CN114995389A - Self-adaptive AGV (automatic guided vehicle) scheduling system and scheduling method thereof - Google Patents
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Abstract
The invention discloses a self-adaptive AGV dispatching system and a dispatching method thereof, and the system comprises a task calling module, an AGV dispatching control module and an AGV module, wherein the task calling module is used for issuing a material dispatching task demand to the AGV dispatching control module, the AGV dispatching control module receives the material dispatching task issued by the task calling module, monitors the state of an AGV appliance, issues an appliance supplementing instruction and an empty appliance recycling instruction according to the state of the AGV appliance, executes the dispatching task according to a fixed route after receiving the instruction of the AGV dispatching control module, and returns the information of the position of the AGV and the state of the appliance to the AGV dispatching control module in real time. The invention simplifies the operation flow, increases the operation convenience, can meet diversified logistics modes, realizes the autonomy of the whole process of task calling, task distribution, task receiving and task execution, does not need to depend on a production plan and a material demand planning system, and can cope with the material shortage caused by the change of the production plan.
Description
Technical Field
The invention belongs to the technical field of material distribution of automobile production lines, and particularly relates to a self-adaptive AGV dispatching system and a dispatching method thereof.
Background
In order to meet the increasing demand of automation rate of automobile manufacturing industry, the application rate of AGVs (automatic guided vehicles) in production workshops is generally increased, wherein, for better ensuring material distribution efficiency, the logistics distribution AGVs are produced at the right moment.
Meanwhile, the current automobile industry has high competitive strength, the product updating speed is high, each automobile factory gradually forms a production mode of multi-vehicle type mixed production, and how to create a self-GV scheduling system and method for meeting the production requirement of multi-vehicle type mixed production is very important, so that the self-GV scheduling system and method can be applied to a production line of a plurality of vehicle types.
Currently, most AGV dispatching logics are basically strongly related to logistics modes of each production workshop, and if the logistics modes are changed, an AGV dispatching system needs to perform corresponding adjustment (for example, logic adjustment, function increase, data update, and the like).
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides a self-adaptive AGV dispatching system and a dispatching method thereof, wherein a PDA is used for material calling and AGV releasing, the operation flow is simplified, the training time is saved, the operation convenience is increased, diversified logistics modes can be met, the whole process of task calling, task distribution, task receiving and task execution can be independent, a production plan and material demand planning system is not required to be relied on, the problem of material shortage caused by the change of the production plan can be solved, and the self-adaptive AGV dispatching system and the dispatching method thereof can be suitable for whether the iteration of the logistics mode is frequent or not.
The purpose of the invention is realized by the following technical scheme:
the invention provides a self-adaptive AGV dispatching system which comprises a task calling module, an AGV dispatching control module and an AGV module, wherein the task calling module is in wireless communication connection with the AGV dispatching control module;
the task calling module is used for issuing material delivery task requirements to the AGV dispatching control module;
the AGV dispatching control module receives a material distribution task issued by the task calling module, monitors the state of the AGV, and sends an instruction for supplementing full tools and an instruction for recovering empty tools according to the state of the AGV;
and after receiving the instruction of the AGV dispatching control module, the AGV module executes a distribution task according to a fixed route and transmits the AGV position and the appliance state information back to the AGV dispatching control module in real time.
Furthermore, the task calling module comprises a station selection unit, a task issuing unit and a material state monitoring unit;
the station selection unit comprises material information corresponding to each station, and is used for operators at different stations to call and monitor tasks;
the task issuing unit is respectively in communication connection with the station selection unit and the AGV dispatching control module and is used for issuing material distribution tasks to the AGV dispatching control module;
the material state monitoring unit is respectively in communication connection with the station selection unit and the AGV dispatching control module and is used for monitoring and displaying the state information of the materials corresponding to each station in real time.
Further, the station selection unit comprises a front axle left station, a front axle right station, a rear axle left station, a rear auxiliary frame matched station and a front auxiliary frame station, and two to-be-sent stations are arranged in each station.
Further, the AGV dispatch control module includes:
the task allocation unit is used for allocating or intervening tasks according to the preset task priority and the starting time, wherein the tasks comprise task starting, task stopping and task canceling;
the vehicle dispatching unit is used for distributing and dispatching an AGV module according to the material distribution task requirement issued by the task calling module;
the communication management unit is used for providing communication between each AGV module and the AGV dispatching control module and communication between the AGV dispatching control module and the task calling module;
and the operation monitoring unit is used for monitoring and displaying the operation path and the operation state of each AGV module in real time.
Furthermore, the AGV dispatching control module further comprises a key switch unit for performing remote power control on the AGV module, and performing power supply or power failure operation on the AGV according to the state of the current position of the AGV.
Furthermore, the AGV dispatching control module further comprises a traffic control unit for controlling collision avoidance of the travelling tracks of the plurality of AGV modules, avoiding the AGV modules from waiting for each other to generate locking, and performing unlocking control after the AGV modules are locked.
Furthermore, the AGV dispatching control module further comprises an abnormity counting unit which is used for counting and uploading the fault information of the AGV module.
The invention also provides a dispatching method of the self-adaptive AGV dispatching system, which comprises the following steps:
step one, a production line side uses a PDA to issue material delivery task demands, and an AGV dispatching control module counts and releases an empty tool AGV;
step two, the empty tool AGV transports the empty tool to an empty waiting position of an AGV waiting area, and the AGV dispatching control module monitors the state of the AGV in real time;
taking the empty tools away by the forklift;
placing the full tool in a full waiting position by the forklift, using the PDA to issue an AGV releasing instruction, and releasing the full tool AGV by the AGV dispatching control module;
and step five, transporting the full tools to the line side by the full tool AGV, and completing the circulation.
Further, the first step comprises:
entering the task calling module to select stations;
checking material state information corresponding to the stations, and issuing material distribution requirements on materials to be distributed;
the AGV dispatching control module receives the material distribution demand, counts the empty tool AGV information, and issues a release instruction to the empty tool AGV.
Further, the second step comprises:
the empty tool AGV carries the empty tool to a positioning mechanism of an empty waiting area, and the empty tool and the pallet truck are put down;
the AGV dispatching control module monitors the AGV state in real time, and if the AGV is insufficient, the AGV is controlled to travel to the charging position to be charged.
Further, the fourth step includes:
issuing a logistics distribution release task to an AGV dispatching control module in a task calling module;
the AGV dispatching control module controls the AGV to reach a full waiting position;
the AGV lifts the pallet truck and leaves the full waiting position;
and the full tool AGV transports the full tool to a production line side station according to a path specified by the AGV dispatching control module.
The invention has the following beneficial effects:
the invention provides a self-adaptive AGV dispatching system, which realizes the autonomy of the whole process of task calling, task distribution, task receiving and task execution, does not need to depend on a production plan and a material demand planning system, and can cope with the material shortage caused by the change of the production plan.
The invention provides a dispatching method of a self-adaptive AGV dispatching system, which uses a PDA to call materials and release the AGV, simplifies the operation process, saves the training time, increases the operation convenience and can meet the diversified logistics mode.
The self-adaptive AGV dispatching system and the dispatching method thereof provided by the invention have self-adaptability and can be suitable for logistics mode iteration regardless of frequency.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments of the present invention 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 the contents of the embodiments of the present invention and the drawings without creative efforts.
FIG. 1 is a block diagram of an adaptive AGV scheduling system according to an embodiment of the present invention;
FIG. 2 is a block diagram of an AGV dispatching control module of the adaptive AGV dispatching system according to an embodiment of the present invention;
FIG. 3 is a flowchart illustrating an overall method for adaptive AGV scheduling according to an embodiment of the present invention;
fig. 4 is a flowchart illustrating control of an AGV pending dispatch area of a scheduling method of an adaptive AGV scheduling system according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Example 1
As shown in fig. 1, an adaptive AGV scheduling system includes a task call module, an AGV scheduling control module, and an AGV module, wherein the task call module is in wireless communication connection with the AGV scheduling control module, and the AGV scheduling control module is in wireless communication connection with the AGV module;
the task calling module is used for issuing material delivery task requirements to the AGV dispatching control module;
the AGV dispatching control module receives a material distribution task issued by the task calling module, monitors the state of the AGV, and sends an instruction for supplementing full tools and an instruction for recovering empty tools according to the state of the AGV;
and after receiving the instruction of the AGV dispatching control module, the AGV module executes a distribution task according to a fixed route and transmits the AGV position and the appliance state information back to the AGV dispatching control module in real time.
Furthermore, the task calling module comprises a station selection unit, a task issuing unit and a material state monitoring unit;
the station selection unit comprises material information corresponding to each station, and is used for operators at different stations to call and monitor tasks;
the task issuing unit is respectively in communication connection with the station selection unit and the AGV dispatching control module and is used for issuing material distribution tasks to the AGV dispatching control module. After an operator selects a specific station in the station selection unit, a distribution task instruction can be issued to the AGV dispatching control module aiming at the material to be distributed corresponding to the station;
the material state monitoring unit is respectively in communication connection with the station selection unit and the AGV dispatching control module and is used for monitoring and displaying the state information of the materials corresponding to each station in real time. When an operator selects a specific station in the station selection unit, the off-line information of the materials corresponding to the station can be checked, and whether the materials need to be delivered or not can be known.
Furthermore, the station selection unit comprises a front axle left and right station, a rear auxiliary frame matching station and a front auxiliary frame station, and two waiting stations are arranged in each station.
Further, the AGV dispatch control module includes:
the key switch unit is used for performing remote power control on the AGV module and performing power supply or power failure operation on the AGV according to the state of the current position of the AGV;
the task allocation unit is used for allocating or intervening tasks according to the preset task priority and the starting time, wherein the tasks comprise task starting, task stopping and task canceling;
the vehicle dispatching unit is used for distributing and dispatching an AGV module according to the material distribution task requirement issued by the task calling module;
the traffic control unit is used for controlling collision avoidance of the travelling tracks of the AGV modules, simultaneously avoiding the AGV modules from waiting for each other to generate locking, and unlocking and controlling after the AGV modules are locked;
the communication management unit is used for providing communication between each AGV module and the AGV dispatching control module and communication between the AGV dispatching control module and the task calling module;
the operation monitoring unit is used for monitoring and displaying the operation path and the operation state of each AGV module in real time;
and the abnormity counting unit is used for counting and uploading the fault information of the AGV module.
Example 2
A scheduling method of an adaptive AGV scheduling system comprises the following steps:
step one, a production line side uses a PDA to issue material delivery task demands, and an AGV dispatching control module counts and releases an empty tool AGV;
secondly, the empty tool AGV transports the empty tool to an empty waiting position of an AGV waiting area, and the AGV dispatching control module monitors the state of the AGV in real time;
taking the empty tools away by the forklift;
placing the full tool in a full waiting position by the forklift, using the PDA to issue an AGV releasing instruction, and releasing the full tool AGV by the AGV dispatching control module;
and step five, transporting the full tools to the line side by the full tool AGV, and completing the circulation.
Further, the first step comprises:
entering the task calling module to select stations;
checking material state information corresponding to the stations, and issuing material distribution requirements on materials to be distributed;
the AGV dispatching control module receives the material distribution demand, counts the empty tool AGV information, and issues a release instruction to the empty tool AGV.
Further, the second step comprises:
the empty tool AGV carries the empty tool to a positioning mechanism of an empty waiting area, and the empty tool and the pallet truck are put down;
the AGV dispatching control module monitors the AGV state in real time, and if the AGV is insufficient, the AGV is controlled to travel to the charging position to be charged.
Further, the fourth step includes:
issuing a logistics distribution release task to an AGV dispatching control module in a task calling module;
the AGV dispatching control module controls the AGV to reach a full waiting position;
the AGV lifts the pallet truck and leaves the full waiting position;
and the full tool AGV transports the full tool to a production line side station according to a path specified by the AGV dispatching control module.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. A self-adaptive AGV dispatching system is characterized by comprising a task calling module, an AGV dispatching control module and an AGV module, wherein the task calling module is in wireless communication connection with the AGV dispatching control module;
the task calling module is used for issuing material distribution task requirements to the AGV dispatching control module;
the AGV dispatching control module receives a material distribution task issued by the task calling module, monitors the state of the AGV, and sends an instruction for supplementing full tools and an instruction for recovering empty tools according to the state of the AGV;
and after receiving the instruction of the AGV dispatching control module, the AGV module executes a distribution task according to a fixed route and transmits the AGV position and the appliance state information back to the AGV dispatching control module in real time.
2. The adaptive AGV dispatching system of claim 1, wherein the task calling module comprises a station selection unit, a task issuing unit, a material status monitoring unit;
the station selection unit comprises material information corresponding to each station, and is used for operators at different stations to call and monitor tasks;
the task issuing unit is respectively in communication connection with the station selection unit and the AGV dispatching control module and is used for issuing material distribution tasks to the AGV dispatching control module;
the material state monitoring unit is respectively in communication connection with the station selection unit and the AGV dispatching control module and is used for monitoring and displaying the state information of the materials corresponding to each station in real time.
3. The adaptive AGV dispatching system of claim 2, wherein the station selection unit comprises a front axle left and right station, a rear subframe matching station and a front subframe station, and two waiting stations are arranged in each station.
4. The adaptive AGV scheduling system of claim 1 wherein said AGV scheduling control module comprises:
the task allocation unit is used for allocating or intervening tasks according to the preset task priority and the starting time, wherein the tasks comprise task starting, task stopping and task canceling;
the vehicle dispatching unit is used for distributing and dispatching the AGV module according to the material distribution task demand issued by the task calling module;
the communication management unit is used for providing communication between each AGV module and the AGV dispatching control module and communication between the AGV dispatching control module and the task calling module;
and the operation monitoring unit is used for monitoring and displaying the operation path and the operation state of each AGV module in real time.
5. The adaptive AGV dispatching system of claim 4, wherein the AGV dispatching control module further comprises a one-key switch unit for performing remote power control on the AGV module, and performing power supply or power off operation on the AGV according to the state of the current position of the AGV.
6. The adaptive AGV dispatching system according to claim 4, wherein the AGV dispatching control module further comprises a traffic control unit for controlling collision avoidance of the traveling tracks of the plurality of AGV modules, preventing the AGV modules from waiting each other to be locked, and performing unlocking control after the AGV modules are locked.
7. The adaptive AGV dispatching system of claim 4, wherein the AGV dispatching control module further comprises an anomaly counting unit for counting and uploading fault information of the AGV modules.
8. A method for scheduling an adaptive AGV scheduling system according to any of claims 1 to 7 comprising the steps of:
step one, a production line side uses a PDA to issue material delivery task demands, and an AGV dispatching control module counts and releases an empty tool AGV;
secondly, the empty tool AGV transports the empty tool to an empty waiting position of an AGV waiting area, and the AGV dispatching control module monitors the state of the AGV in real time;
taking the empty tools away by the forklift;
placing the full tool in a full waiting position by the forklift, using the PDA to issue an AGV releasing instruction, and releasing the full tool AGV by the AGV dispatching control module;
and step five, transporting the full tools to the line side by the full tool AGV, and completing the circulation.
9. The method of claim 8, wherein said step one comprises:
entering the task calling module to select stations;
checking material state information corresponding to the stations, and issuing material distribution requirements on materials to be distributed;
the AGV dispatching control module receives the material distribution demand, counts the empty tool AGV information, and issues a release instruction to the empty tool AGV.
10. The method of claim 8, wherein said second step comprises:
the empty tool AGV carries the empty tool to a positioning mechanism of an empty waiting area, and the empty tool and the pallet truck are put down;
the AGV dispatching control module monitors the AGV state in real time, and if the AGV is insufficient, the AGV is controlled to travel to the charging position to be charged.
The fourth step comprises:
issuing a logistics distribution release task to an AGV dispatching control module in a task calling module;
the AGV dispatching control module controls the AGV to reach a full waiting position;
the AGV lifts the pallet truck and leaves a full waiting position;
and the full tool AGV transports the full tool to a production line side station according to a path specified by the AGV dispatching control module.
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| CN109032135A (en) * | 2018-07-17 | 2018-12-18 | 河南森源电气股份有限公司 | A kind of dispatching method and system of automatic guide vehicle |
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| CN113253715A (en) * | 2021-03-01 | 2021-08-13 | 一汽物流有限公司 | Hybrid scheduling method and system for unmanned forklift and AGV |
| CN113335820A (en) * | 2021-06-30 | 2021-09-03 | 广州普华灵动机器人技术有限公司 | Warehousing and ex-warehouse method for directly butting stereoscopic warehouse and AGV |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109032135A (en) * | 2018-07-17 | 2018-12-18 | 河南森源电气股份有限公司 | A kind of dispatching method and system of automatic guide vehicle |
| CN109634187A (en) * | 2018-12-26 | 2019-04-16 | 芜湖哈特机器人产业技术研究院有限公司 | A kind of AGV remote monitoring system |
| CN110244712A (en) * | 2019-05-22 | 2019-09-17 | 南通大学 | A kind of more AGV system paths planning methods |
| CN113253715A (en) * | 2021-03-01 | 2021-08-13 | 一汽物流有限公司 | Hybrid scheduling method and system for unmanned forklift and AGV |
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