CN113534791A - AGV trolley control method and device based on cargo information analysis - Google Patents
AGV trolley control method and device based on cargo information analysis Download PDFInfo
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- CN113534791A CN113534791A CN202110656910.5A CN202110656910A CN113534791A CN 113534791 A CN113534791 A CN 113534791A CN 202110656910 A CN202110656910 A CN 202110656910A CN 113534791 A CN113534791 A CN 113534791A
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
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Abstract
The invention discloses an AGV trolley control method and device based on cargo information analysis. The method comprises the following steps: acquiring the weight of the goods to be transported and the size of the bottom surface of the outer package based on a goods information management system; judging whether the required quantity of the minimum plate trailer determined based on the size of the bottom surface of the outer package is greater than 1, if so, controlling the AGV trolley bodies with corresponding quantity to execute corresponding operation so as to splice the corresponding plate trailers into a combined plate trailer; and judging whether the required quantity of the minimum AGV bodies determined based on the weight is less than the required quantity of the minimum plate trailer, if so, controlling the AGV bodies with the corresponding quantity to be spliced with the combined plate trailer, and controlling the other AGV bodies to be separated from the combined plate trailer. The device comprises: the above-described method is implemented when the processor executes the computer program stored in the memory. According to the invention, the problem that the conventional AGV cannot well complete the cargo carrying task when the cargo is too large or too heavy can be solved.
Description
Technical Field
The invention belongs to the field of AGV trolley control, and particularly relates to an AGV trolley control method and device based on cargo information analysis.
Background
An Automated Guided Vehicle (AGV), also commonly referred to as an AGV cart, is a transportation Vehicle equipped with an electromagnetic or optical automatic guiding device, capable of traveling along a predetermined guiding path, having safety protection and various transfer functions, and requiring no driver's transportation Vehicle in industrial applications, and using a rechargeable battery as its power source. Generally, the traveling route and behavior can be controlled by a computer, or the traveling route is set up by using an electromagnetic track (electromagnetic path-following system), the electromagnetic track is adhered to the floor, and the AGV moves and moves according to the information brought by the electromagnetic track.
At present, the AGV dolly is often limited to the motorcycle type of dolly itself when the transport goods. When the size of the goods to be transported is large and exceeds the carrying area of the AGV trolley, the AGV trolley is difficult to transport the goods. On the other hand, when the goods that need carry are heavier, surpass the maximum loading capacity of AGV dolly, the transport of this goods can't be realized to the AGV dolly.
Disclosure of Invention
The invention aims to solve the problem that the conventional AGV cannot well complete a cargo carrying task when the size of the cargo to be carried is overlarge or overweight.
In order to achieve the purpose, the invention provides an AGV trolley control method and device based on goods information analysis.
According to a first aspect of the invention, an AGV trolley control method based on cargo information analysis is provided, and is applied to an AGV trolley, wherein the AGV trolley comprises an AGV trolley body and a plate trolley, at least three universal wheels are arranged on a chassis of the AGV trolley body and a chassis of the plate trolley, any side of the chassis of the AGV trolley body can be detachably spliced with any side of the chassis of the AGV trolley body of another AGV trolley, and any side of the chassis of the plate trolley can be detachably spliced with any side of the chassis of the plate trolley of another trolley;
the AGV trolley control method comprises the following steps:
responding to the distributed cargo handling tasks, and acquiring the weight of the cargo to be transported and the size of the bottom surface of the outer package based on a pre-established cargo information management system;
determining the required quantity of the minimum plate trailer according to the size of the bottom surface of the outer package of the goods to be carried;
judging whether the required quantity of the minimum plate trailer is more than 1;
responding to a judgment result that the required quantity of the minimum plate trucks is larger than 1, controlling AGV trolley bodies with corresponding quantity to execute corresponding operation so as to enable the corresponding plate trucks to be spliced into a combined plate truck with a preset shape, wherein the preset shape completely covers the bottom surface of the outer package of the goods to be transported;
determining the required quantity of the minimum AGV trolley bodies according to the weight of the goods to be transported;
judging whether the required quantity of the minimum AGV trolley bodies is less than the required quantity of the minimum plate trolleys or not;
responding to the minimum AGV trolley body demand quantity is less than the judgment result of the minimum plate trolley demand quantity, controlling the AGV trolley bodies with the corresponding quantity and the combined plate trolley to be spliced, and controlling the rest AGV trolley bodies and the combined plate trolley to be separated.
Preferably, after the determining whether the minimum required AGV car body number is smaller than the minimum required pallet car number, the method further includes:
and responding to the judgment result that the required quantity of the minimum AGV trolley bodies is equal to the required quantity of the minimum plate trolleys, and controlling each AGV trolley body to be spliced with the combined plate trolley.
Preferably, after the determining whether the minimum required AGV car body number is smaller than the minimum required pallet car number, the method further includes:
responding to minimum AGV dolly body demand quantity is greater than minimum board car demand quantity just is not more than the judgement result of the biggest AGV dolly body concatenation quantity of combination formula board car, control the AGV dolly body of extra corresponding quantity and the board car phase separation that corresponds separately, and with combination formula board car splices mutually.
Preferably, after the determining whether the minimum required AGV car body number is smaller than the minimum required pallet car number, the method further includes:
responding to a judgment result that the required quantity of the minimum AGV trolley bodies is larger than the splicing quantity of the maximum AGV trolley bodies of the combined plate trolley, firstly controlling additional AGV trolley bodies with a first corresponding quantity to be separated from the corresponding plate trolleys and spliced with the combined plate trolley, and then controlling additional AGV trolley bodies with a second corresponding quantity to be separated from the corresponding plate trolleys and spliced with the AGV trolley bodies spliced on the combined plate trolley currently;
wherein, first corresponding quantity does the surplus AGV dolly body of combination formula pallet can splice quantity, second corresponding quantity does minimum AGV dolly body demand quantity with the difference of maximum AGV dolly body concatenation quantity, with the AGV dolly body that combination formula pallet spliced mutually is for directly splicing in AGV dolly body above the combination formula pallet.
Preferably, after the determining whether the minimum number of the board trucks is greater than 1, the method further includes:
responding to a judgment result that the required quantity of the minimum plate wagons is equal to 1, and selecting a target AGV;
judging whether the required quantity of the minimum AGV trolley bodies is more than 1;
responding to the judgment result that the required quantity of the minimum AGV trolley bodies is greater than 1 and not greater than the splicing quantity of the maximum AGV trolley bodies of the plate trolley, controlling the AGV trolley bodies of the extra corresponding quantity to be separated from the plate trolley body corresponding to each other, and splicing the plate trolleys of the target AGV trolley.
Preferably, after the determining whether the minimum required number of AGV car bodies is greater than 1, the method further includes:
responding to a judgment result that the required quantity of the minimum AGV trolley bodies is larger than the splicing quantity of the maximum AGV trolley bodies of the pallet, firstly controlling additional AGV trolley bodies with the third corresponding quantity to be separated from the corresponding pallet trolleys and spliced with the pallet trolleys of the target AGV trolley, and then controlling additional AGV trolley bodies with the fourth corresponding quantity to be separated from the corresponding pallet trolleys and spliced with the AGV trolley bodies currently spliced on the pallet trolleys of the target AGV trolley;
wherein, the third corresponds quantity and does the surplus AGV dolly body of the board car of target AGV dolly can splice quantity, the fourth corresponds quantity does minimum AGV dolly body demand quantity with the difference of the biggest AGV dolly body concatenation quantity of board car, with the AGV dolly body that the board car splices mutually is for directly splicing in AGV dolly body above the board car.
Preferably, before the controlling the AGV cart bodies of the corresponding number to perform the corresponding operation so as to splice the corresponding lathes into the combined lathes of the predetermined shape, the method further includes:
selecting a corresponding number of AGV dollies;
the selecting a corresponding number of AGV carts includes:
sending state inquiry signals to all AGV trolleys, wherein the states of the AGV trolleys comprise working state, idle state and charging state;
responding to the received AGV trolley state feedback information, and sending position inquiry signals to all AGV trolleys in an idle state;
responding to the received AGV trolley position feedback information, and selecting the front N AGV trolleys which are close to the goods to be carried;
sending electric quantity inquiry signals to the first N AGV cars;
and responding to the received AGV trolley power feedback information, and selecting the AGV trolleys with the corresponding quantity and more residual power from the front N AGV trolleys.
Preferably, before the controlling the AGV car bodies of the corresponding number to be spliced with the combined pallet and the controlling the remaining AGV car bodies to be separated from the combined pallet, the method further includes:
the AGV trolley bodies with the corresponding number of large residual electric quantity are selected from all the AGV trolley bodies on the combined plate trolley in a splicing mode.
Preferably, the lathes are arranged in a rectangular or regular hexagon.
According to a second aspect of the invention, an AGV trolley control device based on cargo information analysis is provided, and is applied to an AGV trolley, wherein the AGV trolley comprises an AGV trolley body and a plate trolley, at least three universal wheels are arranged on a chassis of the AGV trolley body and a chassis of the plate trolley, any side of the chassis of the AGV trolley body can be detachably spliced with any side of the chassis of the AGV trolley body of another AGV trolley, and any side of the chassis of the plate trolley can be detachably spliced with any side of the chassis of the plate trolley of another AGV trolley;
the AGV trolley control device comprises a processor and a memory, and the processor executes a computer program stored in the memory to realize any one of the AGV trolley control methods.
The invention has the beneficial effects that:
the AGV trolley control method based on the cargo information analysis comprises the steps of firstly responding to a distributed cargo carrying task, and obtaining the weight of a cargo to be transported and the size of the bottom surface of an outer package based on a pre-established cargo information management system; secondly, determining the required quantity of the minimum plate trailer according to the size of the bottom surface of the outer package of the goods to be carried; judging whether the required quantity of the minimum plate trailer is more than 1 again, and controlling the AGV trolley bodies with the corresponding quantity to execute corresponding operation to enable the corresponding plate trailers to be spliced into a combined plate trailer with a preset shape when the required quantity of the minimum plate trailer is more than 1, wherein the preset shape completely covers the bottom surface of the outer package of the goods to be transported; determining the required quantity of the minimum AGV trolley bodies according to the weight of the goods to be transported; and finally, judging whether the required quantity of the minimum AGV trolley bodies is less than the required quantity of the minimum plate trolleys or not, and when the required quantity of the minimum AGV trolley bodies is less than the required quantity of the minimum plate trolleys, controlling the AGV trolley bodies with the combined plate trolleys to be spliced, and controlling the other AGV trolley bodies with the combined plate trolley to be separated.
The AGV control method determines the control mode of the spliced AGV based on the analysis of the cargo information. Specifically, when the size of the goods to be transported is large and exceeds the area carrying area of the AGV trolley, namely the size of the outer package bottom face of the goods to be transported is larger than the size of the plate trailer of the AGV trolley, the required quantity of the minimum plate trailer is determined based on the size of the outer package bottom face of the goods to be transported and the size of the plate trailer of the AGV trolley, the AGV trolley bodies of the corresponding quantity are controlled to execute corresponding operation, so that the corresponding plate trailers are spliced into the combined plate trailer in the preset shape, and the requirement of the goods to be transported on the area carrying area of the AGV trolley is further met. On the other hand, when waiting to carry the goods heavier, when surpassing the maximum carrying capacity of AGV dolly, confirm minimum AGV dolly body demand quantity based on the weight of waiting to carry the goods and the maximum carrying capacity of AGV dolly to the AGV dolly body of control minimum AGV dolly body demand quantity splices with the board car that is used for bearing waiting to carry the goods mutually, and then satisfies the requirement of waiting to carry the goods to AGV dolly output.
Therefore, the AGV control method based on cargo information analysis can effectively solve the problem that the conventional AGV cannot well complete a cargo transporting task when the size of the cargo to be transported is too large or too heavy in the prior art.
The AGV control device based on cargo information analysis and the AGV control method based on cargo information analysis belong to a general invention concept, so the AGV control device based on cargo information analysis has the same beneficial effects as the AGV control method based on cargo information analysis, and the detailed description is omitted.
Additional features and advantages of the invention will be set forth in the detailed description which follows.
Drawings
The above and other objects, features and advantages of the present invention will become more apparent by describing in more detail exemplary embodiments thereof with reference to the attached drawings, in which like reference numerals generally represent like parts throughout.
FIG. 1 illustrates a flowchart of an implementation of an AGV control method based on cargo information analysis according to an embodiment of the present invention;
FIG. 2 illustrates a schematic diagram of an AGV according to an embodiment of the present invention;
FIG. 3 shows a top view of a combination pallet truck assembled from 4 pallet trucks in accordance with an embodiment of the present invention;
FIG. 4 shows a schematic illustration of a 4 AGV cart body and combination cart splice according to an embodiment of the present invention;
FIG. 5 shows a schematic illustration of a splice of 2 AGV cart bodies with a combined pallet truck according to an embodiment of the present invention;
FIG. 6 shows a schematic illustration of a 6 AGV cart body and modular cart splice according to embodiments of the present invention;
FIG. 7 shows a schematic illustration of a splice of 10 AGV cart bodies to a modular cart according to an embodiment of the present invention.
Detailed Description
Preferred embodiments of the present invention will be described in more detail below. While the following describes preferred embodiments of the present invention, it should be understood that the present invention may be embodied in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
Example (b): FIG. 1 is a flowchart illustrating an AGV car control method based on cargo information analysis according to an embodiment of the present invention. Referring to fig. 1, the AGV control method based on cargo information analysis according to the embodiment of the present invention is applied to an AGV, wherein the AGV includes an AGV body and a pallet, at least three universal wheels are respectively disposed on a chassis of the AGV body and a chassis of the pallet, any side of the chassis of the AGV body can be detachably spliced with any side of the chassis of the AGV body of another AGV, and any side of the chassis of the pallet can be detachably spliced with any side of the chassis of the pallet of another AGV;
the AGV trolley control method comprises the following steps:
s100, responding to the distributed cargo carrying tasks, and acquiring the weight of the cargo to be transported and the size of the bottom surface of the outer package based on a pre-established cargo information management system;
s200, determining the required quantity of the minimum plate trailer according to the size of the bottom surface of the outer package of the goods to be carried;
step S300, judging whether the required quantity of the minimum plate trailer is more than 1;
step S400, in response to a judgment result that the required quantity of the minimum plate trucks is larger than 1, controlling AGV trolley bodies with corresponding quantity to execute corresponding operation so as to enable the corresponding plate trucks to be spliced into combined plate trucks with preset shapes, wherein the preset shapes completely cover the bottom surfaces of the outer packages of the goods to be transported;
s500, determining the required quantity of the minimum AGV trolley bodies according to the weight of the goods to be transported;
s600, judging whether the required quantity of the minimum AGV trolley bodies is smaller than the required quantity of the minimum plate trolleys or not;
step S700, responding to the judgment result that the required quantity of the minimum AGV trolley bodies is smaller than the required quantity of the minimum plate trolleys, controlling the AGV trolley bodies with the corresponding quantity to be spliced with the combined plate trolleys, and controlling the rest AGV trolley bodies to be separated from the combined plate trolleys.
Further, after step S600 in the embodiment of the present invention, the method further includes:
and responding to the judgment result that the required quantity of the minimum AGV trolley bodies is equal to the required quantity of the minimum plate trolleys, and controlling each AGV trolley body to be spliced with the combined plate trolley.
Still further, after step S600 in the embodiment of the present invention, the method further includes:
responding to minimum AGV dolly body demand quantity is greater than minimum board car demand quantity just is not more than the judgement result of the biggest AGV dolly body concatenation quantity of combination formula board car, control the AGV dolly body of extra corresponding quantity and the board car phase separation that corresponds separately, and with combination formula board car splices mutually.
Still further, after step S600 in the embodiment of the present invention, the method further includes:
responding to a judgment result that the required quantity of the minimum AGV trolley bodies is larger than the splicing quantity of the maximum AGV trolley bodies of the combined plate trolley, firstly controlling additional AGV trolley bodies with a first corresponding quantity to be separated from the corresponding plate trolleys and spliced with the combined plate trolley, and then controlling additional AGV trolley bodies with a second corresponding quantity to be separated from the corresponding plate trolleys and spliced with the AGV trolley bodies spliced on the combined plate trolley currently;
wherein, first corresponding quantity does the surplus AGV dolly body of combination formula pallet can splice quantity, second corresponding quantity does minimum AGV dolly body demand quantity with the difference of maximum AGV dolly body concatenation quantity, with the AGV dolly body that combination formula pallet spliced mutually is for directly splicing in AGV dolly body above the combination formula pallet.
Still further, after step S300 of the embodiment of the present invention, the method further includes:
responding to a judgment result that the required quantity of the minimum plate wagons is equal to 1, and selecting a target AGV;
judging whether the required quantity of the minimum AGV trolley bodies is more than 1;
responding to the judgment result that the required quantity of the minimum AGV trolley bodies is greater than 1 and not greater than the splicing quantity of the maximum AGV trolley bodies of the plate trolley, controlling the AGV trolley bodies of the extra corresponding quantity to be separated from the plate trolley body corresponding to each other, and splicing the plate trolleys of the target AGV trolley.
Still further, after step S300 of the embodiment of the present invention, the method further includes:
responding to a judgment result that the required quantity of the minimum AGV trolley bodies is larger than the splicing quantity of the maximum AGV trolley bodies of the pallet, firstly controlling additional AGV trolley bodies with the third corresponding quantity to be separated from the corresponding pallet trolleys and spliced with the pallet trolleys of the target AGV trolley, and then controlling additional AGV trolley bodies with the fourth corresponding quantity to be separated from the corresponding pallet trolleys and spliced with the AGV trolley bodies currently spliced on the pallet trolleys of the target AGV trolley;
wherein, the third corresponds quantity and does the surplus AGV dolly body of the board car of target AGV dolly can splice quantity, the fourth corresponds quantity does minimum AGV dolly body demand quantity with the difference of the biggest AGV dolly body concatenation quantity of board car, with the AGV dolly body that the board car splices mutually is for directly splicing in AGV dolly body above the board car.
Still further, before step S400 in the embodiment of the present invention, the method further includes:
selecting a corresponding number of AGV dollies;
the selecting a corresponding number of AGV carts includes:
sending state inquiry signals to all AGV trolleys, wherein the states of the AGV trolleys comprise working state, idle state and charging state;
responding to the received AGV trolley state feedback information, and sending position inquiry signals to all AGV trolleys in an idle state;
responding to the received AGV trolley position feedback information, and selecting the front N AGV trolleys which are close to the goods to be carried;
sending electric quantity inquiry signals to the first N AGV cars;
and responding to the received AGV trolley power feedback information, and selecting the AGV trolleys with the corresponding quantity and more residual power from the front N AGV trolleys.
Still further, before step S700 in the embodiment of the present invention, the method further includes:
the AGV trolley bodies with the corresponding number of large residual electric quantity are selected from all the AGV trolley bodies on the combined plate trolley in a splicing mode.
Still further, in the embodiment of the present invention, the lathes are arranged in a rectangular shape or a regular hexagon shape.
The AGV cart control method based on cargo information analysis according to the embodiment of the present invention is described in more detail below with reference to fig. 2 to 7:
FIG. 2 shows a schematic diagram of an AGV configuration according to an embodiment of the present invention. Referring to fig. 2, in the embodiment of the invention, the AGV includes an AGV body and a pallet, wherein any side of the chassis of the AGV body can be detachably spliced with any side of the chassis of the pallet, any side of the chassis of the AGV body can be detachably spliced with any side of the chassis of the AGV body of another AGV, and any side of the chassis of the pallet can be detachably spliced with any side of the chassis of the pallet of another AGV.
Fig. 3 shows a top view of a combined type plate trailer spliced by 4 plate trailers according to an embodiment of the invention. Referring to fig. 3, when the size of the goods to be transported is large and exceeds the carrying area of the pallet of the AGV, the required number of the minimum pallets is determined based on the size of the bottom surface of the outer package of the goods to be transported and the size of the pallet of the AGV, and the AGV bodies of the corresponding number are controlled to perform corresponding operations so that the corresponding pallets are spliced into the combined pallet of the preset shape. When the required number of the minimum plate trailer is 4, a combined plate trailer formed by splicing 4 plate trailers is shown in fig. 3. It should be understood that the shape of the combination pallet truck formed by splicing 4 pallet trucks is not limited to the shape shown in fig. 3, and the splicing manner of the 4 pallet trucks is determined by the actual size of the goods to be handled.
FIG. 4 shows a schematic diagram of the splicing of 4 AGV car bodies to a modular pallet car according to an embodiment of the present invention. Referring to fig. 4, after the combination type pallet truck is spliced, the requirements of the goods to be transported on the output power of the AGV truck are continuously judged, specifically, the minimum required quantity of the AGV truck body is determined based on the weight of the goods to be transported and the maximum load capacity of the AGV truck, and the AGV truck body of the minimum required quantity of the AGV truck body is controlled to be spliced with the combination type pallet truck. When minimum AGV dolly body demand quantity is 4, minimum AGV dolly body demand quantity equals minimum wooden handcart demand quantity promptly, make present splice 4 AGV dolly bodies on the combination formula wooden handcart continue to keep the concatenation state can, 4 AGV dolly bodies and combination formula wooden handcart's concatenation schematic diagram is shown in fig. 4. It should be understood that the splicing position of the 4 AGV car bodies on the modular pallet car can be adjusted, and the specific adjustment mode is determined by the actual environment of the handling field.
FIG. 5 shows a schematic illustration of the splicing of 2 AGV car bodies to a modular pallet car according to an embodiment of the present invention. Referring to fig. 5, when minimum AGV dolly body demand quantity is 2, minimum AGV dolly body demand quantity is less than minimum board car demand quantity promptly, makes 2 AGV dolly bodies wherein and combination formula board car continue to keep the concatenation state, makes remaining 2 AGV dolly bodies and combination formula board car phase separation. The splicing schematic diagram of the 2 AGV trolley bodies and the combined plate trailer is shown in FIG. 5. It should be understood that the splicing position of the 2 AGV car bodies on the modular pallet car can be adjusted, and the specific adjustment mode is determined by the actual environment of the handling field.
FIG. 6 shows a schematic illustration of the splicing of 6 AGV cart bodies to a modular pallet car in accordance with embodiments of the present invention. Referring to fig. 6, when minimum AGV dolly body demand quantity is 6, minimum AGV dolly body demand quantity is greater than minimum wooden handcart demand quantity and is not more than the biggest AGV dolly body concatenation quantity of combination formula wooden handcart promptly, makes 4 AGV dolly bodies of current concatenation on combination formula wooden handcart continue to keep the concatenation state, controls newly-increased 2 AGV dolly bodies and the wooden handcart phase separation that corresponds separately to splice mutually with combination formula wooden handcart. The schematic diagram of the 6 AGV cart bodies and the combined pallet truck is shown in fig. 6. It should be understood that the splicing position of the 6 AGV car bodies on the modular pallet car can be adjusted, and the specific adjustment mode is determined by the actual environment of the handling field.
FIG. 7 shows a schematic illustration of the splicing of 10 AGV cart bodies to a modular pallet truck according to embodiments of the present invention. Referring to fig. 7, when minimum AGV dolly body demand quantity is 10, minimum AGV dolly body demand quantity is greater than the biggest AGV dolly body concatenation quantity of combination formula pallet promptly, make 4 AGV dolly bodies of current concatenation on combination formula pallet continue to keep the concatenation state, control newly-increased 4 AGV dolly bodies and the pallet phase separation that corresponds respectively and splice mutually with combination formula pallet, control newly-increased 2 AGV dolly bodies and the pallet phase separation that corresponds respectively again and splice mutually with the AGV dolly body of current concatenation on combination formula pallet. A schematic diagram of the splicing of 10 AGV car bodies to a combined pallet car is shown in FIG. 7. It should be understood that the splicing position of the 10 AGV car bodies on the modular pallet car may be adjusted, depending on the actual environment of the transfer site.
On the basis of the AGV trolley control method based on cargo information analysis provided by the embodiment of the invention, the embodiment of the invention further correspondingly provides an AGV trolley control device based on cargo information analysis, the AGV trolley control device is applied to an AGV trolley, wherein the AGV trolley comprises an AGV trolley body and a plate trolley, at least three universal wheels are arranged on a chassis of the AGV trolley body and a chassis of the plate trolley, any side of the chassis of the AGV trolley body can be detachably spliced with any side of the chassis of the trolley body of another AGV trolley, and any side of the chassis of the plate trolley can be detachably spliced with any side of the chassis of the plate trolley of another AGV trolley;
the AGV trolley control device comprises a processor and a memory, and the AGV trolley control method based on cargo information analysis provided by the embodiment of the invention can be realized when the processor executes a computer program stored in the memory.
The AGV trolley control device based on cargo information analysis in the embodiment of the invention and the AGV trolley control method based on cargo information analysis in the embodiment of the invention have the same beneficial effects, and in order to avoid repetition, the detailed description is omitted.
Having described embodiments of the present invention, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments.
Claims (10)
1. The AGV control method based on cargo information analysis is applied to an AGV and is characterized in that the AGV comprises an AGV body and a board vehicle, at least three universal wheels are arranged on a chassis of the AGV body and a chassis of the board vehicle, any side of the chassis of the AGV body can be detachably spliced with any side of the chassis of the AGV body of another AGV vehicle, and any side of the chassis of the board vehicle can be detachably spliced with any side of the chassis of the board vehicle of another AGV vehicle;
the AGV trolley control method comprises the following steps:
responding to the distributed cargo handling tasks, and acquiring the weight of the cargo to be transported and the size of the bottom surface of the outer package based on a pre-established cargo information management system;
determining the required quantity of the minimum plate trailer according to the size of the bottom surface of the outer package of the goods to be carried;
judging whether the required quantity of the minimum plate trailer is more than 1;
responding to a judgment result that the required quantity of the minimum plate trucks is larger than 1, controlling AGV trolley bodies with corresponding quantity to execute corresponding operation so as to enable the corresponding plate trucks to be spliced into a combined plate truck with a preset shape, wherein the preset shape completely covers the bottom surface of the outer package of the goods to be transported;
determining the required quantity of the minimum AGV trolley bodies according to the weight of the goods to be transported;
judging whether the required quantity of the minimum AGV trolley bodies is less than the required quantity of the minimum plate trolleys or not;
responding to the minimum AGV trolley body demand quantity is less than the judgment result of the minimum plate trolley demand quantity, controlling the AGV trolley bodies with the corresponding quantity and the combined plate trolley to be spliced, and controlling the rest AGV trolley bodies and the combined plate trolley to be separated.
2. The AGV car control method of claim 1, wherein after said determining whether said minimum required number of AGV car bodies is less than said minimum required number of pallets, further comprising:
and responding to the judgment result that the required quantity of the minimum AGV trolley bodies is equal to the required quantity of the minimum plate trolleys, and controlling each AGV trolley body to be spliced with the combined plate trolley.
3. The AGV car control method of claim 1, wherein after said determining whether said minimum required number of AGV car bodies is less than said minimum required number of pallets, further comprising:
responding to minimum AGV dolly body demand quantity is greater than minimum board car demand quantity just is not more than the judgement result of the biggest AGV dolly body concatenation quantity of combination formula board car, control the AGV dolly body of extra corresponding quantity and the board car phase separation that corresponds separately, and with combination formula board car splices mutually.
4. The AGV car control method of claim 1, wherein after said determining whether said minimum required number of AGV car bodies is less than said minimum required number of pallets, further comprising:
responding to a judgment result that the required quantity of the minimum AGV trolley bodies is larger than the splicing quantity of the maximum AGV trolley bodies of the combined plate trolley, firstly controlling additional AGV trolley bodies with a first corresponding quantity to be separated from the corresponding plate trolleys and spliced with the combined plate trolley, and then controlling additional AGV trolley bodies with a second corresponding quantity to be separated from the corresponding plate trolleys and spliced with the AGV trolley bodies spliced on the combined plate trolley currently;
wherein, first corresponding quantity does the surplus AGV dolly body of combination formula pallet can splice quantity, second corresponding quantity does minimum AGV dolly body demand quantity with the difference of maximum AGV dolly body concatenation quantity, with the AGV dolly body that combination formula pallet spliced mutually is for directly splicing in AGV dolly body above the combination formula pallet.
5. The AGV cart control method of claim 1, further comprising, after said determining whether said minimum trigger demand is greater than 1:
responding to a judgment result that the required quantity of the minimum plate wagons is equal to 1, and selecting a target AGV;
judging whether the required quantity of the minimum AGV trolley bodies is more than 1;
responding to the judgment result that the required quantity of the minimum AGV trolley bodies is greater than 1 and not greater than the splicing quantity of the maximum AGV trolley bodies of the plate trolley, controlling the AGV trolley bodies of the extra corresponding quantity to be separated from the plate trolley body corresponding to each other, and splicing the plate trolleys of the target AGV trolley.
6. The AGV car control method of claim 5, wherein after said determining whether said minimum AGV car body required number is greater than 1, further comprising:
responding to a judgment result that the required quantity of the minimum AGV trolley bodies is larger than the splicing quantity of the maximum AGV trolley bodies of the pallet, firstly controlling additional AGV trolley bodies with the third corresponding quantity to be separated from the corresponding pallet trolleys and spliced with the pallet trolleys of the target AGV trolley, and then controlling additional AGV trolley bodies with the fourth corresponding quantity to be separated from the corresponding pallet trolleys and spliced with the AGV trolley bodies currently spliced on the pallet trolleys of the target AGV trolley;
wherein, the third corresponds quantity and does the surplus AGV dolly body of the board car of target AGV dolly can splice quantity, the fourth corresponds quantity does minimum AGV dolly body demand quantity with the difference of the biggest AGV dolly body concatenation quantity of board car, with the AGV dolly body that the board car splices mutually is for directly splicing in AGV dolly body above the board car.
7. The AGV cart control method according to claim 1, further comprising, before controlling a corresponding number of AGV cart bodies to perform corresponding operations to splice respective corresponding carts into a predetermined shape of a combined cart, the step of:
selecting a corresponding number of AGV dollies;
the selecting a corresponding number of AGV carts includes:
sending state inquiry signals to all AGV trolleys, wherein the states of the AGV trolleys comprise working state, idle state and charging state;
responding to the received AGV trolley state feedback information, and sending position inquiry signals to all AGV trolleys in an idle state;
responding to the received AGV trolley position feedback information, and selecting the front N AGV trolleys which are close to the goods to be carried;
sending electric quantity inquiry signals to the first N AGV cars;
and responding to the received AGV trolley power feedback information, and selecting the AGV trolleys with the corresponding quantity and more residual power from the front N AGV trolleys.
8. The AGV controlling method according to claim 1, further comprising, before said controlling a corresponding number of AGV car bodies to be coupled to said combined pallet and controlling the remaining AGV car bodies to be separated from said combined pallet, the steps of:
the AGV trolley bodies with the corresponding number of large residual electric quantity are selected from all the AGV trolley bodies on the combined plate trolley in a splicing mode.
9. The AGV cart control method of claim 1, wherein said pallet cars are arranged in a rectangular or regular hexagonal pattern.
10. The AGV trolley control device based on cargo information analysis is applied to an AGV trolley and is characterized in that the AGV trolley comprises an AGV trolley body and a plate trolley, at least three universal wheels are arranged on a chassis of the AGV trolley body and a chassis of the plate trolley, any side of the chassis of the AGV trolley body can be detachably spliced with any side of the chassis of the AGV trolley body of another AGV trolley, and any side of the chassis of the plate trolley can be detachably spliced with any side of the chassis of the plate trolley of another AGV trolley;
the AGV cart control apparatus includes a processor and a memory, and the processor implements the AGV cart control method according to any one of claims 1 to 9 when executing the computer program stored in the memory.
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