A Position Perception and Decision Management Method for Warehouse RGV

Abstract

The present invention relates to the technical field of scheduling management methods for warehousing RGVs, and specifically to a method for position perception and decision-making management of warehousing RGVs. The specific steps of the method are as follows: S1, path management, generating information points on the running path; S2, soft state management of information points, realizing path planning by performing soft state management on the information points on the running path through obtaining task information; S3, discrete state position perception, quickly obtaining the current position information through the interrupt system of the controller; S4, task arbitration, performing task switching when it is detected that an event is triggered in the soft state of the information point; S5, exception handling, capable of analyzing and handling various abnormal situations on the path; this invention can improve the stability of RGV performance and the smooth transition of the motion state, meeting the urgent needs of modern industry.

Description

Technical Field

[0001] The present invention relates to the technical field of scheduling management methods for warehousing RGVs, and specifically to a method for position perception and decision-making management of warehousing RGVs. Background Art

[0002] With the development of smart factories, the design of a large number of Rail Guided Vehicles (RGVs) has emerged. However, most of the existing RGV control systems obtain the position information of RGVs by using easily worn mechanical limit switches or high-cost and high-precision area positioning systems; the parking accuracy of RGVs usually relies on multi-sensor multi-stage adjustment for precise parking. Such problems often bring disadvantages such as high cost, low stability, and data redundancy when designing RGV control systems. Summary of the Invention

[0003] The purpose of this part is to outline some aspects of the embodiments of the present invention and briefly introduce some preferred embodiments. Simplifications or omissions may be made in this part as well as in the abstract and title of the present application to avoid obscuring the purpose of this part, the abstract, and the title, and such simplifications or omissions shall not be used to limit the scope of the present invention.

[0004] In view of the above and / or the existing problems of high cost, low stability, and data redundancy in RGV control systems, the present invention is proposed.

[0005] Therefore, the purpose of the present invention is to provide a method for position perception and decision-making management of warehousing RGVs, which can improve the stability of RGV performance and the smooth transition of motion states, and meet the urgent needs of modern industry.

[0006] To solve the above technical problems, according to one aspect of the present invention, the following technical solutions are provided:

[0007] A method for position perception and decision-making management of warehousing RGVs, which includes the following steps: S1. Path management, generating information points on the running path. The path management includes dynamically applying for memory according to the type and quantity of RFID card numbers of carriers serving as information points on the designed track of the RGV, determining the logical design related to the memory size and boundaries, and the space of the memory size becomes the soft state manager;

[0008] S2. Soft state management of information points. By obtaining task information, soft state management of the information points on the running path is carried out to achieve path planning. The way of writing the status data that the RGV should respond to when running to this position into the carrier RFID card of each information point in the soft state management of information points is hard state management, while the way of writing the status data corresponding to the carrier RFID card of the corresponding information point into a specific position of the memory applied in the path management step inside the RGV is soft state management;

[0009] S3. Discrete state position perception: quickly obtain the current position information through the interrupt system of the controller. Since the position recognition method adopted in this design uses a finite number of RFID cards, which are discretely installed at different positions on the path, when the RGV passes through the position of this information point, the card number information of the current information point can be recognized, and then the position state of the RGV can be updated.

[0010] S4. Task arbitration: perform task switching when an event is triggered in the soft state of the information point. It is a process for the RGV to select the next task after completing the subtask or operation of the current station. After the task of the current station is completed, it proceeds to the task of the next station, returns to the task, or the console calls the RGV to return.

[0011] S5. Exception handling: can analyze and handle various abnormal situations on the path, and is used for handling when abnormal situations occur, analyzing and handling the loss of RFID cards on the RGV path and the abnormal situation of unreadable information.

[0012] Preferably, in the S1 path management, the RGV collects the card number information of all preset information points under the entire path at one time.

[0013] Preferably, in the S2 information point soft state management, the collected card number information of the information point is sequentially stored in the soft state manager, and the state of the RGV running to this point and the information of the subtask of the RGV running to this point are set and modified here.

[0014] Preferably, the S3 discrete state position perception collects the card number information of the passed information point through the interrupt system of the controller to determine the current position information of the RGV. Through the acquisition of the S3 discrete state information, combined with decision management, abnormal problems such as timeout exceptions, detection of loss, repeated detection, and communication exceptions are processed, effectively ensuring the accuracy of the RGV position.

[0015] Preferably, in the S4 task arbitration, various processing processes of RGV path tours, information point platform operations, loss of platform information points, material placement timeouts, stop current task commands, and emergency stops are designed, and the state machine is used in this process, indicating that the method adopted in the task arbitration step is state machine judgment. It is a processing method that can accurately judge the running state and task execution degree of the current RGV, and can effectively improve the concurrency of multiple tasks and the stability of tasks.

[0016] Preferably, a device for the position perception and decision management method of a warehousing RGV includes: an RGV vehicle body, the RGV vehicle body travels on the RGV rail path, and the RGV rail path also includes a first RFID card and a second RFID card, and the platform position is below the RGV rail path.

[0017] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0018] 1. By proposing an information point soft state management mechanism to plan and judge the operation path of the warehousing RGV, the efficiency of the warehousing RGV system in judging, filtering, and triggering information points is improved.

[0019] 2. By introducing a decision management system, efficient improvements have been made in precise parking, RGV path patrol, information point platform operation, and handling of abnormal problems. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the present invention will be described in detail below in conjunction with the drawings and detailed embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings. Among them:

[0021] Figure 1 is the flowchart of the method of the present invention;

[0022] Figure 2 is the schematic diagram of the device position of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0023] In order to make the above objects, features, and advantages of the present invention more obvious and understandable, the specific embodiments of the present invention will be described in detail below in conjunction with the drawings.

[0024] In the following description, many specific details are set forth in order to fully understand the present invention. However, the present invention can also be implemented in other ways different from those described herein. Those skilled in the art can make similar promotions without departing from the connotation of the present invention. Therefore, the present invention is not limited by the specific embodiments disclosed below.

[0025] Secondly, the present invention is described in detail with reference to the schematic diagrams. When describing the embodiments of the present invention in detail, for the convenience of explanation, the cross-sectional views showing the device structure will be enlarged locally out of the general scale, and the schematic diagrams are only examples and should not limit the scope of protection of the present invention herein. In addition, in actual production, three-dimensional spatial dimensions including length, width, and depth should be included.

[0026] In order to make the purpose, technical solutions, and advantages of the present invention clearer, the embodiments of the present invention will be further described in detail below in conjunction with the drawings.

[0027] Such as Figure 1As shown in the figure, the present invention provides a method for position perception and decision-making management of a warehousing RGV, which includes the following steps: S1. Path management, generating information points on the running path. Path management includes dynamically applying for memory for the types and quantities of RFID card numbers, which are carriers of information points, on the RGV-designed track, determining the logical design related to the memory size and boundaries, and the space of the memory size becomes the soft state manager;

[0028] S2. Soft state management of information points. By obtaining task information, soft state management of information points on the running path is carried out to achieve path planning. The way of writing the status data that the RGV should respond to when running to this position into the carrier RFID card of each information point one by one in the soft state management of information points is hard state management, while the way of writing the status data corresponding to the carrier RFID card of the corresponding information point into a specific position of the memory applied in the path management step inside the RGV is soft state management;

[0029] S3. Discrete state position perception. The current position information is quickly obtained through the interrupt system of the controller. Since the position recognition method adopted in this design is to use a finite number of RFID cards and discretely install them at different positions on the path, when the RGV passes through the position of this information point, the card number information of the current information point can be recognized, and the position status of the RGV can be updated;

[0030] S4. Task arbitration. When it is detected that an event is triggered in the soft state of the information point, task switching is carried out, which is a process of selecting the next task after the RGV completes the subtask or operation of the current platform. After the task of the current platform is completed, the task of the next platform, the return task, or the task of the console calling the RGV to return is carried out;

[0031] S5. Exception handling. It can analyze and handle various abnormal situations on the path, which is used for handling when abnormal situations occur, and analyzing and handling the abnormal situations of RFID card loss and unreadable information on the RGV path.

[0032] The wireless radio frequency identification used, namely radio frequency identification technology (RFID), is a kind of automatic identification technology. Through wireless radio frequency, non-contact two-way data communication is carried out, and the recording media such as electronic tags or radio frequency cards are read and written by wireless radio frequency, so as to achieve the purpose of identifying the target and data exchange.

[0033] In S1 path management, the card number information of all preset information points under the full path is collected by the RGV once.

[0034] In S2 soft state management of information points, the collected card number information of the information points is stored in the soft state manager in sequence, and the status of the RGV running to this point and the information of the subtask of the RGV running to this point are set and modified here.

[0035] The S3 discrete state position sensing collects the card numbers of the information points passed through by the interrupt system of the controller to determine the current position information of the RGV. Through the acquisition of the S3 discrete state information, combined with the decision-making management, the abnormal problems such as timeout exception, detection loss, duplicate detection, and communication exception are processed, effectively ensuring the accuracy of the RGV position.

[0036] In S4 task arbitration, various RGV path tours, information point platform operations, platform information point loss, material placement timeout, stop current task command, and emergency stop task processing processes are designed. And this process uses a state machine, indicating that the method adopted for the task arbitration steps is state machine judgment. It will accurately judge the current operating state of the RGV and the processing method of the task execution degree, which can effectively improve the concurrency of multiple tasks and the stability of the tasks.

[0037] As Figure 2 shown, a device for a position sensing and decision-making management method of a warehousing RGV includes: an RGV vehicle body 1, the RGV vehicle body 1 travels on an RGV rail path 2, and the RGV rail path 2 also includes a first RFID card 3 and a second RFID card 4, and below the RGV rail path 2 is a platform position 5.

[0038] When the RGV passes by the first RFID card 3, the interrupt system of the controller will obtain this RFID card number, compare this card number with the data in the information point soft state manager to retrieve the corresponding response state, and perform an ignore or deceleration operation; when the RGV passes by the second RFID card 4, the interrupt system of the controller will obtain this RFID card number, compare this card number with the data in the information point soft state manager, retrieve the corresponding response state, and perform an ignore or stop operation to complete parking.

[0039] After the RGV running path is available, deploy RFID cards as information points for the RGV on the RGV running path according to the positions of the existing material placement points; two RFID cards are required to determine the position of a platform corresponding to the information points deployed on the RGV running path; the distance between the two RFID cards is ensured to be not less than 0.5 m to ensure that the RGV has enough deceleration distance; create a soft state manager S1 in the path management step of the RGV; the RGV inputs through the human-machine interface or communicates with the RGV through the host computer to send and obtain all the RFID card number information deployed on the running path; use this information to initialize the position data of the soft state manager to complete the identification of the information points on this path by the RGV; after the user sends relevant task instructions to the RGV through the host computer, the RGV starts the soft state management of the S2 information points, obtains and parses the instructions of the host computer, and operates on the corresponding operation data of the relevant platform numbers of the soft state manager to complete the soft state management step of the relevant information points; when the RGV passes by the RFID card, quickly obtain the current RFID card number information through the interrupt system of the controller, and determine the current position of the RGV by obtaining the position data in the soft state manager to achieve the discrete state position perception of step S3; realize the control of the subtasks of material placement at the platform through position perception; when the material placement task of a single platform is completed, enter step S4 task arbitration to judge whether there are unfinished tasks in the soft state manager of the RGV. If so, continue to move forward to the corresponding platform to complete the task. If not, start the return task; then enter S5 exception handling, and process various abnormal information recorded during operation, including the processing processes of various RGV path tours, information point platform operations, platform information point loss, material placement timeout, stop current task command, and emergency stop tasks.

[0040] Although the present invention has been described above with reference to the embodiments, various improvements can be made to it and components therein can be replaced with equivalents without departing from the scope of the present invention. In particular, as long as there is no structural conflict, the various features in the disclosed embodiments of the present invention can be combined with each other in any way. The exhaustive description of these combinations is not given in this specification only for the sake of saving space and resources. Therefore, the present invention is not limited to the specific embodiments disclosed in the text, but includes all technical solutions falling within the scope of the claims.

Claims

1. A method for position perception and decision-making management of a warehousing RGV, characterized in that, It includes the following steps: S1. Path management, generating information points on the running path. The path management includes dynamically applying for memory for the types and quantities of RFID card numbers, which are carriers of information points, on the RGV-designed track, determining the logical design related to the memory size and boundaries, and the space of the memory size becomes the soft state manager; In the path management, the card number information of all preset information points under the entire path is collected by the RGV once; S2. Soft state management of information points. By obtaining task information, soft state management of the information points on the running path is carried out to achieve path planning. The way of writing the status data that the RGV should respond to when running to this position into the carrier RFID card of each information point one by one in the soft state management of information points is hard state management, while the way of writing the status data corresponding to the carrier RFID card of the corresponding information point into a specific position in the memory applied for in the path management step inside the RGV is soft state management; In the soft state management of information points, the collected card number information of the information points is sequentially stored in the soft state manager, and the status of the RGV running to this information point and the information of the subtask of the RGV running to this information point are set and modified here; S3. Discrete state position perception, quickly obtaining the current position information through the interrupt system of the controller. Since the position recognition method adopted in this design is to use a finite number of RFID cards and discretely install them at different positions on the path, when the RGV passes through the position of this information point, the card number information of the current information point can be recognized, and the position status of the RGV can be updated; The discrete state position perception collects the card number information of the passed information points through the interrupt system of the controller to determine the current position information of the RGV. Through the acquisition of discrete state position information, combined with decision management, abnormal problems such as timeout exception, detection loss, repeated detection, and communication exception are processed, effectively ensuring the accuracy of the RGV position; S4. Task arbitration, performing task switching when an event is triggered in the soft state of the information point, which is a process of selecting the next task after the RGV completes the subtask or operation of the current platform. After the current platform task is completed, the task of the next platform, the return task, or the task of the console calling the RGV to return is carried out; In the task arbitration, various processing processes of RGV path tour, information point platform operation, loss of information point on the platform, material delivery timeout, stop current task command, and emergency stop are designed, and the state machine is adopted in this process, indicating that the method adopted in the task arbitration step is state machine judgment. Its processing method of accurately judging the running state and task execution degree of the current RGV can effectively improve the concurrency of multi-tasks and the stability of tasks; S5. Abnormal handling, which can analyze and handle various abnormal situations on the path, and is used for handling when abnormal situations occur, analyzing and handling the loss of RFID cards on the RGV path and the abnormal situation of information unreadable.

2. The device for the method for position perception and decision-making management of a warehousing RGV according to claim 1 includes: RGV vehicle body (1), the RGV vehicle body (1) travels on the RGV rail path (2), and the RGV rail path (2) also includes a first RFID card (3) and a second RFID card (4), and below the RGV rail path (2) is the platform position (5).

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