CN112232629A - AGV storage management system, AGV scheduling method and storage device - Google Patents
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Abstract
The invention provides an AGV storage management system, an AGV dispatching method and a storage device, wherein the AGV storage management system comprises a plurality of goods shelves, a tow bar tray, an AGV dispatching subsystem and a main controller, the goods shelves are provided with a plurality of storage positions for placing the trays, each storage position is provided with a card reader, and each card reader is correspondingly provided with different ID numbers; the pallets are used for placing goods, each pallet is internally embedded with an intelligent card, and each intelligent card stores various information of the corresponding goods; the main controller is respectively in communication connection with the card reader and the scheduling subsystem; the card reader reads the smart card of the tray on the storage position in real time and feeds back the read information to the main controller, the main controller sends the obtained goods information on the goods shelf to the dispatching subsystem for storage, and when the goods are delivered from the warehouse, the goods information is input into the dispatching subsystem to control the AGV to take the goods from the corresponding storage position; when the AGV leaves the warehouse, the empty storage position is selected in the scheduling subsystem, so that the AGV can be controlled to the corresponding storage position to be stored.
Description
Technical Field
The invention relates to the technical field of AGV dispatching systems, in particular to an AGV storage management system, an AGV dispatching method and a storage device.
Background
AGVs are increasingly used in smart logistics plants in the context of industry 4.0. In the AGV storage scheduling system at the present stage, card readers are installed on an AGV forklift by a plurality of scheduling systems, so that the AGV forklift is required to plan a position path for access through a complex algorithm, but the condition on a goods shelf cannot be obtained in real time, conflicts when goods are stored in or taken out of a warehouse easily occur, and misoperation possibly caused in some actual production operation cannot be avoided; in addition, in the AGV storage scheduling system at the present stage, an operator knows the position of the goods in advance, and sets the specific rack coordinate position to be reached by the AGV in the scheduling system, so that the goods are stored and taken. However, this storage method has the following disadvantages: need know the concrete goods shelves position of goods, if operating personnel is unfamiliar with the warehouse, the goods position can not accurately be obtained in the short time to the way, influence AGV fork truck and get goods, furthermore, the goods is bound with the goods shelves position, the goods must be put on goods shelves assigned position promptly, otherwise when operating personnel can't in time know goods locating position change or scheduling system can't realize goods shelves positional information real-time update, get wrong goods easily, this greatly reduced efficiency, and because goods and goods shelves position are bound, can't conveniently adjust the storage of goods, under the special circumstances, can't increase the utilization ratio of goods shelves.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides an AGV storage management system.
In order to solve the technical problems, the invention adopts the following technical scheme:
an AGV storage management system comprises a plurality of goods shelves, a plurality of trays, a scheduling subsystem and a main controller, wherein the goods shelves are provided with a plurality of storage positions for placing the trays, each storage position is provided with a card reader, and each card reader is correspondingly provided with different ID numbers; the pallets are used for placing corresponding goods, an intelligent card is embedded in each pallet, and various information of the corresponding goods is stored in each intelligent card; the dispatching subsystem is used for dispatching the AGV to a corresponding storage position for goods taking or stock; the main controller is used for receiving the card reading information of the plurality of card readers and sending the card reading information to the dispatching subsystem in a wireless communication mode.
When the goods are delivered from the warehouse, the AGV can be controlled to be in a corresponding storage position to take the goods by inputting the goods information in the scheduling subsystem; when the AGV leaves the warehouse, the empty storage position is selected in the scheduling subsystem, so that the AGV can be controlled to the corresponding storage position to be stored.
Compared with the prior art, the AGV storage management system provided by the invention binds the goods with the trays, each tray is provided with the smart card, and each storage position of the goods shelf is provided with the card reader, so that the condition on the goods shelf can be obtained in real time, misoperation is prevented, meanwhile, an operator does not need to know the specific position of the goods in advance, and can accurately find the specific position of the goods only by inputting goods information, and the AGV can finish goods taking in a short time conveniently; in addition, the binding of goods and goods shelves is avoided, when the goods are stored and adjusted according to needs, the goods storage can be conveniently adjusted, and meanwhile, the utilization rate of the goods shelves can be greatly improved.
Preferably, the card reader is connected with the main controller for communication in a CAN bus mode, the card reader reads information on a card, the information of each cargo is immediately fed back to the main controller in time through the CAN bus, and one main controller CAN be connected with a plurality of card readers by utilizing the communication mode of the CAN bus.
Preferably, the main controller is provided with a plurality of, and a main controller corresponds a plurality of goods shelves, and a plurality of main controller all is connected with dispatch subsystem communication, because a plurality of main controller communicate with the dispatch subsystem, then can realize the scheduling of large-scale storage.
The invention also discloses an AGV dispatching method applied to the AGV storage management system, which comprises the following steps:
a. the card reader reads the intelligent card of the tray on the storage position in real time and sends the read tray information to the main controller;
b. the main controller sends the tray information to the dispatching subsystem so that the dispatching subsystem obtains the real-time conditions of all the storage positions;
c. when the dispatching subsystem receives the delivery command, the dispatching subsystem addresses the required goods according to the information of the required goods and the real-time condition of the storage position, generates an AGV navigation route according to the addressing information and dispatches the AGV to reach the storage position for taking the goods;
the dispatching subsystem is provided with a self-defined storage mode, in the self-defined storage mode, when the dispatching subsystem receives a warehousing command, the interface of the dispatching subsystem displays the positions of all the idle storage positions, an operator selects any idle storage position as a target storage position, and the dispatching subsystem generates an AGV navigation route according to the target storage position and dispatches the AGV to reach the storage position for storage.
Compared with the prior art, the AGV dispatching method provided by the invention has the advantages that the intelligent card is arranged on each tray, and the card reader is arranged on each storage position of the goods shelf, so that an operator does not need to know the specific position of the goods in advance, and can accurately find the specific position of the goods only by inputting goods information, thereby greatly shortening the operation time and ensuring that the system is simpler and more convenient to operate; in addition, the binding of goods and goods shelves is avoided, when the goods are stored and adjusted according to needs, the goods storage can be conveniently adjusted, and meanwhile, the utilization rate of the goods shelves can be greatly improved.
Preferably, in the step c, the dispatching subsystem is further provided with a default storage mode, in the default storage mode, when the dispatching subsystem receives a warehousing command, the dispatching subsystem searches the storage position where the goods are stored in the system last time according to the goods types needing to be stored, sets the storage position as the default storage position, and generates an AGV navigation route according to the default storage position and dispatches the AGV to reach the storage position for storage; if goods are displayed on the default storage positions, the scheduling subsystem automatically counts the idle storage positions on all the shelves, screens out one idle storage position with the smallest ID number from the idle storage positions as a target storage position, and generates an AGV navigation route according to the target storage position and schedules the AGV to reach the storage position for storage. The default storage mode is selected to further improve the automation effect during warehousing, namely, the idle storage position is not required to be manually selected, and the idle storage position is directly automatically calculated and selected through the scheduling subsystem.
Preferably, the card readers on a plurality of storage positions on the goods shelf read the smart cards of the trays on all the storage positions again at intervals of T, the obtained information is transmitted to the main controller, the main controller sends the information to the scheduling subsystem for updating and storing, the system can update the storage condition of goods at each position on the goods shelf in real time, the goods on the goods shelf are prevented from being manually stored or taken out, and the system cannot know the goods, so that errors are avoided when the AGV accesses the goods.
The invention also provides a storage device, which stores a plurality of execution instructions, wherein the execution instructions are used for loading and executing the following operations by the main controller:
a. the card reader reads the intelligent card of the tray on the storage position in real time and sends the read tray information to the main controller;
b. the main controller sends the tray information to the dispatching subsystem so that the dispatching subsystem obtains the real-time conditions of all the storage positions;
c. when the dispatching subsystem receives the delivery command, the dispatching subsystem addresses the required goods according to the information of the required goods and the real-time condition of the storage position, generates an AGV navigation route according to the addressing information and dispatches the AGV to reach the storage position for taking the goods;
the dispatching subsystem is provided with a self-defined storage mode, in the self-defined storage mode, when the dispatching subsystem receives a warehousing command, the interface of the dispatching subsystem displays the positions of all the idle storage positions, an operator selects any idle storage position as a target storage position, and the dispatching subsystem generates an AGV navigation route according to the target storage position and dispatches the AGV to reach the storage position for storage.
Compared with the prior art, the storage device provided by the invention enables an operator not to know the specific position of the goods in advance after loading, and can accurately find the specific position of the goods only by inputting goods information, so that the operation time is greatly shortened, and the system is simpler and more convenient to operate; in addition, the binding of goods and goods shelves is avoided, when the goods are stored and adjusted according to needs, the goods storage can be conveniently adjusted, and meanwhile, the utilization rate of the goods shelves can be greatly improved.
Preferably, in the step c, the dispatching subsystem is further provided with a default storage mode, in the default storage mode, when the dispatching subsystem receives a warehousing command, the dispatching subsystem searches the storage position where the goods are stored in the system last time according to the goods types needing to be stored, sets the storage position as the default storage position, and generates an AGV navigation route according to the default storage position and dispatches the AGV to reach the storage position for storage; if goods are displayed on the default storage positions, the scheduling subsystem automatically counts the idle storage positions on all the shelves, screens out one idle storage position with the smallest ID number from the idle storage positions as a target storage position, and generates an AGV navigation route according to the target storage position and schedules the AGV to reach the storage position for storage. After loading, a default storage mode can be selected to further improve the automation effect during warehousing, namely, the idle storage position is not required to be manually selected, but is directly automatically calculated and selected by a scheduling subsystem.
Preferably, the card readers on the storage positions on the shelf read the smart cards of the trays on all the storage positions again at intervals of T, the obtained information is transmitted to the main controller, and the main controller sends the information to the scheduling subsystem for updating and storing after obtaining the information. After the loading, make the system can the real-time update the condition that every position goods were deposited on the goods shelves, prevent that goods on the goods shelves from being artificially deposited or get the condition that the system can't learn when walking to the mistake appears when avoiding AGV to go to access goods.
Drawings
FIG. 1 is a schematic diagram of the present invention;
FIG. 2 is a flow chart of the present invention during ex-warehouse.
Detailed Description
A preferred embodiment of the present invention will be described below with reference to the accompanying drawings.
Referring to fig. 1, an AGV warehouse management system includes a plurality of shelves, a plurality of trays, a scheduling subsystem and a main controller, wherein the shelves are provided with a plurality of storage locations for placing the trays, each storage location is provided with a card reader, and each card reader is correspondingly provided with different ID numbers; the pallets are used for placing corresponding goods, an intelligent card is embedded in each pallet, and various information of the corresponding goods is stored in each intelligent card; the dispatching subsystem is used for dispatching the AGV to a corresponding storage position for goods taking or stock; the main controller is used for receiving the card reading information of the plurality of card readers and sending the card reading information to the dispatching subsystem in a wireless communication mode. When the card reader reads the smart card on the tray, the ID of the tray and various information of the corresponding goods on the tray can be acquired.
When the goods are delivered from the warehouse, the AGV can be controlled to be in a corresponding storage position to take the goods by inputting the goods information in the scheduling subsystem; when the AGV leaves the warehouse, the empty storage position is selected in the scheduling subsystem, so that the AGV can be controlled to the corresponding storage position to be stored.
The card reader is connected with the main controller for communication in a CAN bus mode, and after reading information on a card, the information of each cargo CAN be immediately fed back to the main controller in time through the CAN bus, and one main controller CAN be connected with a plurality of card readers by utilizing the communication mode of the CAN bus; the CAN CAN mount 110 devices at most, namely, a main controller CAN be connected with 110 card readers at most.
Specifically, the main controller is provided with a wireless module, and the main controller is in communication connection with the dispatching subsystem through the wireless module.
In other embodiments, the main controller is provided with a plurality of main controllers, one main controller corresponds to the plurality of shelves, and the plurality of main controllers are all in communication connection with the scheduling subsystem.
In a preferred embodiment, the smart card is an NFC card or a high-frequency card, in this embodiment, the smart card is preferably an NFC card, and the card reader is preferably an NFC card reader.
Compared with the prior art, the AGV storage management system provided by the invention binds the goods with the trays, each tray is provided with the smart card, and each storage position of the goods shelf is provided with the card reader, so that the condition on the goods shelf can be obtained in real time, misoperation is prevented, meanwhile, an operator does not need to know the specific position of the goods in advance, and can accurately find the specific position of the goods only by inputting goods information, and the AGV can finish goods taking in a short time conveniently; in addition, the binding of goods and goods shelves is avoided, when the goods are stored and adjusted according to needs, the goods storage can be conveniently adjusted, and meanwhile, the utilization rate of the goods shelves can be greatly improved.
It should be noted that, the goods and the trays of the AGV warehouse management system of the present invention are bound, that is, the goods and the corresponding trays thereof cannot be changed, and cannot be replaced by the corresponding trays of other goods, for example, the a goods uses the a tray, and the B tray cannot be used, otherwise, the information is disordered, and the AGV takes the wrong goods when taking the goods, for example, because some reasons such as the damaged tray or the tray is taken for other use, a new tray needs to be used, the card of the new tray needs to be rewritten with the information, and the information such as the name of the goods corresponding to the card needs to be specified, so that the card reader can read the information.
Referring to fig. 1 and 2, the present invention is also applied to an AGV dispatching method of the AGV warehouse management system, and the dispatching method includes the following steps:
a. the card reader reads the intelligent card of the tray on the storage position in real time and sends the read tray information to the main controller; the pallet information includes various information such as the category and name of the goods.
b. The main controller sends the tray information to the dispatching subsystem so that the dispatching subsystem obtains the real-time conditions of all the storage positions;
c. when the dispatching subsystem receives the delivery command, the dispatching subsystem addresses the required goods according to the information of the required goods and the real-time condition of the storage position, generates an AGV navigation route according to the addressing information and dispatches the AGV to reach the storage position for taking the goods;
the dispatching subsystem is provided with a self-defined storage mode and a default storage mode, in the self-defined storage mode, when the dispatching subsystem receives a warehousing command, a dispatching subsystem interface displays all idle storage positions, an operator selects any idle storage position as a target storage position, and the dispatching subsystem generates an AGV navigation route according to the target storage position and dispatches the AGV to reach the storage position for storage;
in a default storage mode, when the dispatching subsystem receives a warehousing command, the dispatching subsystem searches a storage position where the goods are stored in the system last time according to the goods types needing to be stored, sets the storage position as a default storage position, and generates an AGV navigation route according to the default storage position and dispatches the AGV to reach the storage position for storage; if goods are displayed on the default storage positions, the scheduling subsystem automatically counts the idle storage positions on all the shelves, screens out one idle storage position with the smallest ID number from the idle storage positions as a target storage position, and generates an AGV navigation route according to the target storage position and schedules the AGV to reach the storage position for storage. Specifically, the default position of an existing goods is position 1, but No. 1 position has deposited other goods, and No. 1 goods shelf can not be put to the goods, and among the existing idle position, the serial number is minimum for position 5 goods shelf, so AGV will deposit the goods on No. 5 goods shelf.
Compared with the prior art, the AGV dispatching method provided by the invention has the advantages that the intelligent card is arranged on each tray, and the card reader is arranged on each storage position of the goods shelf, so that an operator does not need to know the specific position of the goods in advance, and can accurately find the specific position of the goods only by inputting goods information, thereby greatly shortening the operation time and ensuring that the system is simpler and more convenient to operate; in addition, the binding of goods and goods shelves is avoided, when the goods are stored and adjusted according to needs, the goods storage can be conveniently adjusted, and meanwhile, the utilization rate of the goods shelves can be greatly improved.
And c, when the operator inputs the information of the required goods in the scheduling subsystem and cannot find the corresponding goods, the scheduling subsystem displays error information to prompt the operator.
In a preferred embodiment, the card readers on the storage positions on the shelf read the smart cards of the trays on all the storage positions again at intervals of a period of time T, the acquired information is transmitted to the main controller, and the main controller acquires the information and then sends the information to the scheduling subsystem for updating and storing, so that the system can update the storage condition of goods at each position on the shelf in real time, the situation that the system cannot know when the goods on the shelf are manually stored or taken away is prevented, and errors are avoided when the AGV accesses the goods.
Specifically, if the dispatching system is not used, when goods are directly stored or taken away by hands or other modes, the card reader on the goods shelf reads information of the corresponding position in real time, so that the data can be updated on the side of the dispatching system, and when the dispatching system is used again for goods access, conflicts can not occur.
A storage device storing a plurality of execution instructions for a host controller to load and perform the following operations:
a. the card reader reads the intelligent card of the tray on the storage position in real time and sends the read tray information to the main controller;
b. the main controller sends the tray information to the dispatching subsystem so that the dispatching subsystem obtains the real-time conditions of all the storage positions;
c. when the dispatching subsystem receives the delivery command, the dispatching subsystem addresses the required goods according to the information of the required goods and the real-time condition of the storage position, generates an AGV navigation route according to the addressing information and dispatches the AGV to reach the storage position for taking the goods;
the dispatching subsystem is provided with a self-defined storage mode, in the self-defined storage mode, when the dispatching subsystem receives a warehousing command, the interface of the dispatching subsystem displays the positions of all the idle storage positions, an operator selects any idle storage position as a target storage position, and the dispatching subsystem generates an AGV navigation route according to the target storage position and dispatches the AGV to reach the storage position for storage. Compared with the prior art, the storage device provided by the invention enables an operator not to know the specific position of the goods in advance after loading, and can accurately find the specific position of the goods only by inputting goods information, so that the operation time is greatly shortened, and the system is simpler and more convenient to operate; in addition, the binding of goods and goods shelves is avoided, when the goods are stored and adjusted according to needs, the goods storage can be conveniently adjusted, and meanwhile, the utilization rate of the goods shelves can be greatly improved.
As a preferred scheme, the dispatching subsystem is further provided with a default storage mode, in the default storage mode, when the dispatching subsystem receives a warehousing command, the dispatching subsystem searches the storage position where the goods are stored in the system last time according to the goods types needing to be stored, sets the storage position as the default storage position, and generates an AGV navigation route according to the default storage position and dispatches the AGV to reach the storage position for storage; if goods are displayed on the default storage positions, the scheduling subsystem automatically counts the idle storage positions on all the shelves, screens out one idle storage position with the smallest ID number from the idle storage positions as a target storage position, and generates an AGV navigation route according to the target storage position and schedules the AGV to reach the storage position for storage. After loading, a default storage mode can be selected to further improve the automation effect during warehousing, namely, the idle storage position is not required to be manually selected, but is directly automatically calculated and selected by a scheduling subsystem.
As a preferred scheme, the card readers on a plurality of storage positions on the shelf read the smart cards of the trays on all the storage positions again at intervals of T, the obtained information is transmitted to the main controller, and the main controller sends the information to the scheduling subsystem for updating and storing after obtaining the information. After loading, make the system can update the condition that every position goods were deposited on the goods shelves in real time, prevent that goods on the goods shelves from being artificially deposited or the condition that the system can't learn when getting away to avoid AGV to go and access the mistake to appear when the goods.
Variations and modifications to the above-described embodiments may occur to those skilled in the art, which fall within the scope and spirit of the above description. Therefore, the present invention is not limited to the specific embodiments disclosed and described above, and some modifications and variations of the present invention should fall within the scope of the claims of the present invention. Furthermore, although specific terms are employed herein, they are used in a generic and descriptive sense only and not for purposes of limitation.
Claims (10)
1. An AGV warehouse management system, comprising:
the storage rack is provided with a plurality of storage positions for placing the trays, each storage position is provided with a card reader, and each card reader is correspondingly provided with different ID numbers;
the intelligent goods shelf comprises a plurality of trays, a plurality of storage units and a plurality of control units, wherein the trays are used for placing corresponding goods, an intelligent card is embedded in each tray, and various information of the corresponding goods are stored in each intelligent card;
a dispatch subsystem for dispatching AGVs to corresponding storage locations for pick-up or inventory;
and the main controller is used for receiving the card reading information of the plurality of card readers and sending the card reading information to the dispatching subsystem in a wireless communication mode.
2. The AGV warehouse management system of claim 1 wherein the card reader communicates with the main controller by way of a CAN bus.
3. The AGV warehouse management system of claim 1 wherein the master controller has a plurality of racks, one master controller corresponding to each of the plurality of racks, and each of the plurality of master controllers is communicatively coupled to the scheduling subsystem.
4. The AGV warehouse management system of claim 1 wherein the smart card is an NFC card or a high frequency card.
5. An AGV storage method applied to the AGV storage management system according to any one of claims 1 to 4, comprising the steps of:
a. the card reader reads the intelligent card of the tray on the storage position in real time and sends the read tray information to the main controller;
b. the main controller sends the tray information to the dispatching subsystem so that the dispatching subsystem obtains the real-time conditions of all the storage positions;
c. when the dispatching subsystem receives the delivery command, the dispatching subsystem addresses the required goods according to the information of the required goods and the real-time condition of the storage position, generates an AGV navigation route according to the addressing information and dispatches the AGV to reach the storage position for taking the goods;
the dispatching subsystem is provided with a self-defined storage mode, in the self-defined storage mode, when the dispatching subsystem receives a warehousing command, the interface of the dispatching subsystem displays the positions of all the idle storage positions, an operator selects any idle storage position as a target storage position, and the dispatching subsystem generates an AGV navigation route according to the target storage position and dispatches the AGV to reach the storage position for storage.
6. The AGV scheduling method of claim 5,
for the step c, the dispatching subsystem is also provided with a default storage mode, in the default storage mode, when the dispatching subsystem receives a warehousing command, the dispatching subsystem searches the storage position where the goods are stored in the system last time according to the goods types needing to be stored, sets the storage position as the default storage position, and generates an AGV navigation route according to the default storage position and dispatches the AGV to reach the storage position for storage;
if goods are displayed on the default storage positions, the scheduling subsystem automatically counts the idle storage positions on all the shelves, screens out one idle storage position with the smallest ID number from the idle storage positions as a target storage position, and generates an AGV navigation route according to the target storage position and schedules the AGV to reach the storage position for storage.
7. The AGV scheduling method of claim 5, wherein the card readers on the plurality of storage locations on the rack re-read the smart cards of the trays on all the storage locations at intervals of time T, and transmit the obtained information to the main controller, and the main controller sends the information to the scheduling subsystem for updating and storing.
8. A memory device storing a plurality of execution instructions, wherein the execution instructions are for a host controller to load and perform the following operations:
a. the card reader reads the intelligent card of the tray on the storage position in real time and sends the read tray information to the main controller;
b. the main controller sends the tray information to the dispatching subsystem so that the dispatching subsystem obtains the real-time conditions of all the storage positions;
c. when the dispatching subsystem receives the delivery command, the dispatching subsystem addresses the required goods according to the information of the required goods and the real-time condition of the storage position, generates an AGV navigation route according to the addressing information and dispatches the AGV to reach the storage position for taking the goods;
the dispatching subsystem is provided with a self-defined storage mode, in the self-defined storage mode, when the dispatching subsystem receives a warehousing command, the interface of the dispatching subsystem displays the positions of all the idle storage positions, an operator selects any idle storage position as a target storage position, and the dispatching subsystem generates an AGV navigation route according to the target storage position and dispatches the AGV to reach the storage position for storage.
9. The storage device according to claim 8, wherein for step c, the dispatching subsystem further has a default storage mode, and in the default storage mode, when the dispatching subsystem receives a warehousing command, the dispatching subsystem finds out a storage position where such goods are stored in the system last time according to the goods category to be stored, sets the storage position as a default storage position, and generates an AGV navigation route according to the default storage position and dispatches the AGV to reach the storage position for storage;
if goods are displayed on the default storage positions, the scheduling subsystem automatically counts the idle storage positions on all the shelves, screens out one idle storage position with the smallest ID number from the idle storage positions as a target storage position, and generates an AGV navigation route according to the target storage position and schedules the AGV to reach the storage position for storage.
10. The storage device according to claim 9, wherein the card readers at several storage positions on the shelf read the smart cards of the trays at all storage positions again at intervals of time T, and transmit the obtained information to the main controller for updating and storing.
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