A logistics control method and system based on AGV

Abstract

The present invention discloses a logistics control method and system based on AGV. Through the mutual cooperation among a central control system, logistics terminal equipment, a material vehicle and an AGV trolley, the material vehicle is loaded with materials, the AGV trolley is loaded with the material vehicle, and the central control system sends operation instructions to guide the AGV trolley to work, thereby realizing efficient and high-quality transportation of materials. The method and system are suitable for transporting different types of materials, can meet various transportation needs, improve the working efficiency and flexibility of AGV trolleys in transporting materials, and expand the application scenarios of AGV trolleys in transporting materials.

Description

Technical Field

[0001] The present invention relates to the field of automation control technology, and in particular to an AGV-based logistics control method and system. Background Art

[0002] AGV (Automated Guided Vehicle), also known as AGV, is an automatic guided vehicle that has automatic guidance equipment such as magnetic strips, tracks or lasers, travels along a planned path, and is powered by batteries. It is usually composed of multiple AGVs, control computers (consoles), navigation equipment, charging equipment, and peripheral accessories. The AGV system has many advantages, such as high degree of automation, stable and reliable system operation, flexible operation, and changeable paths. At present, AGVs are widely used in our production and life. For example, AGVs are used to automatically sort goods in logistics warehousing, and AGVs are used to deliver meals to guests in hotels.

[0003] In the process of logistics operation, it is generally necessary to move goods and record the movement track of goods. The traditional method mainly relies on the combination of manual and some mechanical equipment, which has low work efficiency and is prone to errors. After the AGV cart is used to replace the traditional manual work mode, people's work efficiency has been greatly improved. At present, the AGV carts used in logistics warehousing and hospitals, on the one hand, have a relatively simple control method and operation process. The task is usually transportation between two points. The AGV cart has less interaction with the control center. On the other hand, especially in the hospital environment, if medical equipment, drugs or medical waste are transported by the same cart and container, it is easy to cause contamination or other accidents. If an error occurs during the transportation process of the AGV cart and there is no timely feedback, it will also bring many inconveniences. Therefore, a control system and method of a more flexible and diverse AGV cart that can classify and transport items is needed. Summary of the invention

[0004] In view of the above-mentioned problems existing in the prior art, the present invention proposes a logistics control method and system based on AGV, in which the various parts of the logistics control system cooperate with each other to improve the accuracy of material transportation. The material control method is suitable for transporting a variety of task types, which improves the flexibility of material transportation. It is also possible to select corresponding material vehicles and AGV carts for different types of materials, thereby reducing the probability of material contamination.

[0005] The specific technical solutions are as follows:

[0006] A logistics control method based on AGV, comprising the following steps:

[0007] The logistics terminal device sends the task to the central control system, and the central control system analyzes the task;

[0008] The central control system allocates the AGV and the material vehicle according to the task, and sends operation instructions to the AGV;

[0009] The AGV vehicle completes the transportation, loading and unloading of the material vehicle according to the instructions;

[0010] The AGV returns to the standby point after completing the task.

[0011] Preferably, the task includes material type, task type and task attribute;

[0012] The task types include single tasks and batch tasks, and the batch tasks include batch tasks that require pre-loading of material vehicles and batch tasks that do not require pre-loading of material vehicles;

[0013] The task attributes include a sending task and a recycling task. The sending task includes information about a shipping point and a receiving point, and the recycling task includes information about a collection point and a recycling center.

[0014] Preferably, the central control system sends an operation instruction to the AGV vehicle including:

[0015] Determine the task type of the task according to the analysis result;

[0016] If the task is a single task, the central control system first allocates a material cart corresponding to an idle state, obtains the position of the material cart, then allocates an AGV trolley corresponding to an idle state, and sends a movement instruction to the AGV trolley to drive toward the material cart;

[0017] After the AGV arrives at the location of the material cart, it loads the material cart and replies an arrival instruction to the central control system;

[0018] After receiving the corresponding arrival instruction, the central control system sends a movement instruction to the AGV vehicle to drive to the shipping point;

[0019] After the AGV arrives at the shipping point, it replies an arrival instruction to the central control system;

[0020] After receiving the corresponding arrival instruction, the central control system sends a prompt message to the logistics terminal device, and loads the material into the material vehicle according to the prompt message;

[0021] After the material loading operation is completed, the logistics terminal device sends a material loading completion instruction to the central control system;

[0022] After receiving the corresponding material loading completion instruction, the central control system sends a movement instruction to the AGV vehicle to drive to the receiving point;

[0023] After the AGV arrives at the receiving point, it replies an arrival instruction to the central control system;

[0024] After receiving the corresponding arrival instruction, the central control system sends a prompt message to the logistics terminal device, and unloads the materials in the material vehicle according to the prompt message;

[0025] After completing the material unloading operation, the logistics terminal equipment sends a material unloading completion instruction to the central control system.

[0026] Preferably, judging the task type according to the analysis result further includes:

[0027] If the task is a batch task that requires pre-loading of a material cart, the central control system first allocates a corresponding idle material cart, obtains the position of the material cart, then allocates a corresponding idle AGV cart, and sends a movement instruction to the AGV cart to drive toward the material cart;

[0028] After the AGV arrives at the location of the material cart, it loads the material cart and replies an arrival instruction to the central control system;

[0029] After receiving the corresponding arrival instruction, the central control system determines the task attribute of the task;

[0030] If the task is a delivery task, the central control system sends a movement instruction to the AGV vehicle to drive to the delivery point;

[0031] After the AGV arrives at the shipping point, it replies an arrival instruction to the central control system;

[0032] After receiving the corresponding arrival instruction, the central control system sends a prompt message to the logistics terminal device, and loads the material into the material vehicle according to the prompt message;

[0033] After the material loading operation is completed, the logistics terminal device sends a material loading completion instruction to the central control system;

[0034] After receiving the corresponding material loading completion instruction, the central control system sends a movement instruction to the AGV vehicle to drive to the receiving point;

[0035] After the AGV arrives at the receiving point, it replies an arrival instruction to the central control system;

[0036] After receiving the corresponding arrival instruction, the central control system sends a prompt message to the logistics terminal device, and unloads the materials in the material vehicle according to the prompt message;

[0037] After the material unloading operation is completed, the logistics terminal device sends a material unloading completion instruction to the central control system;

[0038] After receiving the corresponding material unloading completion instruction, the central control system determines whether there is a subsequent receiving point for the task.

[0039] If so, the central control system sends a movement instruction to the AGV to drive to the next receiving point;

[0040] If it does not exist, the central control system sends a movement instruction to the AGV vehicle to drive to the designated parking position of the corresponding material vehicle.

[0041] Preferably, the central control system determines the task attribute of the task further comprising:

[0042] If the task is a recycling task, the central control system sends a movement instruction to the AGV vehicle to drive to the collection point;

[0043] After the AGV arrives at the collection point, it replies an arrival instruction to the central control system;

[0044] After receiving the corresponding arrival instruction, the central control system sends a prompt message to the logistics terminal device, and loads the material into the material vehicle according to the prompt message;

[0045] After the material loading operation is completed, the logistics terminal device sends a material loading completion instruction to the central control system;

[0046] After receiving the corresponding material loading completion instruction, the central control system determines whether there is a subsequent collection point for the task.

[0047] If so, the central control system sends a movement instruction to the AGV to drive to the next collection point;

[0048] If not, the central control system sends a movement instruction to the AGV vehicle to drive to the recycling center;

[0049] After the AGV arrives at the recycling center, it replies an arrival instruction to the central control system;

[0050] After receiving the corresponding arrival instruction, the central control system sends a prompt message to the logistics terminal device, and unloads the materials in the material vehicle according to the prompt message;

[0051] After the material unloading operation is completed, the logistics terminal device sends a material unloading completion instruction to the central control system;

[0052] After receiving the corresponding material unloading completion instruction, the central control system sends a movement instruction to the AGV vehicle to drive to the designated parking position of the material vehicle.

[0053] Preferably, judging the task type according to the analysis result further includes:

[0054] If the task is a batch task that does not require pre-loading of the material vehicle, the central control system allocates an AGV vehicle in a corresponding idle state and sends a movement instruction to the AGV vehicle to drive to the collection point;

[0055] After the AGV arrives at the collection point, it loads the material vehicle and responds to the central control system with an arrival instruction;

[0056] After receiving the corresponding reply instruction, the central control system determines whether the task needs to go to the recycling center.

[0057] If necessary, send a movement instruction to the AGV to drive to the recycling center;

[0058] After the AGV arrives at the recycling center, it replies an arrival instruction to the central control system;

[0059] After receiving the corresponding arrival instruction, the central control system sends a prompt message to the logistics terminal device, and unloads the materials in the material vehicle according to the prompt message;

[0060] After the material unloading operation is completed, the logistics terminal device sends a material unloading completion instruction to the central control system;

[0061] After receiving the corresponding material unloading completion instruction, the central control system sends a movement instruction to the AGV vehicle to drive to the designated parking position of the material vehicle;

[0062] If not necessary, the central control system sends a movement instruction to the AGV vehicle to drive to the designated parking position of the material vehicle.

[0063] Preferably, the central control system sending an operation instruction to the AGV vehicle further includes:

[0064] After the AGV arrives at the designated parking position of the material vehicle, it unloads the material vehicle and responds to the central control system with an arrival instruction.

[0065] Preferably, the AGV trolley returns to the standby point, including the AGV trolley completing the transportation, loading and unloading of the material vehicle. After the central control system receives the arrival instruction of the AGV trolley arriving at the designated parking position of the material vehicle, it sends a movement instruction to the AGV trolley to drive to the standby point.

[0066] Preferably, the sending task includes information of multiple receiving points, and the recycling task includes information of multiple collecting points.

[0067] A logistics control system based on AGV, including the above-mentioned logistics control method based on AGV, including a central control system, a logistics terminal device, a material cart and an AGV cart; the central control system includes a first communication module, a processing module and a storage module; the logistics terminal device includes a first communication unit and a human-computer interaction unit; the material cart includes a second communication unit; the AGV cart includes a second communication module and a drive module; the logistics terminal device, the central control system and the material cart are connected to each other through wireless signals, the logistics terminal device is used for information exchange and human-computer interaction with the central control system and control of the door switch of the material cart, and the central control system is connected to the AGV cart signal for controlling the AGV cart.

[0068] An electronic device comprising: a memory and one or more processors;

[0069] The memory is communicatively connected to the one or more processors, and the memory stores instructions that can be executed by the one or more processors. When the instructions are executed by the one or more processors, the electronic device is used to implement the above method.

[0070] A computer-readable storage medium stores computer-executable instructions, which are used to implement the above method when executed by a computing device.

[0071] A computer program product comprises a computer program stored on a computer-readable storage medium, wherein the computer program comprises program instructions, and when the program instructions are executed by a computer, the method is implemented.

[0072] The above technical solution has the following advantages or beneficial effects:

[0073] 1. The logistics control system based on AGV of the present invention includes a central control system, a logistics terminal device, a material vehicle and an AGV vehicle. The components exchange information according to the rules to achieve real-time tracking of task progress and control of the AGV vehicle, ensuring that materials can be accurately distributed and improving the working efficiency of the AGV vehicle in transporting materials;

[0074] 2. The logistics control method based on AGV in the scheme of the present invention is applicable to various types of transportation tasks. The central control system analyzes the received tasks and sends different operation instructions to the AGV according to the analysis results. During the transportation process, the AGV communicates with the central control system multiple times to guide the operation of the AGV, thereby improving the flexibility of the material transportation method and expanding the application scenarios of AGV materials transportation.

[0075] 3. The material cart and AGV trolley in the solution of the present invention are set with category attributes, and the corresponding material cart and AGV trolley are selected according to the type of material to be transported, which reduces the probability of material contamination and improves the quality of material transportation. BRIEF DESCRIPTION OF THE DRAWINGS

[0076] Figure 1 A schematic diagram of the structure of a logistics control system based on AGV provided in an embodiment of the present application;

[0077] Figure 2 A schematic diagram of a flow chart of a logistics control method based on AGV provided in an embodiment of the present application;

[0078] Figure 3 This is a flow chart of the first embodiment of the present application;

[0079] Figure 4 This is a flow chart of the second embodiment of the present application;

[0080] Figure 5 This is a flow chart of the third embodiment of the present application. DETAILED DESCRIPTION

[0081] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0082] Combination Figure 1-Figure 5 As shown, in an embodiment of the present invention, a logistics control system based on AGV includes a central control system 1, a logistics terminal device 2, a material cart 3 and an AGV cart 4. The communication method between the central control system 1 and the logistics terminal device 2, the AGV cart 4 and the material cart 3 is a wireless connection. The wireless connection method includes but is not limited to WIFI connection, Bluetooth connection, Zigbee connection and other connection methods currently known or to be developed in the future. The logistics terminal device 2 and the material cart 3 can be set up with a Bluetooth connection.

[0083] Furthermore, the central control system 1 can be a server, desktop or notebook with computing and storage functions, and can also be provided with but not limited to a display module, a voice module, a video module, an input module and a network module. The central control system 1 generates a map based on information of a known application area, receives tasks sent by the logistics terminal device 2, analyzes the tasks and plans a reasonable path, and controls the AGV 4 according to the planned path.

[0084] Furthermore, as a preferred embodiment, the AGV trolley 4 is provided with a pallet, the material cart 3 is placed on the pallet, the pallet has an automatic lifting function, and its lifting rules are pre-set in the central control system 1. The AGV trolley 4 is also provided with a power module and a navigation sensor. The AGV trolley 4 receives the operation instructions sent by the central control system 1, determines the target position in the operation instructions, identifies the position information in the path through the navigation sensor, and finally reaches the target position.

[0085] Furthermore, the logistics terminal device 2 is a device with communication functions and human-computer interaction functions, including but not limited to voice modules, video modules, touch display modules, wireless communication modules and network modules, etc. The devices that can be used for the logistics terminal device 2 include but are not limited to smart phones, tablet computers and smart terminals, etc.

[0086] Furthermore, in actual application scenarios, there are various types of materials. For example, in a hospital, materials can be divided into dirty and clean materials, and can also be classified according to departments. The material cart 3 and the AGV cart 4 are also set to different categories to prevent multiple materials from contaminating each other.

[0087] Using the above system, an embodiment of the present invention further provides a logistics control method based on AGV, comprising the following steps:

[0088] The logistics terminal device sends a task to the central control system, and the central control system analyzes the task;

[0089] The central control system allocates the AGV and the material vehicle according to the task, and sends operation instructions to the AGV;

[0090] The AGV vehicle completes the transportation, loading and unloading of the material vehicle according to the instructions;

[0091] The AGV returns to the standby point after completing the task.

[0092] Furthermore, the task includes material type, task type and task attribute;

[0093] The task types include single tasks and batch tasks, and the batch tasks include batch tasks that require pre-loading of material vehicles and batch tasks that do not require pre-loading of material vehicles;

[0094] The task attributes include a sending task and a recycling task. The sending task includes information about a shipping point and a receiving point, and the recycling task includes information about a collection point and a recycling center.

[0095] Furthermore, as a preferred embodiment, the material cart and the AGV cart are provided with electronic tags to store corresponding identity information and location information; the standby point, shipping point, receiving point, collection point and recycling center are all provided with electronic tags to store corresponding coordinate information and location attributes, and the above information is all stored in the central control system.

[0096] Furthermore, the central control system sends an operation instruction to the AGV vehicle including:

[0097] Determine the task type of the task according to the analysis result;

[0098] If the task is a single task, the central control system first allocates a material cart corresponding to an idle state, obtains the position of the material cart, then allocates an AGV trolley corresponding to an idle state, and sends a movement instruction to the AGV trolley to drive toward the material cart;

[0099] After the AGV reaches the location of the material cart, it automatically raises the pallet, loads the material cart, and responds to the central control system with an arrival instruction;

[0100] After receiving the corresponding arrival instruction, the central control system sends a movement instruction to the AGV vehicle to drive to the shipping point;

[0101] After the AGV arrives at the shipping point, it replies an arrival instruction to the central control system;

[0102] After receiving the corresponding arrival instruction, the central control system sends a prompt message to the logistics terminal device, and loads the material into the material vehicle according to the prompt message;

[0103] After the material loading operation is completed, the logistics terminal device sends a material loading completion instruction to the central control system;

[0104] After receiving the corresponding material loading completion instruction, the central control system sends a movement instruction to the AGV vehicle to drive to the receiving point;

[0105] After the AGV arrives at the receiving point, it replies an arrival instruction to the central control system;

[0106] After receiving the corresponding arrival instruction, the central control system sends a prompt message to the logistics terminal device, and unloads the materials in the material vehicle according to the prompt message;

[0107] After completing the material unloading operation, the logistics terminal equipment sends a material unloading completion instruction to the central control system.

[0108] Furthermore, as a preferred implementation method, the form of the prompt information includes but is not limited to one or more of text, voice broadcast or indicator light. The central control system analyzes the task, allocates corresponding material vehicles and AGV carts, and sends corresponding operation instructions to the AGV carts, thereby improving the transportation efficiency of materials.

[0109] Furthermore, judging the task type according to the analysis result also includes:

[0110] If the task is a batch task that requires pre-loading of a material cart, the central control system first allocates a corresponding idle material cart, obtains the position of the material cart, then allocates a corresponding idle AGV cart, and sends a movement instruction to the AGV cart to drive toward the material cart;

[0111] After the AGV reaches the location of the material cart, it automatically raises the pallet, loads the material cart, and responds to the central control system with an arrival instruction;

[0112] After receiving the corresponding arrival instruction, the central control system determines the task attribute of the task;

[0113] If the task is a delivery task, the central control system sends a movement instruction to the AGV vehicle to drive to the delivery point;

[0114] After the AGV arrives at the shipping point, it replies an arrival instruction to the central control system;

[0115] After receiving the corresponding arrival instruction, the central control system sends a prompt message to the logistics terminal device, and loads the material into the material vehicle according to the prompt message;

[0116] After the material loading operation is completed, the logistics terminal device sends a material loading completion instruction to the central control system;

[0117] After receiving the corresponding material loading completion instruction, the central control system sends a movement instruction to the AGV vehicle to drive to the receiving point;

[0118] After the AGV arrives at the receiving point, it replies an arrival instruction to the central control system;

[0119] After receiving the corresponding arrival instruction, the central control system sends a prompt message to the logistics terminal device, and unloads the materials in the material vehicle according to the prompt message;

[0120] After the material unloading operation is completed, the logistics terminal device sends a material unloading completion instruction to the central control system;

[0121] After receiving the corresponding material unloading completion instruction, the central control system determines whether there is a subsequent receiving point for the task.

[0122] If so, the central control system sends a movement instruction to the AGV to drive to the next receiving point;

[0123] If it does not exist, the central control system sends a movement instruction to the AGV vehicle to drive to the designated parking position of the corresponding material vehicle.

[0124] Furthermore, the central control system determines the task attribute of the task further comprising:

[0125] If the task is a recycling task, the central control system sends a movement instruction to the AGV vehicle to drive to the collection point;

[0126] After the AGV arrives at the collection point, it replies an arrival instruction to the central control system;

[0127] After receiving the corresponding arrival instruction, the central control system sends a prompt message to the logistics terminal device, and loads the material into the material vehicle according to the prompt message;

[0128] After the material loading operation is completed, the logistics terminal device sends a material loading completion instruction to the central control system;

[0129] After receiving the corresponding material loading completion instruction, the central control system determines whether there is a subsequent collection point for the task.

[0130] If so, the central control system sends a movement instruction to the AGV to drive to the next collection point;

[0131] If not, the central control system sends a movement instruction to the AGV vehicle to drive to the recycling center;

[0132] After the AGV arrives at the recycling center, it replies an arrival instruction to the central control system;

[0133] After receiving the corresponding arrival instruction, the central control system sends a prompt message to the logistics terminal device, and unloads the materials in the material vehicle according to the prompt message;

[0134] After the material unloading operation is completed, the logistics terminal device sends a material unloading completion instruction to the central control system;

[0135] After receiving the corresponding material unloading completion instruction, the central control system sends a movement instruction to the AGV vehicle to drive to the designated parking position of the material vehicle.

[0136] Furthermore, judging the task type according to the analysis result also includes:

[0137] If the task is a batch task that does not require pre-loading of the material vehicle, the central control system allocates an AGV vehicle in a corresponding idle state and sends a movement instruction to the AGV vehicle to drive to the collection point;

[0138] After the AGV arrives at the corresponding collection point, it automatically raises the pallet, loads the material vehicle, and responds to the central control system with an arrival instruction;

[0139] After receiving the corresponding reply instruction, the central control system determines whether the task needs to go to the recycling center.

[0140] If necessary, send a movement instruction to the AGV to drive to the recycling center;

[0141] After the AGV arrives at the recycling center, it replies an arrival instruction to the central control system;

[0142] After receiving the corresponding arrival instruction, the central control system sends a prompt message to the logistics terminal device, and unloads the materials in the material vehicle according to the prompt message;

[0143] After the material unloading operation is completed, the logistics terminal device sends a material unloading completion instruction to the central control system;

[0144] After receiving the corresponding material unloading completion instruction, the central control system sends a movement instruction to the AGV vehicle to drive to the designated parking position of the material vehicle;

[0145] If not necessary, the central control system sends a movement instruction to the AGV vehicle to drive to the designated parking position of the material vehicle.

[0146] Furthermore, the central control system sends an operation instruction to the AGV vehicle, and further includes:

[0147] After the AGV arrives at the designated parking position of the material vehicle, it automatically lowers the pallet, unloads the material vehicle, and responds to the central control system with an arrival instruction.

[0148] Furthermore, the AGV trolley returns to the standby point, including the AGV trolley completing the transportation, loading and unloading of the material vehicle. After the central control system receives the arrival instruction of the AGV trolley arriving at the designated parking position of the material vehicle, it sends a movement instruction to the AGV trolley to drive to the corresponding standby point.

[0149] Furthermore, the sending task includes information of multiple receiving points, and the recycling task includes information of multiple collecting points.

[0150] The present invention also includes: an electronic device, comprising: a memory and one or more processors;

[0151] The memory is communicatively connected to the one or more processors, and the memory stores instructions that can be executed by the one or more processors. When the instructions are executed by the one or more processors, the electronic device is used to implement the method described in any of the above embodiments.

[0152] A computer-readable storage medium stores computer-executable instructions, which, when executed by a computing device, can be used to implement the method described in any one of the above embodiments.

[0153] A computer program product includes a computer program stored on a computer-readable storage medium, wherein the computer program includes program instructions, and when the program instructions are executed by a computer, they are used to implement the method described in any one of the above embodiments.

[0154] Embodiment 1

[0155] This embodiment provides a logistics control method based on AGV, which is suitable for transporting different types of materials, and the task type of the task to be executed is a single task, and the task attribute of the single task is a sending task, and the task includes the type of material, the information of the shipping point and the information of the receiving point. The logistics control method of the task includes the following steps:

[0156] After receiving the single task sent by the logistics control terminal, the central control system analyzes the task to determine the type of material, the information of the shipping point and the receiving point; the central control system first allocates the corresponding idle material vehicle, obtains the position of the corresponding material vehicle, and then allocates the corresponding idle AGV vehicle; the central control system sends a movement instruction to the AGV vehicle from the standby point to the material vehicle; after the AGV vehicle arrives at the position of the corresponding material vehicle, it automatically raises the pallet, loads the material vehicle, and replies to the arrival instruction to the central control system.

[0157] After receiving the corresponding arrival instruction, the central control system sends a movement instruction from the current position to the shipping point to the AGV vehicle; after the AGV vehicle arrives at the shipping point, it replies with the arrival instruction to the central control system; after receiving the corresponding arrival instruction, the central control system sends a prompt message to the logistics terminal device, prompting the operator at the shipping point to load the materials into the material vehicle; after the operator completes the material loading, the logistics terminal device sends a material loading completion instruction to the central control system; after receiving the corresponding material loading completion instruction, the central control system sends a movement instruction from the current position to the receiving point to the AGV vehicle.

[0158] After the AGV arrives at the receiving point, it replies with an arrival instruction to the central control system; after receiving the corresponding arrival instruction, the central control system sends a prompt message to the logistics terminal device, prompting the operator at the receiving point to unload the materials in the material vehicle; after the operator completes the unloading of the materials, the operator sends a material unloading completion instruction to the central control system through the logistics terminal device; after receiving the corresponding material unloading completion instruction, the central control system sends a movement instruction to the AGV vehicle from the current position to the designated parking position of the material vehicle.

[0159] After the AGV arrives at the designated parking position of the material cart, it automatically lowers the pallet, unloads the material cart, and replies to the central control system with an arrival instruction; after receiving the corresponding arrival instruction, the central control system sends a movement instruction to the AGV from the current position to the standby point; the AGV returns to the standby point.

[0160] In this embodiment, a logistics control method based on AGV of this invention is used to realize single-task transportation. Corresponding material vehicles and AGV carts are selected for different types of materials, thereby reducing the contamination of materials during transportation. During the transportation process, the AGV cart communicates with the central control system multiple times, thereby improving the accuracy of material transportation.

[0161] Embodiment 2

[0162] This embodiment provides a logistics control method based on AGV, which is suitable for transporting different types of materials. The task type of the task to be executed is a batch task that requires pre-loading of material vehicles. The task attribute of the task needs to be determined. If it is a sending task, then the task includes the material type, the information of the shipping point and the information of the receiving point. If it is a recycling task, then the task includes the material type, the information of the collection point and the information of the recycling center. The logistics control method of the task includes the following steps:

[0163] After receiving the batch task that needs to be pre-loaded with material vehicles sent by the logistics control terminal, the central control system analyzes the task; the central control system first allocates the corresponding idle material vehicle, obtains the position of the corresponding material vehicle, and then allocates the corresponding idle AGV vehicle.

[0164] The central control system sends a movement instruction to the AGV from the standby point to the material vehicle; after the AGV reaches the location of the material vehicle, it automatically raises the pallet, loads the material vehicle, and replies to the central control system with an arrival instruction; after receiving the corresponding arrival instruction, the central control system determines the task attributes of the task, and the task attributes of the task include:

[0165] If the task is a sending task, the central control system sends a movement instruction from the current position to the shipping point to the AGV trolley; after the AGV trolley arrives at the shipping point, it replies with the arrival instruction to the central control system; after the central control system receives the corresponding arrival instruction of the AGV trolley, it sends a prompt message to the logistics terminal device to prompt the operator to perform material loading operations; after the operator completes the material loading, the material loading completion instruction is sent to the central control system through the logistics terminal device; after the central control system receives the corresponding material loading completion instruction, it sends a movement instruction from the current position to the receiving point to the AGV trolley; after the AGV trolley arrives at the receiving point, it replies with the arrival instruction to the central control system.

[0166] After receiving the corresponding arrival instruction, the central control system sends a prompt message to the logistics terminal device, prompting the operator to perform the material unloading operation; after the operator completes the material unloading, the logistics terminal device sends a material unloading completion instruction to the central control system; after receiving the corresponding material unloading completion instruction, the central control system determines whether there is a subsequent receiving point. If so, the central control system sends a movement instruction from the current position to the next receiving point to the AGV vehicle. If not, the central control system sends a movement instruction from the current position to the designated parking position of the material vehicle to the AGV vehicle.

[0167] The central control system determines the task attributes of the task and further includes: if the task is a recycling task, the central control system sends a movement instruction to the AGV vehicle from the current position to the collection point; after the AGV vehicle arrives at the collection point, it replies with an arrival instruction to the central control system; after the central control system receives the corresponding arrival instruction, it sends a prompt message to the logistics terminal device to prompt the operator to perform material loading operations; after the operator completes the material loading, the material loading completion instruction is sent to the central control system through the logistics terminal device.

[0168] After receiving the corresponding material loading completion instruction, the central control system determines whether there is a subsequent collection point. If so, the central control system sends a movement instruction to the AGV vehicle from the current position to the next collection point; if not, the central control system sends a movement instruction to the AGV vehicle from the current position to the recycling center; after the AGV vehicle arrives at the recycling center, it replies with an arrival instruction to the central control system.

[0169] After receiving the corresponding arrival instruction, the central control system sends a prompt message to the logistics terminal device, prompting the operator to perform the material unloading operation; after the operator completes the material unloading operation, the logistics terminal device sends a material unloading completion instruction to the central control system; after completing the material unloading, the central control system sends a movement instruction to the AGV vehicle to drive from the current position to the designated parking position of the material vehicle.

[0170] The central control system sends an operation instruction to the AGV vehicle, which also includes: after the AGV vehicle arrives at the designated parking position of the material vehicle, it automatically lowers the pallet, unloads the material vehicle, and replies to the central control system with an arrival instruction; after receiving the corresponding arrival instruction, the central control system sends a movement instruction to the AGV vehicle from the current position to the standby point; the AGV vehicle returns to the standby point.

[0171] In this embodiment, multiple receiving points and collection points can be set according to actual task requirements, the number of material trucks and AGV carts can also be adjusted according to specific tasks, and multiple information exchanges are carried out between the AGV cart and the central control system, thereby improving the working efficiency of the AGV cart. The transportation of sending tasks and recycling tasks is realized through the logistics control method.

[0172] Embodiment 3

[0173] This embodiment provides a logistics control method based on AGV, which is suitable for transporting different types of materials, and the task type of the task to be executed is a batch task that does not require pre-loading of material vehicles, and the task attribute of the task is a recycling task, and the task includes the type of material, information of the collection point and information of the recycling center. The logistics control method of the task includes the following steps:

[0174] After receiving the batch tasks sent by the logistics control terminal that do not require pre-loading of material carts, the central control system analyzes the tasks to determine the type of materials, information on the collection points and information on the recycling center; the central control system allocates the corresponding idle AGV cart; the central control system sends a movement instruction to the AGV cart from the standby point to the collection point; after the AGV cart arrives at the collection point, it automatically raises the pallet, loads the material cart, and replies to the central control system with the arrival instruction.

[0175] After receiving the corresponding arrival instruction, the central control system determines whether the task needs to go to the recycling center. If it needs to go to the recycling center, the central control system sends a movement instruction to the AGV car from the current position to the recycling center; after the AGV car arrives at the recycling center, it replies to the arrival instruction to the central control system; after receiving the corresponding arrival instruction, the central control system sends a prompt message to the logistics terminal device, prompting the operator to perform the material unloading operation; after the operator completes the material unloading task, the material unloading completion instruction is sent to the central control system through the logistics terminal device.

[0176] The central control system sends a movement instruction to the AGV trolley to drive from the current position to the designated parking position of the corresponding material vehicle; after the AGV trolley arrives at the designated parking position of the material vehicle, it automatically lowers the pallet, unloads the material vehicle, and replies to the arrival instruction to the central control system; after receiving the corresponding arrival instruction, the central control system sends a movement instruction to the AGV trolley from the current position to the standby point; the AGV trolley returns to the standby point.

[0177] If there is no need to go to the recycling center, the central control system sends a movement instruction to the AGV trolley to drive from the current position to the designated parking position of the material cart; after the AGV trolley arrives at the designated parking position of the material cart, it automatically lowers the pallet, unloads the material cart, and replies to the arrival instruction to the central control system; after the AGV trolley arrives at the designated parking position of the material cart, it automatically lowers the pallet, unloads the material cart, and replies to the arrival instruction to the central control system; after receiving the corresponding arrival instruction, the central control system sends a movement instruction to the AGV trolley from the current position to the standby point; the AGV trolley returns to the standby point.

[0178] In this embodiment, a material vehicle loaded with materials is placed at the collection point, and the number of the collection points can be set according to actual task attributes.

[0179] To sum up, a logistics control method and system based on AGV is provided through the above-mentioned embodiments, and the logistics control system includes a central control system, a logistics terminal device, a material cart and an AGV cart. The central control system, the logistics terminal device and the material cart are connected to each other through wireless signals. The logistics terminal device is used for information exchange and human-computer interaction with the central control system and control of the door switch of the material cart. The central control system is connected to the AGV cart signal for controlling the AGV cart. The logistics control system can realize material transportation based on the AGV cart, which is convenient for real-time tracking of tasks. In the described AGV-based logistics control method, the logistics terminal device sends a task, and the central control system receives and analyzes the task, wherein the task includes the material type, task type and task attribute. The central control system sends an operation instruction to the AGV trolley to instruct the AGV trolley to complete the transportation, loading and unloading of the material trolley. The central control system sets different operation instructions according to the specific task, and can realize the transportation of single and batch tasks. The AGV trolley communicates with the central control system multiple times, which improves the work efficiency of the AGV trolley in transporting materials. The above system and method can also make corresponding selections for the material trolley and the AGV trolley according to the type of material, so as to prevent the material from being contaminated during transportation and improve the quality of the transported materials.

[0180] The aforementioned computer-readable storage media include physical volatile and non-volatile, removable and non-removable media implemented in any manner or technology for storing information such as computer-readable instructions, data structures, program modules or other data. Computer-readable storage media specifically include, but are not limited to, USB flash drives, mobile hard disks, read-only memories (ROMs), random access memories (RAMs), erasable programmable read-only memories (EPROMs), electrically erasable programmable read-only memories (EEPROMs), flash memory or other solid-state memory technologies, CD-ROMs, digital versatile disks (DVDs), HD-DVDs, Blue-Ray or other optical storage devices, magnetic tapes, disk storage or other magnetic storage devices, or any other medium that can be used to store the required information and can be accessed by a computer.

[0181] Those of ordinary skill in the art will appreciate that the units and method steps of each example described in conjunction with the embodiments of the present application herein can be implemented with electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0182] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the original technology or the part of the technical solution, can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application.

[0183] The above are only preferred embodiments of the present invention, and are not intended to limit the implementation methods and protection scope of the present invention. Those skilled in the art should be aware that all solutions obtained by equivalent substitutions and obvious changes made using the description and illustrations of the present invention should be included in the protection scope of the present invention.

[0184] In the description of the present invention, it is necessary to understand that the terms "upper", "lower", "front" and "rear" etc. indicating directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on the present invention.

Claims

1. A logistics control method based on AGV, It is characterized in that The following steps are involved: The logistics terminal device sends the task to the central control system, and the central control system analyzes the task; The central control system allocates the AGV and the material vehicle according to the task, and sends operation instructions to the AGV; The AGV vehicle completes the transportation, loading and unloading of the material vehicle according to the instructions; The AGV returns to the standby point after completing the task; The task includes material type, task type and task attribute; The task types include single tasks and batch tasks, and the batch tasks include batch tasks that require pre-loading of material vehicles and batch tasks that do not require pre-loading of material vehicles; The task attributes include a sending task and a recycling task, wherein the sending task includes information of a shipping point and information of a receiving point, and the recycling task includes information of a collection point and information of a recycling center; The central control system sends an operation instruction to the AGV vehicle including: Determine the task type of the task according to the analysis result; If the task is a single task, the central control system first allocates a material cart corresponding to an idle state, obtains the position of the material cart, then allocates an AGV trolley corresponding to an idle state, and sends a movement instruction to the AGV trolley to drive toward the material cart; After the AGV arrives at the location of the material cart, it loads the material cart and replies an arrival instruction to the central control system; After receiving the corresponding arrival instruction, the central control system sends a movement instruction to the AGV vehicle to drive to the shipping point; After the AGV arrives at the shipping point, it replies an arrival instruction to the central control system; After receiving the corresponding arrival instruction, the central control system sends a prompt message to the logistics terminal device, and loads the material into the material vehicle according to the prompt message; After the material loading operation is completed, the logistics terminal device sends a material loading completion instruction to the central control system; After receiving the corresponding material loading completion instruction, the central control system sends a movement instruction to the AGV vehicle to drive to the receiving point; After the AGV arrives at the receiving point, it replies an arrival instruction to the central control system; After receiving the corresponding arrival instruction, the central control system sends a prompt message to the logistics terminal device, and unloads the materials in the material vehicle according to the prompt message; After completing the material unloading operation, the logistics terminal equipment sends a material unloading completion instruction to the central control system.

2. The AGV-based logistics control method according to claim 1, characterized in that: According to the analysis results, the task types also include: If the task is a batch task that requires pre-loading of a material cart, the central control system first allocates a corresponding idle material cart, obtains the position of the material cart, then allocates a corresponding idle AGV cart, and sends a movement instruction to the AGV cart to drive toward the material cart; After the AGV arrives at the location of the material cart, it loads the material cart and replies an arrival instruction to the central control system; After receiving the corresponding arrival instruction, the central control system determines the task attribute of the task; If the task is a delivery task, the central control system sends a movement instruction to the AGV vehicle to drive to the delivery point; After the AGV arrives at the shipping point, it replies an arrival instruction to the central control system; After receiving the corresponding arrival instruction, the central control system sends a prompt message to the logistics terminal device, and loads the material into the material vehicle according to the prompt message; After the material loading operation is completed, the logistics terminal device sends a material loading completion instruction to the central control system; After receiving the corresponding material loading completion instruction, the central control system sends a movement instruction to the AGV vehicle to drive to the receiving point; After the AGV arrives at the receiving point, it replies an arrival instruction to the central control system; After receiving the corresponding arrival instruction, the central control system sends a prompt message to the logistics terminal device, and unloads the materials in the material vehicle according to the prompt message; After the material unloading operation is completed, the logistics terminal device sends a material unloading completion instruction to the central control system; After receiving the corresponding material unloading completion instruction, the central control system determines whether there is a subsequent receiving point for the task. If so, the central control system sends a movement instruction to the AGV to drive to the next receiving point; If it does not exist, the central control system sends a movement instruction to the AGV vehicle to drive to the designated parking position of the corresponding material vehicle.

3. The AGV-based logistics control method according to claim 2, characterized in that: The central control system determines the task attribute of the task further comprising: If the task is a recycling task, the central control system sends a movement instruction to the AGV vehicle to drive to the collection point; After the AGV arrives at the collection point, it replies an arrival instruction to the central control system; After receiving the corresponding arrival instruction, the central control system sends a prompt message to the logistics terminal device, and loads the material into the material vehicle according to the prompt message; After the material loading operation is completed, the logistics terminal device sends a material loading completion instruction to the central control system; After receiving the corresponding material loading completion instruction, the central control system determines whether there is a subsequent collection point for the task. If so, the central control system sends a movement instruction to the AGV to drive to the next collection point; If not, the central control system sends a movement instruction to the AGV vehicle to drive to the recycling center; After the AGV arrives at the recycling center, it replies an arrival instruction to the central control system; After receiving the corresponding arrival instruction, the central control system sends a prompt message to the logistics terminal device, and unloads the materials in the material vehicle according to the prompt message; After the material unloading operation is completed, the logistics terminal device sends a material unloading completion instruction to the central control system; After receiving the corresponding material unloading completion instruction, the central control system sends a movement instruction to the AGV vehicle to drive to the designated parking position of the material vehicle.

4. The AGV-based logistics control method according to claim 3, characterized in that: According to the analysis results, the task types also include: If the task is a batch task that does not require pre-loading of the material vehicle, the central control system allocates an AGV vehicle in a corresponding idle state and sends a movement instruction to the AGV vehicle to drive to the collection point; After the AGV arrives at the collection point, it loads the material vehicle and responds to the central control system with an arrival instruction; After receiving the corresponding reply instruction, the central control system determines whether the task needs to go to the recycling center. If necessary, send a movement instruction to the AGV to drive to the recycling center; After the AGV arrives at the recycling center, it replies an arrival instruction to the central control system; After receiving the corresponding arrival instruction, the central control system sends a prompt message to the logistics terminal device, and unloads the materials in the material vehicle according to the prompt message; After the material unloading operation is completed, the logistics terminal device sends a material unloading completion instruction to the central control system; After receiving the corresponding material unloading completion instruction, the central control system sends a movement instruction to the AGV vehicle to drive to the designated parking position of the material vehicle; If not necessary, the central control system sends a movement instruction to the AGV vehicle to drive to the designated parking position of the material vehicle.

5. The AGV-based logistics control method according to claim 4, characterized in that: The central control system sends an operation instruction to the AGV vehicle further comprising: After the AGV arrives at the designated parking position of the material vehicle, it unloads the material vehicle and responds to the central control system with an arrival instruction.

6. The AGV-based logistics control method according to claim 1, characterized in that: The AGV trolley returns to the standby point, including the AGV trolley completing the transportation, loading and unloading of the material vehicle. After the central control system receives the arrival instruction of the AGV trolley arriving at the designated parking position of the material vehicle, it sends a movement instruction to the AGV trolley to drive to the standby point.

7. The AGV-based logistics control method according to claim 1, characterized in that: The sending task includes information of multiple receiving points, and the recycling task includes information of multiple collecting points.

8. A logistics control system based on AGV, using a logistics control method based on AGV according to any one of claims 1 to 7, characterized in that: It includes a central control system, a logistics terminal device, a material cart and an AGV cart; the central control system includes a first communication module, a processing module and a storage module; the logistics terminal device includes a first communication unit and a human-computer interaction unit; the material cart includes a second communication unit; the AGV cart includes a second communication module and a driving module; the logistics terminal device, the central control system and the material cart are connected to each other through wireless signals, the logistics terminal device is used for information exchange and human-computer interaction with the central control system and control of the door switch of the material cart, and the central control system is connected to the AGV cart by signal for navigation and control of the AGV cart.

9. An electronic device, using the AGV-based logistics control method according to any one of claims 1 to 7, characterized in that: include: memory and one or more processors; Among them, the memory is communicatively connected to the one or more processors, and the memory stores instructions that can be executed by the one or more processors. When the instructions are executed by the one or more processors, the electronic device is used to implement the logistics control method.

10. A computer-readable storage medium, using the AGV-based logistics control method according to any one of claims 1 to 7, characterized in that: Computer executable instructions are stored thereon, and when the computer executable instructions are executed by a computing device, they are used to implement the logistics control method.

11. A computer program product, using the AGV-based logistics control method according to any one of claims 1 to 7, characterized in that: The computer program product comprises a computer program stored on a computer-readable storage medium, wherein the computer program comprises program instructions, and when the program instructions are executed by a computer, the logistics control method is implemented.

Images