AGV control method and system, intelligent terminal and storage medium

Abstract

The invention relates to an AGV control method and system, an intelligent terminal and a storage medium, and relates to the field of automatic processing, and the method comprises the steps: responding to a preset control condition, and transmitting a power supply control instruction to a wireless relay main station; a power supply control instruction is forwarded to a wireless relay slave station through a wireless relay master station, the power supply control instruction is used for indicating the wireless relay slave station to connect or disconnect a power supply loop of an AGV master controller supply point relay, and the AGV master controller supply point relay is used for connecting or disconnecting a power supply loop of a wireless client and an AGV master controller. The AGV main controller is used for controlling a power supply loop of the AGV equipment; and under the condition that the power supply control instruction belongs to a wake-up instruction, a behavior control instruction is sent to the wireless client through the wireless access point, the wireless client is used for forwarding the control instruction to the AGV main controller, and the AGV main controller is further used for instructing the AGV equipment to work according to the control instruction. The AGV control system has the effects of reducing energy consumption of the AGV control system and saving energy.

Description

Technical Field

[0001] The present application relates to the field of automated processing, and in particular to an AGV control method, system, intelligent terminal and storage medium. Background Art

[0002] AGV (Automated Guided Vehicle) is an intelligent device that transports materials or goods within a specific path or area through an automatic navigation system and is widely used in various fields.

[0003] The relevant technology requires the main control system to send sleep or wake-up instructions to the wireless client, where the wireless client needs to be powered by the AGV main controller power relay. The wireless client forwards the above instructions to the AGV main controller, and the AGV main controller instructs the AGV device to sleep or wake up according to the instructions.

[0004] For the above-mentioned related technologies, the AGV main controller power supply relay, wireless client and AGV main controller need to be continuously powered. After the staff get off work, the AGV main controller power supply relay, wireless client and AGV main controller will still consume electricity, resulting in high energy consumption of the entire system. Summary of the invention

[0005] In order to reduce the energy consumption of the AGV control system and save energy, the present application provides an AGV control method, system, intelligent terminal and storage medium.

[0006] In a first aspect, the present application provides an AGV control method, which adopts the following technical solution: An AGV control method, comprising: In response to satisfying a preset control condition, sending a power control instruction to the wireless relay master station; The wireless relay master station forwards the power control instruction to the wireless relay slave station. The power control instruction is used to instruct the wireless relay slave station to connect or disconnect the power supply circuit of the AGV main controller supply point relay. The AGV main controller supply point relay is used to connect or disconnect the power supply circuit of the wireless client and the AGV main controller. The AGV main controller is used to control the power supply circuit of the AGV equipment. In the case where the power control instruction is a wake-up instruction, a behavior control instruction is sent to the wireless client through a wireless access point. The wireless client is used to forward the control instruction to the AGV main controller. The AGV main controller is also used to instruct the AGV device to work according to the control instruction.

[0007] By adopting the above technical solution, the wireless relay master controls the wireless relay slave, and the wireless relay slave controls the power supply circuit of the wireless client and the AGV main controller, thereby realizing the power on and off control of the wireless client and the AGV main controller. It is sufficient for the wireless relay slave to be in a continuous power supply state, which can reduce the energy consumption of the AGV control system and save resources.

[0008] Optionally, when the power control instruction is a sleep instruction, a status query instruction is generated, and the status query instruction is used to query the working status of the AGV device; Sending the status query instruction to the AGV main controller; Receive status identification information provided by the AGV main controller, where the status identification information is used to record the working status of the AGV device; Counting the working AGV equipment in working state and the working task progress of the working AGV equipment from the state identification information; The power control instruction is set according to the remaining duration of the work task process.

[0009] By adopting the above technical solution, when the power control instruction is a sleep instruction, the work task process of the working AVG device is obtained, and based on the remaining duration of the work task process, the power control instruction is set, so that the power control instruction can control the AVG device to shut down according to the remaining duration, so that the work task has been completed when the AVG device is shut down, avoiding the work task being affected.

[0010] Optionally, a duration interval is set according to the remaining duration of the work task process; Based on the relationship between the remaining time and the time interval, the working AGV equipment is classified to obtain a working AGV equipment group; Obtain the longest duration within the working AGV device group; A delay instruction is set according to the maximum duration, the delay instruction corresponds to the working AGV device group one by one, and the delay instruction is used to instruct the wireless relay slave station to close the power supply circuit of the working AGV device group after the maximum duration has passed; The power control instruction is generated based on the delay instruction.

[0011] By adopting the above technical solution, the working AGV equipment is classified to obtain working AGV equipment groups, and corresponding delay instructions are set for different working AGV equipment groups. The delay instructions control the working AGV equipment in groups, and different working AGV equipment groups are closed at different time points. This is conducive to closing the working AGV equipment at the appropriate time, so that each working AGV equipment can enter sleep after completing the work task.

[0012] Optionally, when the power control instruction is a wake-up instruction, a status identifier is added to the power control instruction, and the status identifier is used by the wireless relay slave station to count the number of AGV devices that are turned on; Receive status update information returned by the wireless relay master station, where the status update information is output by the wireless relay slave station when the number of AGV devices turned on reaches a preset number; According to the status update information, obtain the delayed sending duration; After the delayed sending time has elapsed, the behavior control instruction is sent to the wireless client via the wireless access point.

[0013] By adopting the above technical solution, status update information is output when the number of AGV devices that are turned on reaches a preset number, and behavior control instructions are sent after a delayed sending time using the output status update information, ensuring that the AGV device has been awakened when the behavior control instructions are sent, and there is no need to send the behavior control instructions repeatedly.

[0014] Optionally, obtaining the working status of the AGV device; Classify the AGV devices according to the working status to obtain a first AGV device, a second AGV device and a third AGV device, wherein the remaining power of the first AGV device is less than the first warning power, the remaining power of the second AGV device is greater than the first warning power and less than the second warning power, and the remaining power of the third AGV device is greater than the second warning power; Generate a power supply instruction based on a first number of the first AGV devices and a second number of the second AGV devices; The power supply instruction is sent to the wireless relay slave station through the wireless AP.

[0015] By adopting the above technical solution, a power supply instruction is generated according to the first number of the first AGV device and the second number of the second AGV device, so as to realize power supply to the AGV devices in different time periods and improve the power supply efficiency.

[0016] Optionally, obtaining the total number of power supply circuits of the AGV device; If the sum of the first number and the second number is not greater than the total number of the circuits, a first power supply instruction is generated based on the first number, the first power supply instruction is used to instruct the first power supply circuit to supply power; a second power supply instruction is generated based on the second number, the second power supply instruction is used to instruct the second power supply circuit to supply power, and the first power supply circuit and the second power supply circuit include different power supply circuits; the first power supply instruction and the second power supply instruction are combined to obtain the power supply instruction; If the sum of the first quantity and the second quantity is greater than the total number of loops, calculate the sum of the first quantity and the second quantity to obtain the total quantity; calculate the difference between the total quantity and the total number of loops to obtain the loop difference; select the target power supply loop of the loop difference quantity from the power supply loop of the AGV equipment; generate a third power supply instruction based on the first quantity and the target power supply loop; generate a fourth power supply instruction based on the second quantity and the target power supply loop; combine the third power supply instruction and the fourth power supply instruction to obtain the power supply instruction.

[0017] By adopting the above technical scheme, different power supply circuits are selected for power supply in different situations, which can not only ensure that the power supply to the AGV equipment is met, but also utilize the alternating operation of the power supply circuit to make the power supply circuit alternate between power supply and sleep, thereby extending the service life of the power supply circuit.

[0018] Optionally, a first working duration is set according to the first quantity and an average remaining power of the first AGV device; adding the first working time as the remaining working time to the first power supply instruction; Setting a second working time according to the second quantity and an average remaining power of the second AGV device; adding the second working time as the remaining working time to the second power supply instruction; The first power supply instruction and the second power supply instruction are packaged to obtain the power supply instruction.

[0019] By adopting the above technical solution, the power supply instruction is linked to the average remaining power of the AGV device, so that the power supply instruction can meet the actual situation of the AGV device, ensuring that the power supply circuit in the awake state will be switched only after the AGV device is fully charged.

[0020] In the second aspect, the present application provides an AGV control system, which adopts the following technical solution: An AGV control system, comprising: An acquisition module, used to acquire preset control conditions, power control instructions and behavior control instructions; A memory, used to store a program of the AGV control method; The program in the memory can be loaded and executed by the processor to implement the AGV control method.

[0021] By adopting the above technical solution, the wireless relay master controls the wireless relay slave, and the wireless relay slave controls the power supply circuit of the wireless client and the AGV main controller, thereby realizing the power on and off control of the wireless client and the AGV main controller. It is sufficient for the wireless relay slave to be in a continuous power supply state, which can reduce the energy consumption of the AGV control system and save resources.

[0022] In a third aspect, the present application provides a smart terminal, which adopts the following technical solution: An intelligent terminal includes a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and execute any of the above-mentioned AGV control methods.

[0023] In a fourth aspect, the present application provides a computer storage medium capable of storing corresponding programs, which is convenient for reducing the energy consumption of the AGV control system and saving energy, and adopts the following technical solutions: A computer-readable storage medium stores a computer program that can be loaded by a processor and execute any of the above-mentioned AGV control methods.

[0024] In summary, the present application includes at least one of the following beneficial technical effects: 1. The wireless relay master controls the wireless relay slave, and uses the wireless relay slave to control the power supply circuit of the wireless client and the AGV main controller, so as to realize the power on and off control of the wireless client and the AGV main controller. It only requires the wireless relay slave to be in a continuous power supply state, which can reduce the energy consumption of the AGV control system and save resources; 2. When the power control instruction is a sleep instruction, the work task process of the working AVG device is obtained, and based on the remaining duration of the work task process, the power control instruction is set, so that the power control instruction can control the AVG device to shut down according to the remaining duration, so that the work task has been completed when the AVG device is shut down, thereby avoiding the work task being affected; 3. Classify the working AGV equipment to obtain working AGV equipment groups, and set corresponding delay instructions for different working AGV equipment groups. The delay instructions control the working AGV equipment in groups, and shut down different working AGV equipment groups at different time points. This is conducive to shutting down the working AGV equipment at the appropriate time, so that each working AGV equipment can enter sleep after completing the work task. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1It is a schematic diagram of an AGV control system provided in an embodiment of the present application.

[0026] Figure 2 It is a flow chart of an AGV control method provided in an embodiment of the present application.

[0027] Figure 3 It is a flowchart of a method 1 for setting a power control instruction provided in an embodiment of the present application.

[0028] Figure 4 It is a flowchart of a second method for setting a power control instruction provided in an embodiment of the present application.

[0029] Figure 5 It is a flowchart of a method for sending a power supply instruction provided in an embodiment of the present application.

[0030] Figure 6 It is a flowchart of a method for sending a power supply instruction provided in an embodiment of the present application.

[0031] Figure 7 It is a flowchart of a method for generating a power supply instruction provided in an embodiment of the present application.

[0032] Figure 8 It is a flow chart of a second method for generating a power supply instruction provided in an embodiment of the present application.

[0033] Fig. 9 It is a structural schematic diagram of an AGV control system provided in an embodiment of the present application. DETAILED DESCRIPTION

[0034] In order to make the purpose, technical solutions and advantages of this application more clear, the following Figure 1 To Attachment Fig. 9 It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0035] The present application embodiment discloses an AGV control system. Figure 1 The system includes: a main control system 11, a wireless relay master station 12, a wireless relay slave station 13, an AGV main controller power supply relay 14, a wireless client 15, an AGV main controller 16, an AGV device 17 and a wireless AP 18 (Access Point).

[0036] The main control system 11 is used to control other devices provided by the AGV system.

[0037] The wireless relay master station 12 is used to send a sleep command or a wake-up command to the wireless relay slave station, so that the wireless relay slave station wakes up or shuts down the AGV main controller 16 power supply relay 14. In this application, the wireless relay slave station is in a continuously powered state to ensure that the wireless relay slave station can obtain the instructions sent by the wireless relay master station 12 at any time.

[0038] The AGV main controller 16 power supply relay 14 is used to connect or disconnect the power supply circuit of the wireless client 15 and the AGV main controller 16. The AGV main controller 16 power supply relay 14 is controlled by the wireless relay slave station.

[0039] The wireless client 15 is used to receive signals sent by the wireless AP 18. In the present application, the wireless client 15 will receive control instructions other than sleep instructions or wake-up instructions sent by the wireless AP 18, such as the path setting command of the AGV device 17, the collection command of the AGV device 17, etc.

[0040] The wireless AP 18 is used to extend the coverage of the wireless network. The wireless AP 18 converts the wired network into a wireless signal, or extends the coverage of the existing wireless network.

[0041] The AGV main controller 16 is used to send various instructions to the AGV equipment 17 .

[0042] In an optional implementation of the present application, after the main control system 11 generates a power control instruction (including a sleep instruction or a wake-up instruction), the power control instruction is sent to the wireless relay master station 12. The wireless relay master station 12 forwards the power control instruction to the wireless relay slave station through wireless communication technology. The wireless relay slave station turns on or off the AGV main controller 16 power supply relay 14 according to the power control instruction. Here, the power control instruction is a wake-up instruction as an example. The wireless relay slave station will wake up the AGV main controller 16 power supply relay 14. After the AGV main controller 16 power supply relay 14 is awakened, the AGV main controller 16 power supply relay 14 will wake up the wireless client 15 and the AGV main controller 16, and the AGV main controller 16 will then wake up the AGV device 17.

[0043] The present application embodiment discloses an AGV control method. Figure 2 , the method comprising: Step S201: In response to satisfying a preset control condition, a power control instruction is sent to the wireless relay master station.

[0044] The preset control condition is a preset condition for waking up or sleeping the power supply circuit of the AGV device. For example, the preset control condition is reaching the target time, for example, the preset control condition is met at 18:00 every day. Optionally, the preset control condition can also receive a sleep command or a wake-up command input by a technician.

[0045] The power control instructions include sleep instructions and wake-up instructions. The sleep instruction is used to instruct the power supply circuit of the AGV device to enter sleep. The wake-up instruction is used to wake up the power supply circuit of the AGV device.

[0046] Step S202: Forward the power control instruction to the wireless relay slave station through the wireless relay master station, the power control instruction is used to instruct the wireless relay slave station to connect or disconnect the power supply circuit of the AGV main controller supply point relay, the AGV main controller supply point relay is used to connect or disconnect the power supply circuit of the wireless client and the AGV main controller, and the AGV main controller is used to control the power supply circuit of the AGV equipment.

[0047] For example, if the power control instruction is a sleep instruction, the wireless relay will disconnect the power supply circuit of the AGV main controller supply point relay after receiving the power control instruction. At this time, the AGV main controller supply point relay will disconnect the power supply circuit of the wireless client and the AGV main controller. Since the power supply circuit of the AGV main controller is disconnected, the AGV device automatically goes into sleep.

[0048] For example, if the power control instruction is a wake-up instruction, the wireless relay will connect the power supply circuit of the AGV main controller supply point relay after receiving the power control instruction. At this time, the AGV main controller supply point relay will connect the power supply circuit of the wireless client and the AGV main controller. Since the power supply circuit of the AGV main controller is connected, the AGV main controller will automatically connect the power supply circuit of the AGV device to charge the AGV device.

[0049] Step S203: When the power control instruction is a wake-up instruction, a behavior control instruction is sent to the wireless client through the wireless access point. The wireless client is used to forward the control instruction to the AGV main controller, and the AGV main controller is also used to instruct the AGV device to work according to the control instruction.

[0050] Behavior control instructions are used to instruct AGV devices to perform behaviors other than sleep and wake up, such as setting the action path of AGV devices, instructing AGV devices to gather at a certain location, etc.

[0051] After the wireless client receives the behavior control instruction, it will forward the behavior control instruction to the AGV main controller, and then the AGV main controller will control the AGV device to perform the corresponding behavior.

[0052] In some other embodiments, when the power control instruction is a sleep instruction, a sleep confirmation instruction is sent to the wireless client through the wireless point. If the main control system does not receive the sleep return information returned by the wireless client within a preset time, it is considered that the power supply circuit of the AGV main controller supply point relay, the wireless client, and the AGV main controller has been disconnected.

[0053] By adopting the above technical solution, the wireless relay master controls the wireless relay slave, and the wireless relay slave controls the power supply circuit of the wireless client and the AGV main controller, thereby realizing the power on and off control of the wireless client and the AGV main controller. It is sufficient for the wireless relay slave to be in a continuous power supply state, which can reduce the energy consumption of the AGV control system and save resources.

[0054] In the following embodiments, when controlling the AGV device to enter sleep mode, some AGV devices may still be executing tasks. If the AGV main controller is directly turned off, the AGV device may be forced to enter sleep mode without completing the current task, which will affect the subsequent control of the AGV device and the issuance of instructions. Therefore, the embodiment of the present application discloses a method for setting power control instructions. Figure 3 , the method comprising: Step S301: when the power control instruction is a sleep instruction, a status query instruction is generated, and the status query instruction is used to query the working status of the AGV device.

[0055] Optionally, the status query instruction includes at least one of an identification code of the wireless relay slave station, a timestamp corresponding to the current time, and an identification code of the AGV device.

[0056] Step S302: Send a status query instruction to the AGV main controller.

[0057] The main control system sends the status query command to the wireless client through the wireless AP, and the wireless client forwards the status query command to the AGV main controller. The AGV main controller will count the working status of each AGV device and form status identification information.

[0058] Step S303: receiving status identification information provided by the AGV main controller, where the status identification information is used to record the working status of the AGV device.

[0059] The status identification information is obtained by the AGV main controller by counting the working status of each AGV device. The AGV main controller will send the status identification information to the wireless client. The wireless client will then send the status identification information to the wireless AP. The wireless AP will send the status identification information to the main control system.

[0060] In some other embodiments, the status query instruction can also be sent to the wireless client through the wireless AP, and the client sends the status query instruction to the AGV main controller. The AGV main controller generates status identification information based on the status query instruction and sends the status identification information to the wireless client. The wireless client returns the status identification information to the main control system through the wireless AP.

[0061] Step S304: Count the working AGV devices in the working state and the working task progress of the working AGV devices from the state identification information.

[0062] The working AGV device in working state refers to the AGV device that is performing the task at the current moment. The current moment refers to the moment when the AGV device reports its own state to the AGV main controller, or the moment when the main control system sends a state query instruction.

[0063] Optionally, the work task progress is used to describe whether the AGV device performs the work task and the processing time of the work task. In some embodiments, the processing time of the AGV device on the work task is used as the work task progress.

[0064] Step S305: Setting a power control instruction according to the remaining time of the work task process.

[0065] Optionally, a preset working time is determined according to the working task of the AGV device, and the preset working time refers to the longest time required to complete the working task. The processing time is extracted from the working task process. The difference between the preset working time and the processing time is calculated to obtain the remaining time.

[0066] In some embodiments, data corresponding to the work task is retrieved from a preset time database to obtain the preset working time.

[0067] By adopting the above technical solution, when the power control instruction is a sleep instruction, the work task process of the working AVG device is obtained, and based on the remaining duration of the work task process, the power control instruction is set, so that the power control instruction can control the AVG device to shut down according to the remaining duration, so that the work task has been completed when the AVG device is shut down, avoiding the work task being affected.

[0068] In the following embodiments, when setting the power control instruction, a delay instruction can be set according to the remaining time of the corresponding work task process of the AGV device, and the sleep of the AGV device is delayed by the delay instruction to ensure that the AGV device has completed the current task when the AGV device sleeps. Therefore, the embodiment of the present application discloses a second method for setting the power control instruction. Figure 4 , the method comprising: Step S401: Set a duration interval according to the remaining duration of the work task process.

[0069] In some embodiments, the maximum and minimum values ​​of the remaining duration are obtained to obtain the maximum remaining duration and the minimum remaining duration. Based on the maximum remaining duration and the minimum remaining duration, a maximum duration interval is generated, the left endpoint of the maximum duration interval is the minimum remaining duration, and the right endpoint is the maximum remaining duration. The maximum duration interval is evenly divided based on the preset number of intervals to obtain a plurality of duration intervals, and the number of duration intervals is consistent with the preset number of intervals.

[0070] Step S402: Based on the relationship between the remaining time and the time interval, the working AGV devices are classified to obtain working AGV device groups.

[0071] The working AGV equipment grouping is obtained based on the time interval classification, and each group of working AGV equipment grouping corresponds to the time interval one by one.

[0072] Optionally, if the remaining durations corresponding to n working AGV devices fall within the same duration interval, the n working AGV devices are divided into the same duration interval to obtain a working AGV device group, where n is a positive integer. That is, the remaining durations corresponding to the AGV devices in the same working AGV device group fall within the same time interval.

[0073] Step S403: Obtain the longest duration of working in the AGV device group.

[0074] The maximum duration refers to the maximum value of the remaining duration corresponding to the AGV equipment in the same working AGV equipment group.

[0075] Exemplarily, the AGV devices in the same working AGV device group are selected, the remaining time of the aforementioned AGV devices are sorted in descending order, and the AGV device ranking is obtained. The remaining time corresponding to the AGV device at the first position in the AGV device ranking is taken as the longest time.

[0076] Step S404: setting a delay instruction according to the maximum duration, the delay instruction corresponds to the working AGV device group one by one, and the delay instruction is used to instruct the wireless relay slave station to close the power supply circuit of the working AGV device group after the maximum duration.

[0077] The delay length corresponding to the delay instruction is consistent with the maximum duration. For example, if the maximum duration is 10 minutes, the delay instruction is used to instruct the wireless relay slave to turn off the power supply circuit of the AGV device corresponding to the working AGV device group after 10 minutes.

[0078] The delay instruction includes a maximum duration and a flag of an AGV device in a working AGV device group corresponding to the delay instruction, and the flag is used to uniquely identify the AGV device.

[0079] Step S405: Generate a power control instruction based on the delay instruction.

[0080] Optionally, a delay instruction is added to the power control instruction to obtain an updated power control instruction.

[0081] By adopting the above technical solution, the working AGV equipment is classified to obtain working AGV equipment groups, and corresponding delay instructions are set for different working AGV equipment groups. The delay instructions control the working AGV equipment in groups, and different working AGV equipment groups are closed at different time points. This is conducive to closing the working AGV equipment at the appropriate time, so that each working AGV equipment can enter sleep after completing the work task.

[0082] In the following embodiments, when the power control instruction is a wake-up instruction, when sending the behavior control instruction, it is necessary to ensure that the wireless client, the AGV main controller and the AGV device have been awakened to ensure that the behavior control instruction can be correctly executed. Therefore, the embodiment of the present application discloses a method for sending a behavior control instruction. Figure 5 , the method comprising: Step S501: When the power control instruction is a wake-up instruction, a state identifier is added to the power control instruction, and the state identifier is used by the wireless relay slave station to count the number of AGV devices that are turned on.

[0083] When the AGV main controller power supply relay obtains the power control instruction, the AGV main controller power supply relay will detect whether the power control instruction includes a status mark. If there is a status mark, the AGV main controller power supply relay will provide the status mark to the AGV main controller, and the AGV main controller will count the number of AGV devices turned on according to the status mark.

[0084] Step S502: receiving status update information returned by the wireless relay master station, where the status update information is output when the wireless relay slave station counts that the number of AGV devices turned on reaches a preset number.

[0085] The preset quantity is a preset empirical value, and the technicians can adjust the specific value of the preset quantity according to actual needs.

[0086] Exemplarily, the AGV device reports its own opening status information to the AGV controller in real time, and the opening status information is used to indicate whether the AGV device is turned on or off. The AGV controller obtains the number of AGV devices turned on in real time through the opening status information, and generates status update information when the number of AGV devices turned on reaches a preset number.

[0087] Step S503: Obtain the delayed sending duration according to the status update information.

[0088] In some embodiments, the delay sending duration is a preset fixed value, for example, the delay sending duration is set to 5 minutes.

[0089] In some embodiments, the status update information includes the number of AGV devices in the turned-on state. The delayed transmission duration is determined in a preset corresponding relationship according to the number of AGV devices, wherein the delayed transmission duration is positively correlated with the number of AGV devices, and the delayed transmission duration can be calculated by setting a positive function.

[0090] Step S504: after the delay time has elapsed, the behavior control instruction is sent to the wireless client via the wireless access point.

[0091] Exemplarily, taking the receiving timestamp of the status update information as the starting point, after the delay sending time has elapsed, the behavior control instruction is sent to the wireless client via the wireless access point.

[0092] By adopting the above technical solution, status update information is output when the number of AGV devices that are turned on reaches a preset number, and behavior control instructions are sent after a delayed sending time using the output status update information, ensuring that the AGV device has been awakened when the behavior control instructions are sent, and there is no need to send the behavior control instructions repeatedly.

[0093] In the following embodiments, when the AGV controller controls the power supply of the AGV device, the AGV device can be powered in batches to ensure that the power supply demand of the AGV device can be met in batches, thereby improving the charging efficiency of the AGV device. Therefore, the embodiment of the present application discloses a method for sending a power supply instruction. Figure 6 , the method comprising: Step S601: Obtain the working status of the AGV device.

[0094] The working status includes at least one of the remaining power of the AGV device, the working task, and the behavior model.

[0095] Optionally, the AGV controller collects the working status of each AGV device and sends the working status to the main control system through the wireless client and wireless AP.

[0096] Step S602: Classify the AGV devices according to the working status to obtain the first AGV device, the second AGV device and the third AGV device. The remaining power of the first AGV device is less than the first warning power, the remaining power of the second AGV device is greater than the first warning power and less than the second warning power, and the remaining power of the third AGV device is greater than the second warning power.

[0097] Exemplarily, the remaining power of the AGV device is extracted from the working state. The AGV device is classified based on the first warning power and the second warning power as classification criteria to obtain the first AGV device, the second AGV device and the third AGV device.

[0098] The first warning power and the second warning power are both preset values. The technicians can adjust the values ​​of the first warning power and the second warning power according to the actual situation. If the remaining power of the AGV device is less than the first warning power, it means that the AGV device is insufficient and needs to be charged in time; if the remaining power of the AGV device is greater than the second warning power, it means that the remaining power of the AGV device is sufficient and does not need to be charged within a certain period of time; if the remaining power of the AGV device is between the first warning power and the second warning power, it means that the AGV device needs to be charged after the AGV device has worked for a certain period of time. For example, the first warning power is 20% and the second warning power is 70%.

[0099] Step S603: Generate a power supply instruction based on the first number of the first AGV device and the second number of the second AGV device.

[0100] The first number refers to the number of first AGV devices, and the second number refers to the number of second AGV devices.

[0101] The power supply instruction is used to instruct the AGV main controller to adjust whether the AGV equipment is powered.

[0102] Step S604: Send the power supply instruction to the wireless relay slave station through the wireless AP.

[0103] Exemplarily, the main control system sends the power supply instruction to the wireless client through the wireless AP, and the wireless client then provides the power supply instruction to the AGV main controller.

[0104] By adopting the above technical solution, a power supply instruction is generated according to the first number of the first AGV device and the second number of the second AGV device, so as to realize power supply to the AGV devices in different time periods and improve the power supply efficiency.

[0105] In the following embodiments, when generating a power supply instruction, it is necessary to adjust the power supply instruction according to the relationship between the sum of the first number and the second number and the total number of power supply circuits to ensure the stability of power supply. Therefore, the embodiment of the present application discloses a method for generating a power supply instruction. Figure 7 , the method comprising: Step S701: Obtain the total number of power supply circuits of the AGV device.

[0106] The total number of circuits refers to the number of circuits used for the AGV device controlled by the AGV main controller. For example, if the AGV main controller controls 6 power supply circuits, the total number of circuits is 6.

[0107] Step S702: If the sum of the first number and the second number is not greater than the total number of loops, a first power supply instruction is generated based on the first number, where the first power supply instruction is used to instruct the first power supply loop to supply power.

[0108] When the sum of the first number and the second number is not greater than the total number of loops, it means that the power supply loop of the AGV main controller is sufficient to supply power to the first AGV device and the second AGV device.

[0109] Exemplarily, a corresponding number of first power supply circuits are allocated according to the first quantity, and the first power supply circuits are used to power the first AGV device. For example, the first power supply circuits can be allocated according to the number of the power supply circuits. When the first quantity is 4, the power supply circuits numbered 1-4 are taken as the first power supply circuits.

[0110] Step S703: Generate a second power supply instruction based on the second quantity, the second power supply instruction is used to instruct the second power supply circuit to supply power, and the first power supply circuit and the second power supply circuit include different power supply circuits.

[0111] Exemplarily, a corresponding number of second power supply circuits are allocated according to the second number, and the second power supply circuits are used to supply power to the second AGV device.

[0112] Step S704: Combine the first power supply instruction and the second power supply instruction to obtain a power supply instruction.

[0113] The first power supply instruction and the second power supply instruction are added to the same instruction template to obtain a power supply instruction.

[0114] Furthermore, when combining the first power supply instruction and the second power supply instruction, a first priority identifier is added to the first power supply instruction, and a second priority identifier is added to the second power supply instruction. If the first priority identifier is greater than the second priority identifier, it means that the first power supply instruction takes precedence over the second power supply instruction.

[0115] Step S705: If the sum of the first number and the second number is greater than the total number of loops, the sum of the first number and the second number is calculated to obtain the total number.

[0116] When the sum of the first number and the second number is greater than the total number of loops, the power supply loop of the AGV main controller is insufficient to simultaneously power the first AGV device and the second AGV device. When allocating power supply loops to AGV devices, it is necessary to consider that a portion of the power supply loops will provide services for the first AGV device and the second AGV device.

[0117] Step S706: Calculate the difference between the total number and the total number of loops to obtain the loop difference.

[0118] The loop difference refers to the difference between the sum of the quantities and the total number of loops.

[0119] Step S707: Select a target power supply circuit with the same number of circuit differences from the power supply circuits of the AGV equipment.

[0120] Optionally, a target power supply circuit having a number of circuit differences is randomly selected from the power supply circuits of the AGV device.

[0121] Optionally, according to the usage frequency of the power supply circuit of the AGV equipment, a power supply circuit with a small circuit difference number and a small usage frequency is preferentially selected as the target power supply circuit.

[0122] Optionally, according to the service life of the power supply circuit of the AGV equipment, a power supply circuit with a short service life and a circuit difference number is preferentially selected as the target power supply circuit.

[0123] Step S708: Generate a third power supply instruction based on the first quantity and the target power supply circuit.

[0124] Exemplarily, a corresponding number of third power supply circuits are allocated according to the first number, and the third power supply circuit and the target power supply are used as the power supply circuit for the first AGV device.

[0125] Step S709: Generate a fourth power supply instruction based on the second quantity and the target power supply circuit.

[0126] Exemplarily, a corresponding number of fourth power supply circuits are allocated according to the second number, and the fourth power supply circuit and the target power supply are used as the power supply circuit for the second AGV device.

[0127] Step S710: Combine the third power supply instruction and the fourth power supply instruction to obtain a power supply instruction.

[0128] Further, when combining the third power supply instruction and the fourth power supply instruction, a first priority identifier is added to the third power supply instruction, and a second priority identifier is added to the fourth power supply instruction. If the first priority identifier is greater than the second priority identifier, it means that the third power supply instruction is executed before the fourth power supply instruction.

[0129] By adopting the above technical scheme, different power supply circuits are selected for power supply in different situations, which can not only ensure that the power supply to the AGV equipment is met, but also utilize the alternating operation of the power supply circuit to make the power supply circuit alternate between power supply and sleep, thereby extending the service life of the power supply circuit.

[0130] In the following embodiments, the remaining working time can also be added to the power supply instruction to remind the corresponding AGV device to return to charge in time. Therefore, the embodiment of the present application discloses a second method for generating a power supply instruction. Figure 8 , the method comprising: Step S801: setting a first working time according to an average remaining power of a first AGV device.

[0131] Optionally, the AGV main controller can provide the remaining power of the AGV device to the main control system through the wireless client and the wireless AP. The main control system selects the first AGV device according to the remaining power, and calculates the average remaining power of each first AGV device to obtain the average remaining power.

[0132] The first working time refers to the time it takes for the remaining power of the first AGV device to drop to the shutdown power level.

[0133] Optionally, the main control system determines the remaining working time of the AGV device in a preset corresponding table according to the average remaining power of the first AGV device to obtain the first working time.

[0134] Step S802: Add the first working time as the remaining working time to the first power supply instruction.

[0135] After adding the first working time as the remaining working time to the first power supply instruction, the AGV main controller may send a charging instruction to the first AGV device after the first working time has passed after receiving the first power supply instruction, so that all first AGV devices are charged.

[0136] Step S803: setting a second working time according to the average remaining power of the second AGV device.

[0137] Optionally, the AGV main controller can provide the remaining power of the AGV device to the main control system through the wireless client and the wireless AP. The main control system selects the second AGV device according to the remaining power, and calculates the average remaining power of each second AGV device to obtain the average remaining power.

[0138] The second working time refers to the time it takes for the remaining power of the second AGV device to drop to the shutdown power level.

[0139] Optionally, the main control system determines the remaining working time of the AGV device in a preset corresponding table according to the average remaining power of the second AGV device to obtain the second working time.

[0140] Step S804: Add the second working time as the remaining working time to the second power supply instruction.

[0141] After adding the second working time as the remaining working time to the second power supply instruction, the AGV main controller may send a charging instruction to the second AGV device after the second working time has passed after receiving the second power supply instruction, so that all second AGV devices are charged.

[0142] Step S805: Pack the first power supply instruction and the second power supply instruction to obtain a power supply instruction.

[0143] By adopting the above technical solution, the power supply instruction is linked to the average remaining power of the AGV device, so that the power supply instruction can meet the actual situation of the AGV device, ensuring that the power supply circuit in the awake state will be switched only after the AGV device is fully charged.

[0144] Based on the same inventive concept, the present application embodiment provides an AGV control system, please refer to Fig. 9 The system comprises: An acquisition module 901 is used to acquire preset control conditions, power control instructions and behavior control instructions; Memory 902, used to store the program of the AGV control method; Processor 903, the program in the memory can be loaded and executed by the processor to implement the AGV control method.

[0145] By adopting the above technical solution, the wireless relay master controls the wireless relay slave, and the wireless relay slave controls the power supply circuit of the wireless client and the AGV main controller, thereby realizing the power on and off control of the wireless client and the AGV main controller. It is sufficient for the wireless relay slave to be in a continuous power supply state, which can reduce the energy consumption of the AGV control system and save resources.

[0146] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device and unit described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0147] An embodiment of the present application provides a computer-readable storage medium storing a computer program that can be loaded by a processor and execute an AGV control method.

[0148] Computer storage media include, for example, various media that can store program codes, such as USB flash drives, mobile hard disks, read-only memories (ROM), random access memories (RAM), magnetic disks or optical disks.

[0149] Based on the same inventive concept, an embodiment of the present application provides an intelligent terminal, including a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and execute an AGV control method.

[0150] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device and unit described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0151] The above are all preferred embodiments of the present application, and are not intended to limit the protection scope of the present application. Any feature disclosed in this specification (including the abstract and drawings), unless otherwise stated, can be replaced by other equivalent or alternative features with similar purposes. That is, unless otherwise stated, each feature is only an example of a series of equivalent or similar features.

Claims

1. An AGV control method, characterized in that: The method comprises: In response to satisfying a preset control condition, sending a power control instruction to the wireless relay master station; The power control instruction is forwarded to the wireless relay slave station through the wireless relay master station, and the power control instruction is used to instruct the wireless relay slave station to connect or disconnect the power supply circuit of the AGV main controller supply point relay, and the AGV main controller supply point relay is used to connect or disconnect the power supply circuit of the wireless client and the AGV main controller, and the AGV main controller is used to control the power supply circuit of the AGV equipment; In the case where the power control instruction is a wake-up instruction, a behavior control instruction is sent to the wireless client through a wireless access point. The wireless client is used to forward the control instruction to the AGV main controller. The AGV main controller is also used to instruct the AGV device to work according to the control instruction.

2. The AGV control method according to claim 1, characterized in that: Before sending the power control instruction to the wireless relay master station, the method further includes: In the case where the power control instruction is a sleep instruction, a status query instruction is generated, and the status query instruction is used to query the working status of the AGV device; Sending the status query instruction to the AGV main controller; Receive status identification information provided by the AGV main controller, where the status identification information is used to record the working status of the AGV device; Counting the working AGV equipment in working state and the working task progress of the working AGV equipment from the state identification information; The power control instruction is set according to the remaining duration of the work task process.

3. The AGV control method according to claim 2, characterized in that: The step of setting the power control instruction according to the remaining duration of the work task includes: According to the remaining time of the work task process, a duration interval is set; Based on the relationship between the remaining time and the time interval, the working AGV equipment is classified to obtain a working AGV equipment group; Obtain the longest duration within the working AGV device group; A delay instruction is set according to the maximum duration, the delay instruction corresponds to the working AGV device group one by one, and the delay instruction is used to instruct the wireless relay slave station to close the power supply circuit of the working AGV device group after the maximum duration has passed; The power control instruction is generated based on the delay instruction.

4. The AGV control method according to claim 2, characterized in that: The method further comprises: In the case where the power control instruction is a wake-up instruction, a state identifier is added to the power control instruction, and the state identifier is used by the wireless relay slave station to count the number of AGV devices that are turned on; Receive status update information returned by the wireless relay master station, where the status update information is output by the wireless relay slave station when the number of AGV devices turned on reaches a preset number; According to the status update information, obtain the delayed sending duration; After the delayed sending time has elapsed, the behavior control instruction is sent to the wireless client via the wireless access point.

5. The AGV control method according to claim 4, characterized in that: The method further comprises: Obtaining the working status of the AGV device; Classify the AGV devices according to the working status to obtain a first AGV device, a second AGV device and a third AGV device, wherein the remaining power of the first AGV device is less than the first warning power, the remaining power of the second AGV device is greater than the first warning power and less than the second warning power, and the remaining power of the third AGV device is greater than the second warning power; Generate a power supply instruction based on a first number of the first AGV devices and a second number of the second AGV devices; The power supply instruction is sent to the wireless relay slave station through the wireless AP.

6. The AGV control method according to claim 5, characterized in that: The generating a power supply instruction based on the first number of the first AGV devices and the second number of the second AGV devices includes: Obtain the total number of power supply circuits of the AGV device; If the sum of the first number and the second number is not greater than the total number of the circuits, a first power supply instruction is generated based on the first number, the first power supply instruction is used to instruct the first power supply circuit to supply power; a second power supply instruction is generated based on the second number, the second power supply instruction is used to instruct the second power supply circuit to supply power, and the first power supply circuit and the second power supply circuit include different power supply circuits; the first power supply instruction and the second power supply instruction are combined to obtain the power supply instruction; If the sum of the first quantity and the second quantity is greater than the total number of loops, calculate the sum of the first quantity and the second quantity to obtain the total quantity; calculate the difference between the total quantity and the total number of loops to obtain the loop difference; select the target power supply loop of the loop difference quantity from the power supply loop of the AGV equipment; generate a third power supply instruction based on the first quantity and the target power supply loop; generate a fourth power supply instruction based on the second quantity and the target power supply loop; combine the third power supply instruction and the fourth power supply instruction to obtain the power supply instruction.

7. The AGV control method according to claim 6, characterized in that: The combining the first power supply instruction and the second power supply instruction to obtain the power supply instruction includes: Setting a first working time according to an average remaining power of the first AGV device; adding the first working time as the remaining working time to the first power supply instruction; Setting a second working time according to the average remaining power of the second AGV device; adding the second working time as the remaining working time to the second power supply instruction; The first power supply instruction and the second power supply instruction are packaged to obtain the power supply instruction.

8. An AGV control system, characterized in that: The system is used to execute the AGV control method according to any one of claims 1 to 7, and the system comprises: An acquisition module, used to acquire preset control conditions, power control instructions and behavior control instructions; A memory, used to store a program of the AGV control method; The program in the memory can be loaded and executed by the processor to implement the AGV control method.

9. An intelligent terminal, characterized in that: The method comprises a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and execute the AGV control method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: A computer program is stored which can be loaded by a processor and execute the AGV control method according to any one of claims 1 to 7.

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