material placing operation or a material taking and placing operation according to the scheduling signal, and determining material information contained in the scheduling signal, wherein the material information comprises a material type and a material quantity;
if the docking operation with the target docking equipment comprises a material taking operation, after the target docking equipment completes a carrying task, judging whether the information of the material placed on the automatic guided transport vehicle by the target docking equipment is matched with the material information contained in the scheduling signal or not in a mode of scanning the two-dimensional code by the camera, and if so, finishing the material taking task;
if the docking operation with the target docking equipment comprises a material placing operation, screening a target material to be placed in a preset range where a target docking position is located in through a camera scanning two-dimensional code mode, and marking the target material so that the target docking equipment can take the target material out of the automatic guided vehicle and place the target material in the preset range where the target docking position is located, and further after the target docking equipment completes a carrying task, the automatic guided vehicle can judge whether the target material still exists in the automatic guided vehicle through the camera scanning two-dimensional code mode, and if the target material does not exist, the material placing task is finished;
if the butt joint operation with the target butt joint equipment comprises material taking and placing operation, the material taking task and the material placing task can be completed according to the steps, whether materials contained in the material taking task and the materials contained in the material placing task exist on the automatic guide transport vehicle or not is judged in a mode that the two-dimensional codes are scanned through the camera after the material taking task and the material placing task are completed, and if yes, the material taking and placing task is finished.
Therefore, the execution of the alternative implementation mode can improve the material taking and placing accuracy in a mode that the camera scans the two-dimensional code.
Therefore, the implementation of the automated guided vehicle depicted in fig. 4 can improve the docking efficiency of the automated guided vehicle and the target docking device, and the moving route is automatically determined, so that the labor cost is reduced, and the carrying efficiency is improved; the driving route is adjusted in time when a new scheduling task is received, so that all scheduling tasks are completed in the shortest time, and the scheduling effect of the automatic guided vehicle is improved; and the form of scanning the two-dimensional code through the camera improves the precision of getting and putting of material.
EXAMPLE five
Referring to fig. 5, fig. 5 is a schematic structural diagram of another automated guided vehicle according to an embodiment of the present invention. The automated guided vehicle shown in fig. 5 is optimized from the automated guided vehicle shown in fig. 4. Compared to the automated guided vehicle shown in fig. 4, the automated guided vehicle shown in fig. 5 may further include: a determination unit 406, a feedback unit 407, a detection unit 408, a second output unit 409, and a switching unit 410, wherein,
a determining unit 406, configured to determine the current task to be completed of the automated guided vehicle after the receiving unit 401 receives the scheduling signal sent by the scheduling system and before the mobile control unit 402 moves to the target docking position according to the scheduling signal, and determine the shortest time length required by the automated guided vehicle to complete each task in the current task to be completed.
In this embodiment of the present invention, optionally, the determining unit 406 may determine, according to the history, a shortest time length required for the automated guided vehicle to complete each task of the tasks to be currently completed, and the determining unit 406 may also determine a longest time length required for completing each task of the tasks to be currently completed.
In the embodiment of the present invention, after the determining unit 406 determines the current tasks to be completed of the automated guided vehicle, and determines the shortest time required for the automated guided vehicle to complete each task in the current tasks to be completed, the triggering feedback unit 407 is started.
And the feedback unit 407 is configured to feed back the shortest time length required for completing each of the tasks to be completed to the scheduling system, so as to trigger the scheduling system to determine whether the total shortest time length required for completing all tasks in the tasks to be completed, which is calculated according to the shortest time length required for completing each of the tasks to be completed, is less than a target time length threshold corresponding to the scheduling signal, and issue a determination result to the automated guided vehicle.
In the embodiment of the present invention, after the shortest time length required for completing each task in the current to-be-completed tasks is fed back to the scheduling system, the scheduling system may determine a total time length S for completing all current to-be-completed tasks (it should be noted that S is the sum of the shortest time lengths required for each task); the scheduling system can also determine the time T for completing all current tasks to be completed and the latest execution time T of the tasks of the scheduling signal according to the S and the current time, and determine the longest time length S1 from the position X1 to the target docking position X2 when all the current tasks to be completed are completed according to the subtraction of the T and the T; scheduling systemThe system may also determine the actual minimum required duration S2 of X1 to X2, and determine whether the values of S1-S2 are greater than zero, and if so, determine that the automated guided vehicle can reach the target docking position before the latest execution time t of the task of the dispatch signal, and if not, determine that the automated guided vehicle cannot reach the target docking position before the latest execution time t of the task of the dispatch signal. Namely: the target duration threshold corresponding to the scheduling signal is equal to (t-t)0) -S2, wherein t0Is the current time when the scheduling signal is received.
Further, if the target docking position can be reached before the latest execution time t of the task of the scheduling signal, the movement control unit 402 is triggered to execute the operation of moving to the target docking position according to the scheduling signal, and if the target docking position cannot be reached before the latest execution time t of the task of the scheduling signal, the scheduling system ends the task progress of the automated guided vehicle corresponding to the scheduling signal and transmits the scheduling signal to the automated guided vehicle that can reach the target docking position before the latest execution time t of the task of the scheduling signal.
It can be seen that the implementation of this alternative embodiment can improve the material handling efficiency.
The receiving unit 401 is further configured to receive the determination result.
In the embodiment of the present invention, after the feedback unit 407 feeds back the shortest duration required for completing each task in the current tasks to be completed to the scheduling system, the receiving unit 401 is triggered to execute the operation of receiving the determination result.
In this embodiment of the present invention, after the receiving unit 401 receives the determination result, the trigger detecting unit 408 is started.
The detecting unit 408 is configured to detect whether the determination result includes a continue execution instruction.
Specifically, the movement control unit 402 is configured to move to the target docking position according to the scheduling signal after the detection unit 408 detects that the determination result includes the instruction to continue execution.
A second output unit 409, configured to output a first feedback signal to the scheduling system after the determining unit 404 determines that the second optical signal output by the target docking device and used for indicating that the target docking device is ready is not received, where the feedback signal is used for indicating that the target docking device is faulty.
In the embodiment of the present invention, optionally, after the second output unit 409 outputs the first feedback signal to the scheduling system, the scheduling system may feed back the equipment fault included in the first feedback signal to the equipment of the relevant person, so that the relevant person can overhaul the target docking equipment in time; after the relevant person has completed the maintenance work, the scheduling system may receive the maintenance completion (i.e., trouble-free) information transmitted by the equipment of the relevant person, and then automatically guide the transportation vehicle to transmit a second feedback signal indicating trouble-free.
In the embodiment of the present invention, after the second output unit 409 outputs the first feedback signal to the scheduling system, the switching unit 410 is triggered to start.
And a switching unit 410 for switching the current working state of the automated guided vehicle to a waiting state.
In the embodiment of the present invention, after the switching unit 410 switches the current operating state of the automated guided vehicle to the waiting state, the trigger detecting unit 408 performs an operation of detecting whether the second feedback signal transmitted by the scheduling system is received.
As an alternative embodiment, after detecting that the second feedback signal sent by the scheduling system is not received after the switching unit 410 switches the current working state of the automated guided vehicle to the waiting state, the detecting unit 408 detects whether a third feedback signal indicating that the target docking device is damaged is received, and if so, ends the docking task.
The detecting unit 408 is further configured to detect whether a second feedback signal sent by the scheduling system is received, where the second feedback signal is used to indicate that the target docking device is released from the fault.
The switching unit 410 is further configured to switch the current operating state of the automated guided vehicle from the waiting state to the executing state after the detecting unit 408 detects that the second feedback signal sent by the dispatching system is received.
The first output unit 403 is further configured to output a first optical signal indicating readiness of the automated guided vehicle to the target docking device at the target docking position after the determination unit 408 determines that the second optical signal indicating readiness of the target docking device output by the target docking device is not received and after the switching unit 410 switches the current operating state of the automated guided vehicle from the waiting state to the executing state.
Therefore, the implementation of the automated guided vehicle depicted in fig. 5 can improve the docking efficiency of the automated guided vehicle and the target docking device, and the moving route is automatically determined, so that the labor cost is reduced, and the carrying efficiency is improved; the driving route is adjusted in time when a new scheduling task is received, so that all scheduling tasks are completed in the shortest time, and the scheduling effect of the automatic guided vehicle is improved; the picking and placing accuracy of the materials is improved in a mode that the two-dimensional codes are scanned by the camera; and the material handling efficiency is improved; and the reporting speed of the timely reporting scheduling system when the butt joint equipment does not react is improved.
EXAMPLE six
Referring to fig. 6, fig. 6 is a schematic structural diagram of another automated guided vehicle according to an embodiment of the present invention. The automated guided vehicle shown in fig. 6 is optimized from the automated guided vehicle shown in fig. 5. Wherein the scheduling signal further includes a total amount of the target material, and compared with the automated guided vehicle shown in fig. 5, the automated guided vehicle shown in fig. 6, the performing the docking unit 405 may include: a judgment sub-unit 4051 and a transmission sub-unit 4052, wherein,
a determining sub-unit 4051, configured to determine whether the material loaded onto the automated guided transport vehicle by the target docking apparatus is the target material after the determining unit 404 determines that the second optical signal output by the target docking apparatus and used for indicating that the target docking apparatus is ready is received.
In the embodiment of the present invention, optionally, after it is detected that the target docking apparatus completes the docking operation, the determining subunit 4051 may determine, in a form that the camera scans the two-dimensional code/barcode, whether the material loaded onto the automated guided transport vehicle by the target docking apparatus is the target material, if so, trigger the determining subunit 4051 to perform an operation of determining whether the placement position of the target material is the target position, and if not, feed back an error signal to the scheduling center.
The determining subunit 4051 is further configured to determine, after determining that the material loaded onto the automated guided vehicle by the target docking apparatus is the target material, whether the placement position of the target material is the target position.
The sending subunit 4052 is configured to send, after the determining subunit 4051 determines that the placement position of the target material is not the target position, an adjustment signal to the target docking apparatus, where the adjustment signal is used to trigger the target docking apparatus to adjust the placement position of the target material until the target material is located at the target position.
In the embodiment of the present invention, after the sending sub-unit 4052 sends the adjustment signal to the target docking device, the sending sub-unit 4052 may detect whether the target docking device (e.g., the manipulator) picks up the target material on the automated guided vehicle, and if so, output the guidance information for guiding the target docking device to move according to the current suspended position of the target material until the target docking device places the target material at the target position. If the target material is placed at the target position, the placing stability of the target material on the automatic guide transport vehicle is higher in the transportation process of the automatic guide transport vehicle, and the probability that the target material falls from the automatic guide transport vehicle can be reduced.
The determining unit 404 is further configured to determine whether the current amount of the target object reaches the total amount of the target object after determining that the second optical signal output by the target docking apparatus and indicating that the target docking apparatus is ready is received and after performing the docking operation with the target docking apparatus performed by the docking unit 405.
The feedback unit 407 is further configured to feed back, to the scheduling system, information indicating that the material is incomplete after the determining unit 404 determines that the current quantity of the target material does not reach the total quantity of the target materials.
The feedback unit 407 is further configured to, after the determining unit 404 determines that the current quantity of the target materials reaches the total quantity of the target materials, perform an operation of transporting the materials, and feed back the indication information of the completion of the docking to the scheduling system.
Therefore, the implementation of the automated guided vehicle described in fig. 6 can improve the docking efficiency of the automated guided vehicle and the target docking device, and the moving route is automatically determined, so that the labor cost is reduced, and the carrying efficiency is improved; the driving route is adjusted in time when a new scheduling task is received, so that all scheduling tasks are completed in the shortest time, and the scheduling effect of the automatic guided vehicle is improved; the picking and placing accuracy of the materials is improved in a mode that the two-dimensional codes are scanned by the camera; and the material handling efficiency is improved; the reporting speed of the scheduling system is increased when the docking equipment does not react; when the target material is placed at the target position, the placing stability of the target material on the automatic guide transport vehicle is higher in the transportation process of the automatic guide transport vehicle, and the probability that the target material falls off from the automatic guide transport vehicle can be reduced; and improving the consistency of the information of the target material in the docking operation and the material information in the scheduling signal.
EXAMPLE seven
Referring to fig. 7, fig. 7 is a schematic structural diagram of another automated guided vehicle according to an embodiment of the present invention. As shown in fig. 7, the automated guided vehicle may include:
a memory 701 in which executable program code is stored;
a processor 702 coupled to the memory 701;
the processor 702 calls the executable program code stored in the memory 701 to execute the scheduling control method of the automated guided vehicle of any one of fig. 1 to 3.
The embodiment of the invention discloses a computer-readable storage medium which stores a computer program, wherein the computer program enables a computer to execute a scheduling control method of an automatic guided vehicle shown in any one of figures 1-3.
It will be understood by those skilled in the art that all or part of the steps in the methods of the embodiments described above may be implemented by instructions associated with a program, which may be stored in a computer-readable storage medium, where the storage medium includes Read-Only Memory (ROM), Random Access Memory (RAM), Programmable Read-Only Memory (PROM), Erasable Programmable Read-Only Memory (EPROM), One-time Programmable Read-Only Memory (OTPROM), Electrically Erasable Programmable Read-Only Memory (EEPROM), compact disc-Read-Only Memory (CD-ROM), or other Memory, magnetic disk, magnetic tape, or magnetic tape, Or any other medium which can be used to carry or store data and which can be read by a computer.
In the above embodiments, the implementation may be wholly or partially implemented by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loaded and executed on a computer, cause the processes or functions described in accordance with the embodiments of the application to occur, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another, for example, the computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center by wire (e.g., coaxial cable, fiber optics, digital subscriber line) or wirelessly (e.g., infrared, wireless, microwave, etc.). The computer readable medium can be any available medium that can be accessed by a computer or a data storage device, such as a server, a data center, etc., that incorporates one or more available media. The usable medium may be a magnetic medium (which may be, for example, a floppy disk, a hard disk, a magnetic tape), an optical medium (such as an optical disk), a semiconductor medium (such as a solid state disk), or the like. In the foregoing embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus may be implemented in other manners. For example, the above-described embodiments of the apparatus are merely illustrative, and for example, the above-described division of the units is only one type of division of logical functions, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be through some interfaces, indirect coupling or communication connection of devices or units, and may be in an electrical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated units, if implemented as software functional units and sold or used as a stand-alone product, may be stored in a computer accessible memory. Based on such understanding, the technical solution of the present application, which is a part of or contributes to the prior art in essence, or all or part of the technical solution, may be embodied in the form of a software product, stored in a memory, including several requests for causing a computer device (which may be a personal computer, a server, a network device, or the like, and may specifically be a processor in the computer device) to execute all or part of the steps of the above-described method of the embodiments of the present application.
The above embodiments are only used for illustrating the technical solutions of the present application and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art; the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions in the embodiments of the present application.

Claims (8)

1. A dispatch control method for an automated guided vehicle, the method comprising:
the automatic guided vehicle receives a scheduling signal sent by a scheduling system; the dispatching signal comprises a target docking position, and is sent out after the dispatching system receives a material taking and placing requirement;
the automatic guided transporting vehicle moves to the target docking position according to the scheduling signal and outputs a first optical signal for indicating the readiness of the automatic guided transporting vehicle to target docking equipment at the target docking position;
the automated guided vehicle determines whether a second optical signal output by the target docking device is received indicating that the target docking device is ready;
if the second optical signal is received, the automatic guided vehicle performs a docking operation with the target docking equipment, wherein the docking operation comprises at least one of a material taking operation and a material placing operation;
after the automated guided vehicle receives the scheduling signal sent by the scheduling system and before the automated guided vehicle moves to the target docking position according to the scheduling signal, the method further includes:
the automatic guided transport vehicle determines the current tasks to be completed of the automatic guided transport vehicle and determines the shortest time required by the automatic guided transport vehicle to complete each task in the current tasks to be completed;
the automatic guided transporting vehicle feeds back the shortest time length required for completing each task in the current tasks to be completed to the scheduling system so as to trigger the scheduling system to judge whether the total shortest time length required for completing all tasks in the current tasks to be completed, which is calculated according to the shortest time length required for completing each task in the current tasks to be completed, is less than a target time length threshold value corresponding to the scheduling signal or not, and sends a judgment result to the automatic guided transporting vehicle;
and the automatic guided vehicle receives the judgment result, detects whether the judgment result comprises a continuous execution instruction, and executes the movement to the target docking position according to the scheduling signal when detecting that the judgment result comprises the continuous execution instruction.
2. The method of claim 1, wherein after the automated guided vehicle determines that a second optical signal output by the target dock indicating that the target dock is ready is not received, the method further comprises:
the automated guided vehicle outputs a first feedback signal to the dispatching system, wherein the feedback signal is used for indicating the fault of the target docking equipment;
the automatic guided vehicle switches the current working state of the automatic guided vehicle into a waiting state and detects whether a second feedback signal sent by the dispatching system is received or not, wherein the second feedback signal is used for indicating that the fault of the target docking equipment is relieved;
when the second feedback signal is received, the automatic guided vehicle switches the current working state of the automatic guided vehicle from the waiting state to an executing state, and executes the outputting of the first optical signal for indicating the readiness of the automatic guided vehicle to the target docking device at the target docking position.
3. The method of claim 1 or 2, wherein the automated guided vehicle performs a docking operation with the target docking device, the docking operation including at least one of a material pick-up operation and a material put-out operation, comprising:
the automatic guided transporting vehicle judges whether the material loaded onto the automatic guided transporting vehicle by the target docking equipment is a target material;
if the target material is detected, the automatic guided vehicle judges whether the placement position of the target material is the target position;
if the target position is not the target position, the automatic guided vehicle sends an adjusting signal to the target docking equipment, and the adjusting signal is used for triggering the target docking equipment to adjust the placement position of the target material until the target material is located at the target position.
4. The method of claim 3, wherein the scheduling signal further includes a total amount of the target material, the method further comprising, after the automated guided vehicle performs the docking operation with the target docking device:
the automated guided vehicle determines whether the current quantity of the target material reaches the total quantity of the target material;
if the quantity of the materials is not reached, the automatic guided vehicle feeds back information for indicating that the materials are incomplete to the dispatching system;
and if so, the automatic guided transport vehicle executes the operation of transporting the materials and feeds back the indication information of the completion of the butt joint to the dispatching system.
5. An automated guided vehicle, comprising:
the receiving unit is used for receiving the scheduling signal sent by the scheduling system; the dispatching signal comprises a target docking position, and is sent out after the dispatching system receives a material taking and placing requirement;
the mobile control unit is used for moving to the target docking position according to the scheduling signal;
a first output unit for outputting a first optical signal indicating readiness of the automated guided vehicle to a target docking device at the target docking location;
a determination unit configured to determine whether a second optical signal output by the target docking apparatus is received to indicate that the target docking apparatus is ready;
the execution docking unit is used for executing a docking operation with the target docking device after the judgment unit judges that the second optical signal which is output by the target docking device and used for indicating the readiness of the target docking device is received, wherein the docking operation comprises at least one of a material taking operation and a material placing operation;
the automated guided vehicle further comprises:
the determining unit is used for determining the current tasks to be completed of the automatic guided transport vehicle and determining the shortest time required by the automatic guided transport vehicle to complete each task in the current tasks to be completed after the receiving unit receives the scheduling signals sent by the scheduling system and before the mobile control unit moves to the target docking position according to the scheduling signals;
the feedback unit is used for feeding back the shortest time length required by finishing each task in the current to-be-finished tasks to the dispatching system so as to trigger the dispatching system to judge whether the total shortest time length required by finishing all tasks in the current to-be-finished tasks, which is calculated according to the shortest time length required by finishing each task in the current to-be-finished tasks, is less than a target time length threshold value corresponding to the dispatching signal or not, and sending a judgment result to the automatic guided transport vehicle;
the receiving unit is further configured to receive the determination result;
the detection unit is used for detecting whether the judgment result comprises a continuous execution instruction or not;
the movement control unit is specifically configured to move to the target docking position according to the scheduling signal after the detection unit detects that the determination result includes the continuous execution instruction.
6. The automated guided vehicle of claim 5, further comprising:
a second output unit, configured to output a first feedback signal to the scheduling system after the determining unit determines that the second optical signal output by the target docking device and used for indicating that the target docking device is ready is not received, where the feedback signal is used for indicating that the target docking device is faulty;
the switching unit is used for switching the current working state of the automatic guided vehicle into a waiting state;
the detection unit is further configured to detect whether a second feedback signal sent by the scheduling system is received, where the second feedback signal is used to indicate that the target docking device is released from the fault;
the switching unit is further used for switching the current working state of the automatic guided vehicle from the waiting state to an executing state after the detection unit detects that a second feedback signal sent by the dispatching system is received;
the first output unit is further configured to output a first optical signal indicating that the automated guided vehicle is ready to the target docking device at the target docking position after the determination unit determines that the second optical signal indicating that the target docking device is ready and output the second optical signal indicating that the automated guided vehicle is ready to the target docking device, which is output by the target docking device, is not received, and the switching unit switches the current working state of the automated guided vehicle from the waiting state to the executing state.
7. The automated guided vehicle of claim 5 or 6, wherein the execution docking unit comprises:
the judging subunit is configured to, after the judging unit judges that the second optical signal output by the target docking device and used for indicating the readiness of the target docking device is received, judge whether the material loaded onto the automated guided transport vehicle by the target docking device is a target material;
the judging subunit is further configured to judge whether a placement position of the target material is a target position after judging that the material loaded onto the automated guided vehicle by the target docking equipment is the target material;
and the sending subunit is configured to send an adjustment signal to the target docking equipment after the judging subunit judges that the placement position of the target material is not the target position, where the adjustment signal is used to trigger the target docking equipment to adjust the placement position of the target material until the target material is at the target position.
8. The automated guided vehicle of claim 7, wherein the dispatch signal further comprises a total amount of the target material:
the judging unit is further configured to judge whether the current amount of the target material reaches the total amount of the target material after judging that the second optical signal output by the target docking device and indicating that the target docking device is ready is received and after the executing docking unit executes the docking operation with the target docking device;
the feedback unit is further configured to feed back information used for indicating incomplete materials to the scheduling system after the judging unit judges that the current quantity of the target materials does not reach the total quantity of the target materials;
the feedback unit is further configured to execute an operation of transporting the materials after the judging unit judges that the current quantity of the target materials reaches the total quantity of the target materials, and feed back the indication information of the completed butt joint to the scheduling system.
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