Dispatching method and device of AGV in production scene

Abstract

The application discloses a scheduling method and device for AGV in a production scene. The method comprises the following steps: obtaining the state of a production device and the state of a buffer machine in the production scene, and obtaining the corresponding relationship between the production device and the buffer machine; and assigning an AGV to a distribution task according to the state of the production device and the state of the buffer machine in the production scene and the corresponding relationship between the production device and the buffer machine, so that the technical problem that the AGV cannot be effectively deployed in the related art can be solved.

Description

Technical Field

[0001] This application relates to the field of surface mount technology (SMT) manufacturing, and more specifically, to a method and apparatus for scheduling AGV (Automated Guided Vehicle) vehicles in a production scenario. Background Technology

[0002] In the electronics manufacturing industry, PCB surface mount technology (SMT) is a common production process. From raw material input to finished product output, a circuit board typically undergoes various machine or manual processing steps, including printing presses, pick-and-place machines, component insertion machines, reflow ovens, wave soldering ovens, packaging, and testing. However, because the production speed of each process varies, if the production speed of an earlier process is greater than that of a later process, a buffer machine is needed between the two processes to buffer the PCB. The PCB is placed in the buffer machine first, and then retrieved when needed by the next process, thus addressing the issue of inconsistent production speeds between the two processes.

[0003] To buffer more PCBs, the PCBs are collected into a transfer frame by the unloading machine before entering the buffer machine. When needed in the next process, the entire transfer frame is removed from the buffer machine and placed into the loading machine to remove the PCBs one by one and deliver them to the next production equipment. To achieve flexible and automated production, AGVs are generally used to transport the transfer frames from the unloading machine to the buffer machine and from the buffer machine to the loading machine. The number of loading / unloading machines, buffer machines, and AGVs in a production workshop is not one-to-one; therefore, how to effectively allocate AGVs to meet production requirements is an urgent problem to be solved.

[0004] There is currently no effective solution to the problem that the aforementioned technologies cannot effectively achieve AGV dispatching. Summary of the Invention

[0005] The purpose of this invention is to overcome the above-mentioned technical deficiencies and provide a method and apparatus for scheduling AGV vehicles in a production scenario, so as to at least solve the technical problem that AGV dispatch cannot be effectively realized in related technologies.

[0006] To achieve the above-mentioned technical objectives, the present invention adopts the following technical solution:

[0007] According to one aspect of the embodiments of this application, a scheduling method for AGV vehicles in a production scenario is provided, comprising: obtaining the status of production equipment and the status of a buffer machine in the production scenario, and the correspondence between the production equipment and the buffer machine, wherein the buffer machine is used to buffer products flowing between the production equipment; and assigning AGV vehicles to delivery tasks according to the status of the production equipment and the status of the buffer machine in the production scenario, and the correspondence between the production equipment and the buffer machine.

[0008] Optionally, obtaining the status of the production equipment and the cache machine in the production scenario, and the correspondence between the production equipment and the cache machine, includes: obtaining the status of the boarding machine, the status of the cache machine, and the correspondence between the boarding machine and the cache machine in the production scenario, wherein the production equipment includes the boarding machine; and / or, obtaining the status of the unboarding machine, the status of the cache machine, and the correspondence between the unboarding machine and the cache machine in the production scenario, wherein the production equipment includes the unboarding machine.

[0009] Optionally, assigning AGV vehicles to delivery tasks based on the status of production equipment and buffer machines in the production scenario, and the correspondence between the production equipment and the buffer machines, includes: assigning AGV vehicles to the delivery tasks of the loading machine based on the status of the loading machine, the status of the buffer machines in the production scenario, and the correspondence between the loading machine and the buffer machines; and / or, assigning AGV vehicles to the delivery tasks of the unloading machine based on the status of the unloading machine, the status of the buffer machines in the production scenario, and the correspondence between the unloading machine and the buffer machines.

[0010] Optionally, based on the status of the unloading machine, the status of the buffer machine, and the correspondence between the unloading machine and the buffer machine in the production scenario, an AGV is assigned to the delivery task of the unloading machine, including: if there is a target unloading machine in a full state, finding a first buffer machine that is bound to the target unloading machine and is not in a full state; finding a first AGV in an idle state from the AGV queue; generating a first delivery task that starts from the target unloading machine, ends at the first buffer machine, and is executed by the first AGV, and placing the first delivery task into a task queue; and executing the first delivery task taken from the task queue if the first delivery task meets the execution conditions.

[0011] Optionally, based on the status of the loading machine, the status of the buffer machine, and the correspondence between the loading machine and the buffer machine in the production scenario, an AGV is assigned to the delivery task of the loading machine, including: if there is a target loading machine in a material shortage state, finding a second buffer machine that is bound to the target loading machine and is in a material-rich state; finding a second AGV in an idle state from the AGV queue; generating a second delivery task that represents the target loading machine as the destination, the second buffer machine as the starting point, and is executed by the second AGV, and placing the second delivery task into a task queue; and executing the second delivery task taken from the task queue if the second delivery task meets the execution conditions.

[0012] Optionally, before obtaining the status of the production equipment and the status of the cache machine in the production scenario, and the correspondence between the production equipment and the cache machine, the method further includes: configuring the correspondence between the upper board machine and the cache machine in the production scenario; and / or configuring the correspondence between the lower board machine and the cache machine in the production scenario.

[0013] Optionally, before obtaining the status of the production equipment and the cache machine in the production scenario, and the correspondence between the production equipment and the cache machine, the method further includes: displaying an interface for configuring the correspondence between the upper board machine and the cache machine in the production scenario; and / or, displaying an interface for configuring the correspondence between the lower board machine and the cache machine in the production scenario.

[0014] According to another aspect of the embodiments of this application, a scheduling device for AGV vehicles in a production scenario is also provided, comprising: an acquisition unit, configured to acquire the status of production equipment and the status of a buffer machine in the production scenario, and the correspondence between the production equipment and the buffer machine, wherein the buffer machine is used to buffer products flowing between the production equipment; and a scheduling unit, configured to assign AGV vehicles to delivery tasks according to the status of the production equipment and the status of the buffer machine in the production scenario, and the correspondence between the production equipment and the buffer machine.

[0015] Optionally, the acquisition unit is further configured to, when acquiring the status of the production equipment and the cache machine in the production scenario, and the correspondence between the production equipment and the cache machine, acquire the status of the upper board machine, the status of the cache machine, and the correspondence between the upper board machine and the cache machine in the production scenario, wherein the production equipment includes the upper board machine; and / or, acquire the status of the lower board machine, the status of the cache machine, and the correspondence between the lower board machine and the cache machine in the production scenario, wherein the production equipment includes the lower board machine.

[0016] Optionally, the scheduling unit is further configured to, when assigning AGV vehicles to delivery tasks based on the status of production equipment and buffer machines in the production scenario, and the correspondence between the production equipment and the buffer machines, assign AGV vehicles to the delivery tasks of the upper board machine based on the status of the upper board machine, the status of the buffer machine, and the correspondence between the upper board machine and the buffer machine in the production scenario; and / or, assign AGV vehicles to the delivery tasks of the lower board machine based on the status of the lower board machine, the status of the buffer machine, and the correspondence between the lower board machine and the buffer machine in the production scenario.

[0017] Optionally, the scheduling unit is further configured to, when assigning an AGV to the delivery task of the unloading machine based on the status of the unloading machine, the status of the buffer machine, and the correspondence between the unloading machine and the buffer machine in the production scenario, if there is a target unloading machine in a full-load state, search for a first buffer machine that is bound to the target unloading machine and is not in a full-load state; search for a first AGV that is in an idle state from the AGV queue; generate a first delivery task that starts from the target unloading machine, ends at the first buffer machine, and is executed by the first AGV, and put the first delivery task into a task queue; and execute the first delivery task taken from the task queue if the first delivery task meets the execution conditions.

[0018] Optionally, the scheduling unit is further configured to, when assigning an AGV to the delivery task of the boarding machine based on the status of the boarding machine, the status of the buffer machine, and the correspondence between the boarding machine and the buffer machine in the production scenario, if there is a target boarding machine in a material shortage state, search for a second buffer machine that is bound to the target boarding machine and is in a material-rich state; search for a second AGV that is idle in the AGV queue; generate a second delivery task representing a task that ends at the target boarding machine, starts at the second buffer machine, and is executed by the second AGV, and place the second delivery task in a task queue; and execute the second delivery task taken from the task queue if the second delivery task meets the execution conditions.

[0019] Optionally, the device further includes: a configuration unit, configured to configure the correspondence between the upper board machine and the cache machine in the production scenario before acquiring the status of the production equipment and the status of the cache machine in the production scenario, and the correspondence between the production equipment and the cache machine; and / or, configure the correspondence between the lower board machine and the cache machine in the production scenario.

[0020] Optionally, the configuration unit is further configured to display an interface for configuring the correspondence between the upper board machine and the cache machine in the production scenario before obtaining the status of the production equipment and the status of the cache machine in the production scenario, and the correspondence between the production equipment and the cache machine; and / or, display an interface for configuring the correspondence between the lower board machine and the cache machine in the production scenario.

[0021] According to another aspect of the embodiments of this application, the present invention also provides an electronic device, including: a processor and a memory; the memory stores a computer-readable program that can be executed by the processor; the processor executes the computer-readable program to implement the steps of any of the above methods.

[0022] According to another aspect of the embodiments of this application, the present invention also provides a computer-readable storage medium storing one or more programs that can be executed by one or more processors to implement the steps of any of the methods described above.

[0023] In this embodiment, the status of production equipment and cache machine in the production scenario, as well as the correspondence between the production equipment and the cache machine, can be obtained. Based on the status of production equipment and cache machine in the production scenario, and the correspondence between the production equipment and the cache machine, AGV vehicles can be assigned to delivery tasks, which can solve the technical problem of ineffective AGV dispatch in related technologies. Attached Figure Description

[0024] Figure 1 This is a flowchart of an optional AGV scheduling method in a production scenario according to an embodiment of this application;

[0025] Figure 2 This is a schematic diagram of an optional production caching process according to an embodiment of this application;

[0026] Figure 3 This is a schematic diagram of an optional production system according to an embodiment of this application;

[0027] Figure 4 This is a schematic diagram of an optional system interface according to an embodiment of this application;

[0028] Figure 5 This is a schematic diagram of an optional system interface according to an embodiment of this application;

[0029] Figure 6 This is a schematic diagram of an optional system interface according to an embodiment of this application;

[0030] Figure 7 This is a schematic diagram of an optional system interface according to an embodiment of this application;

[0031] Figure 8 This is a schematic diagram of an optional system interface according to an embodiment of this application;

[0032] Figure 9 This is a flowchart of an optional AGV scheduling method in a production scenario according to an embodiment of this application;

[0033] Figure 10 This is a schematic diagram of a scheduling device for AGV vehicles in an optional production scenario according to an embodiment of this application; and,

[0034] Figure 11 This is a structural block diagram of a terminal according to an embodiment of this application. Detailed Implementation

[0035] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0036] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0037] According to one aspect of the embodiments of this application, an embodiment of a scheduling method for AGVs in a production scenario is provided. This invention provides a call scheduling system for AGVs in a PCB surface mount production scenario. This system can receive delivery requests from loading and unloading machines, and simultaneously assign appropriate AGVs to respond to the delivery requests based on the task status and the correspondence between loading / unloading machines and buffer machines, thereby improving the flexibility and automation level of PCB surface mount production.

[0038] Figure 1 This is a flowchart of an optional AGV scheduling method in a production scenario according to an embodiment of this application, such as... Figure 1 As shown, the method may include the following steps:

[0039] Step S1: Obtain the status of the production equipment and the status of the cache machine in the production scenario, as well as the correspondence between the production equipment and the cache machine. The cache machine is used to cache products flowing between the production equipment.

[0040] Optionally, the above step S1 includes at least one of the following: First, obtaining the status of the upper board machine, the status of the buffer machine, and the correspondence between the upper board machine and the buffer machine in the production scenario, wherein the production equipment includes the upper board machine; Second, obtaining the status of the lower board machine, the status of the buffer machine, and the correspondence between the lower board machine and the buffer machine in the production scenario, wherein the production equipment includes the lower board machine.

[0041] Optionally, before obtaining the status of the production equipment and the cache machine in the production scenario, and the correspondence between the production equipment and the cache machine, an interface for configuring the correspondence between the upper board machine and the cache machine in the production scenario can be displayed to facilitate the configuration of the correspondence between the upper board machine and the cache machine in the production scenario; an interface for configuring the correspondence between the lower board machine and the cache machine in the production scenario can also be displayed to facilitate the configuration of the correspondence between the lower board machine and the cache machine in the production scenario.

[0042] Step S2: Based on the status of the production equipment and the cache machine in the production scenario, and the correspondence between the production equipment and the cache machine, assign AGV vehicles to the delivery task.

[0043] Optionally, the above step S2 includes at least one of the following: First, assigning an AGV vehicle to the delivery task of the upper board machine based on the status of the upper board machine, the status of the buffer machine, and the correspondence between the upper board machine and the buffer machine in the production scenario; Second, assigning an AGV vehicle to the delivery task of the lower board machine based on the status of the lower board machine, the status of the buffer machine, and the correspondence between the lower board machine and the buffer machine in the production scenario.

[0044] Optionally, based on the status of the unloading machine, the status of the buffer machine, and the correspondence between the unloading machine and the buffer machine in the production scenario, an AGV is assigned to the delivery task of the unloading machine, including: if there is a target unloading machine in a full state, finding a first buffer machine that is bound to the target unloading machine and is not in a full state; finding a first AGV in an idle state from the AGV queue; generating a first delivery task that starts from the target unloading machine, ends at the first buffer machine, and is executed by the first AGV, and placing the first delivery task into a task queue; and executing the first delivery task taken from the task queue if the first delivery task meets the execution conditions.

[0045] Optionally, based on the status of the loading machine, the status of the buffer machine, and the correspondence between the loading machine and the buffer machine in the production scenario, an AGV is assigned to the delivery task of the loading machine, including: if there is a target loading machine in a material shortage state, finding a second buffer machine that is bound to the target loading machine and is in a material-rich state; finding a second AGV in an idle state from the AGV queue; generating a second delivery task that represents the target loading machine as the destination, the second buffer machine as the starting point, and is executed by the second AGV, and placing the second delivery task into a task queue; and executing the second delivery task taken from the task queue if the second delivery task meets the execution conditions.

[0046] Through the above steps, the status of production equipment and buffer machines in the production scenario, as well as the correspondence between the production equipment and the buffer machines, can be obtained. Based on the status of production equipment and buffer machines in the production scenario, and the correspondence between the production equipment and the buffer machines, AGV vehicles can be assigned to delivery tasks, which can solve the technical problem of ineffective AGV dispatch in related technologies.

[0047] This application provides a call scheduling system for AGVs in a PCB surface mount technology (SMT) production scenario. The system allows for configurable binding relationships between unloading machines and buffer machines, and between buffer machines and loading machines, supporting one-to-many and many-to-many relationships. The system wirelessly receives delivery requests from both unloading and loading machines, while simultaneously monitoring the buffer status of the buffer machines. Based on the binding relationships between unloading machines and buffer machines, and between buffer machines and loading machines, the system optimizes the sorting of delivery tasks and finally assigns AGVs to respond to the sorted tasks, thereby achieving efficient task execution.

[0048] As an optional embodiment, the technical solution of this application is further described in detail below with reference to specific implementation methods.

[0049] This application applies to, as Figure 2 The PCB assembly production scenario shown includes a number of unloading machines (each holding only one turnover box), buffer machines (holding multiple turnover boxes), loading machines (each holding only one turnover box), and AGVs (each holding only one turnover box). The number of each type of machine is determined by actual production needs and is not a one-to-one correspondence (the number of buffer machines is usually less than the number of unloading and loading machines, and the number of AGVs is usually less than the number of all the above types of machines).

[0050] The control of the AGVs (planning and issuing specific operating paths for the AGVs) is handled by a separate AGV control system, which is beyond the scope of this application. This system is only responsible for issuing delivery tasks to the AGV control system, which in turn provides feedback on task execution status. Each upper and lower board and buffer machine is equipped with a wireless module (such as...) that communicates with this system. Figure 3 As shown, the feedback status can be provided by WIFI or Zigbee, etc. The lower board machine provides feedback on the full frame discharge status, the buffer machine provides feedback on whether the buffer line has material / whether it is full, and the upper board machine provides feedback on the material shortage status.

[0051] This system can be developed using C# (other languages ​​are also possible), and the human-computer interface uses WPF technology. The main interface of the system is as follows: Figure 4 As shown.

[0052] Before starting the system's main thread, some basic settings need to be configured, including setting the numbers of the upper and lower control units, the buffer units (based on the actual number of each type of machine), the AGV control system station number (i.e., task station) corresponding to each machine, the number and numbers of available AGVs, and the binding relationships between all devices. Figures 5 to 8 As shown.

[0053] The binding relationships between devices are set by the user according to actual production needs, such as determining the corresponding relationships based on information like the model and batch of PCB products produced by each production line. After setting, the system's main thread is started, and the system begins automatic operation, with its workflow as follows: Figure 9 As shown.

[0054] The system periodically acquires and updates the status of various types of machines. The status of the loading / unloading machines and buffer machines is acquired through the wireless module, while the task status of the AGV is acquired by calling the AGV control system interface.

[0055] After updating the status of each type of machine, check if there is a full-material status in the list of unloading machines (i.e., a call signal has been generated). If so, it means that the full material needs to be sent to the buffer machine for storage. At this time, in the list of buffer machines bound to the unloading machine that is in a full-material status, look for a buffer machine that is not in a full-material status (if the buffer machine is full, the turnover box will no longer deliver to that buffer machine).

[0056] After finding the corresponding buffer machine, check if there is an idle AGV in the AGV list. If so, generate a task containing information such as the lower board machine station number (starting point), the buffer machine station number (ending point), and the AGV number, and insert it into the task list.

[0057] Finally, the tasks in the task list are sorted by time and task priority (tasks with insufficient material on the upper conveyor have higher priority than tasks with a full lower conveyor). The sorted tasks are then sent to the AGV control system via the WebAPI interface, and the control system controls the AGVs to execute the delivery tasks. Similarly, when the upper conveyor is short of material, a similar workflow is executed as when the lower conveyor is full.

[0058] The main advantage of this system lies in the fact that the correspondence between the lower board machine and the buffer machine, and between the buffer machine and the upper board machine, can be either one-to-many or many-to-many, depending on the user's settings and modifications according to actual conditions, greatly improving the flexibility of production. Furthermore, if the AGV control system can provide more status information about the AGVs (such as battery level, current position, etc.), this system can further filter the AGVs capable of performing tasks to select the optimal AGV for task execution.

[0059] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, as some steps may be performed in other orders or simultaneously according to this application. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions and modules involved are not necessarily essential to this application.

[0060] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods according to the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0061] According to another aspect of the embodiments of this application, a scheduling device for AGV vehicles in a production scenario is also provided for implementing the scheduling method for AGV vehicles in the above-described production scenario. Figure 10 This is a schematic diagram of an AGV scheduling device in an optional production scenario according to an embodiment of this application, such as... Figure 10 As shown, the device may include:

[0062] The acquisition unit 91 is used to acquire the status of the production equipment and the status of the cache machine in the production scenario, as well as the correspondence between the production equipment and the cache machine, wherein the cache machine is used to cache the products flowing between the production equipment;

[0063] The scheduling unit 93 is used to assign AGV vehicles to the delivery task based on the status of the production equipment and the status of the buffer machine in the production scenario, and the correspondence between the production equipment and the buffer machine.

[0064] Through the above modules, the status of production equipment and buffer machines in the production scenario, as well as the correspondence between the production equipment and the buffer machines, can be obtained. Based on the status of production equipment and buffer machines in the production scenario, and the correspondence between the production equipment and the buffer machines, AGV vehicles can be assigned to delivery tasks, which can solve the technical problem of ineffective AGV dispatch in related technologies.

[0065] Optionally, the acquisition unit is further configured to, when acquiring the status of the production equipment and the cache machine in the production scenario, and the correspondence between the production equipment and the cache machine, acquire the status of the upper board machine, the status of the cache machine, and the correspondence between the upper board machine and the cache machine in the production scenario, wherein the production equipment includes the upper board machine; and / or, acquire the status of the lower board machine, the status of the cache machine, and the correspondence between the lower board machine and the cache machine in the production scenario, wherein the production equipment includes the lower board machine.

[0066] Optionally, the scheduling unit is further configured to, when assigning AGV vehicles to delivery tasks based on the status of production equipment and buffer machines in the production scenario, and the correspondence between the production equipment and the buffer machines, assign AGV vehicles to the delivery tasks of the upper board machine based on the status of the upper board machine, the status of the buffer machine, and the correspondence between the upper board machine and the buffer machine in the production scenario; and / or, assign AGV vehicles to the delivery tasks of the lower board machine based on the status of the lower board machine, the status of the buffer machine, and the correspondence between the lower board machine and the buffer machine in the production scenario.

[0067] Optionally, the scheduling unit is further configured to, when assigning an AGV to the delivery task of the unloading machine based on the status of the unloading machine, the status of the buffer machine, and the correspondence between the unloading machine and the buffer machine in the production scenario, if there is a target unloading machine in a full-load state, search for a first buffer machine that is bound to the target unloading machine and is not in a full-load state; search for a first AGV that is in an idle state from the AGV queue; generate a first delivery task that starts from the target unloading machine, ends at the first buffer machine, and is executed by the first AGV, and put the first delivery task into a task queue; and execute the first delivery task taken from the task queue if the first delivery task meets the execution conditions.

[0068] Optionally, the scheduling unit is further configured to, when assigning an AGV to the delivery task of the boarding machine based on the status of the boarding machine, the status of the buffer machine, and the correspondence between the boarding machine and the buffer machine in the production scenario, if there is a target boarding machine in a material shortage state, search for a second buffer machine that is bound to the target boarding machine and is in a material-rich state; search for a second AGV that is idle in the AGV queue; generate a second delivery task representing a task that ends at the target boarding machine, starts at the second buffer machine, and is executed by the second AGV, and place the second delivery task in a task queue; and execute the second delivery task taken from the task queue if the second delivery task meets the execution conditions.

[0069] Optionally, the device further includes: a configuration unit, configured to configure the correspondence between the upper board machine and the cache machine in the production scenario before acquiring the status of the production equipment and the status of the cache machine in the production scenario, and the correspondence between the production equipment and the cache machine; and / or, configure the correspondence between the lower board machine and the cache machine in the production scenario.

[0070] Optionally, the configuration unit is further configured to display an interface for configuring the correspondence between the upper board machine and the cache machine in the production scenario before obtaining the status of the production equipment and the status of the cache machine in the production scenario, and the correspondence between the production equipment and the cache machine; and / or, display an interface for configuring the correspondence between the lower board machine and the cache machine in the production scenario.

[0071] It should be noted that the examples and application scenarios implemented by the above modules and corresponding steps are the same, but are not limited to the content disclosed in the above embodiments. It should also be noted that the above modules, as part of the device, can run in a corresponding hardware environment, and can be implemented through software or hardware, wherein the hardware environment includes a network environment.

[0072] According to another aspect of the embodiments of this application, a server or terminal is also provided for implementing the scheduling method of AGV vehicles in the above-described production scenario.

[0073] Figure 11 This is a structural block diagram of a terminal according to an embodiment of this application, such as... Figure 11 As shown, the terminal may include: one or more (only one is shown) processors 101, memory 103, and transmission devices 105, such as... Figure 11 As shown, the terminal may also include input / output devices 107.

[0074] The memory 103 can be used to store software programs and modules, such as the program instructions / modules corresponding to the AGV scheduling method and device in the production scenario of this application embodiment. The processor 101 executes various functional applications and data processing by running the software programs and modules stored in the memory 103, thereby realizing the AGV scheduling method in the production scenario described above. The memory 103 may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 103 may further include memory remotely located relative to the processor 101, and these remote memories can be connected to the terminal via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0075] The aforementioned transmission device 105 is used to receive or send data via a network, and can also be used for data transfer between the processor and memory. Specific examples of the network described above may include wired networks and wireless networks. In one example, the transmission device 105 includes a Network Interface Controller (NIC), which can be connected to other network devices and routers via a network cable to communicate with the Internet or a local area network. In another example, the transmission device 105 is a radio frequency (RF) module, used for wireless communication with the Internet.

[0076] Specifically, memory 103 is used to store application programs.

[0077] The processor 101 can invoke the application program stored in the memory 103 via the transmission device 105 to perform the following steps:

[0078] The status of production equipment and cache machine in the production scenario, as well as the correspondence between the production equipment and the cache machine, are obtained. The cache machine is used to cache products flowing between the production equipment. Based on the status of production equipment and cache machine in the production scenario, and the correspondence between the production equipment and the cache machine, AGV vehicles are assigned to the delivery tasks.

[0079] Processor 101 is also used to perform the following steps:

[0080] Based on the status of the unloading machine, the status of the buffer machine, and the correspondence between the unloading machine and the buffer machine in the production scenario, an AGV (Automated Guided Vehicle) is assigned to the delivery task of the unloading machine. This includes: if there is a target unloading machine in a full-load state, finding a first buffer machine that is bound to the target unloading machine and is not in a full-load state; finding a first AGV that is idle from the AGV queue; generating a first delivery task that starts from the target unloading machine, ends at the first buffer machine, and is executed by the first AGV, and placing the first delivery task into a task queue; and executing the first delivery task retrieved from the task queue if the first delivery task meets the execution conditions.

[0081] Optionally, specific examples in this embodiment can refer to the examples described in the above embodiments, and will not be repeated here.

[0082] Those skilled in the art will understand that Figure 11 The structure shown is for illustrative purposes only. The terminal can be a smartphone (such as an Android phone, an iOS phone, etc.), a tablet computer, a PDA, a mobile internet device (MID), a PAD, or other terminal devices. Figure 11 This does not limit the structure of the aforementioned electronic device. For example, the terminal may also include components that are more... Figure 11 The more or fewer components shown (such as network interfaces, display devices, etc.), or having the same Figure 11 The different configurations shown.

[0083] Those skilled in the art will understand that all or part of the steps in the various methods of the above embodiments can be implemented by a program instructing the hardware related to the terminal device. The program can be stored in a computer-readable storage medium, which may include: flash drive, read-only memory (ROM), random access memory (RAM), disk or optical disk, etc.

[0084] Embodiments of this application also provide a storage medium. Optionally, in this embodiment, the storage medium can be used to execute program code for a scheduling method of AGV vehicles in a production scenario.

[0085] Optionally, in this embodiment, the storage medium may be located on at least one of the network devices in the network shown in the above embodiment.

[0086] Optionally, in this embodiment, the storage medium is configured to store program code for performing the following steps:

[0087] The status of production equipment and cache machine in the production scenario, as well as the correspondence between the production equipment and the cache machine, are obtained. The cache machine is used to cache products flowing between the production equipment. Based on the status of production equipment and cache machine in the production scenario, and the correspondence between the production equipment and the cache machine, AGV vehicles are assigned to the delivery tasks.

[0088] Optionally, the storage medium is also configured to store program code for performing the following steps:

[0089] Based on the status of the unloading machine, the status of the buffer machine, and the correspondence between the unloading machine and the buffer machine in the production scenario, an AGV (Automated Guided Vehicle) is assigned to the delivery task of the unloading machine. This includes: if there is a target unloading machine in a full-load state, finding a first buffer machine that is bound to the target unloading machine and is not in a full-load state; finding a first AGV that is idle from the AGV queue; generating a first delivery task that starts from the target unloading machine, ends at the first buffer machine, and is executed by the first AGV, and placing the first delivery task into a task queue; and executing the first delivery task retrieved from the task queue if the first delivery task meets the execution conditions.

[0090] Optionally, specific examples in this embodiment can refer to the examples described in the above embodiments, and will not be repeated here.

[0091] Optionally, in this embodiment, the storage medium may include, but is not limited to, various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0092] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0093] If the integrated units in the above embodiments are implemented as software functional units and sold or used as independent products, they can be stored in the aforementioned computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause one or more computer devices (which may be personal computers, servers, or network devices, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application.

[0094] In the above embodiments of this application, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0095] In the several embodiments provided in this application, it should be understood that the disclosed client can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces, indirect coupling or communication connection between units or modules, and may be electrical or other forms.

[0096] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0097] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0098] The above description is only a preferred embodiment of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. A scheduling method for AGV (Automated Guided Vehicle) carts in a production scenario, characterized in that, include: The status of production equipment and cache machine in the production scenario is obtained, as well as the correspondence between the production equipment and the cache machine, wherein the cache machine is used to cache products flowing between the production equipment; Based on the status of the production equipment and the cache machine in the production scenario, and the correspondence between the production equipment and the cache machine, AGV vehicles are assigned to the delivery tasks. Obtaining the status of production equipment and cache machines in the production scenario, and the correspondence between the production equipment and the cache machines, includes: Obtain the status of the boarding machine, the status of the buffer machine, and the correspondence between the boarding machine and the buffer machine in the production scenario, wherein the production equipment includes the boarding machine; and / or, The status of the unloading machine, the status of the buffer machine, and the correspondence between the unloading machine and the buffer machine are obtained in the production scenario, wherein the production equipment includes the unloading machine; Based on the status of the production equipment and the buffer machine in the production scenario, and the correspondence between the production equipment and the buffer machine, AGV vehicles are assigned to delivery tasks, including: Based on the status of the loading machine, the status of the buffer machine, and the correspondence between the loading machine and the buffer machine in the production scenario, an AGV (Automated Guided Vehicle) is assigned to the delivery task of the loading machine; and / or, Based on the status of the unloading machine, the status of the buffer machine, and the correspondence between the unloading machine and the buffer machine in the production scenario, an AGV vehicle is assigned to the delivery task of the unloading machine.

2. The method according to claim 1, characterized in that, Based on the status of the unloading machine, the status of the buffer machine, and the correspondence between the unloading machine and the buffer machine in the production scenario, an AGV (Automated Guided Vehicle) is assigned to the delivery task of the unloading machine, including: If there is a target unloading machine that is in a full state, find the first buffer machine that is bound to the target unloading machine and is not in a full state; Find the first AGV that is idle in the AGV queue; Generate a first delivery task that starts from the target trigger, ends at the first buffer machine, and is executed by the first AGV, and put the first delivery task into the task queue; If the first delivery task meets the execution conditions, the first delivery task retrieved from the task queue is executed.

3. The method according to claim 1, characterized in that, Based on the status of the loading machine, the status of the buffer machine, and the correspondence between the loading machine and the buffer machine in the production scenario, an AGV (Automated Guided Vehicle) is assigned to the delivery task of the loading machine, including: If there is a target board that is out of stock, locate the second buffer that is bound to the target board and is in a stock state; Find the second AGV that is idle in the AGV queue; Generate a second delivery task that is executed by the second AGV vehicle, with the target upper board as the endpoint and the second buffer machine as the starting point, and put the second delivery task into the task queue; If the second delivery task meets the execution conditions, the second delivery task retrieved from the task queue is executed.

4. The method according to any one of claims 1 to 3, characterized in that, Before obtaining the status of the production equipment and the cache machine in the production scenario, and the correspondence between the production equipment and the cache machine, the method further includes: Configure the correspondence between the board-mounted machine and the buffer machine in the production scenario; and / or, Configure the correspondence between the offboard machine and the buffer machine in the production scenario.

5. The method according to claim 4, characterized in that, Before obtaining the status of the production equipment and the cache machine in the production scenario, and the correspondence between the production equipment and the cache machine, the method further includes: An interface is displayed for configuring the correspondence between the board-mounted machine and the buffer machine in the production scenario; and / or, An interface is displayed for configuring the correspondence between the offboard machine and the buffer machine in the production scenario.

6. A scheduling device for AGV (Automated Guided Vehicle) carts in a production scenario, characterized in that, include: An acquisition unit is used to acquire the status of production equipment and cache machine in the production scenario, as well as the correspondence between the production equipment and the cache machine, wherein the cache machine is used to cache products flowing between the production equipment; The scheduling unit is used to assign AGV vehicles to delivery tasks based on the status of production equipment and buffer machines in the production scenario and the correspondence between the production equipment and the buffer machines. Obtaining the status of production equipment and cache machines in the production scenario, and the correspondence between the production equipment and the cache machines, includes: Obtain the status of the boarding machine, the status of the buffer machine, and the correspondence between the boarding machine and the buffer machine in the production scenario, wherein the production equipment includes the boarding machine; and / or, The status of the unloading machine, the status of the buffer machine, and the correspondence between the unloading machine and the buffer machine are obtained in the production scenario, wherein the production equipment includes the unloading machine; Based on the status of the production equipment and the buffer machine in the production scenario, and the correspondence between the production equipment and the buffer machine, AGV vehicles are assigned to delivery tasks, including: Based on the status of the loading machine, the status of the buffer machine, and the correspondence between the loading machine and the buffer machine in the production scenario, an AGV (Automated Guided Vehicle) is assigned to the delivery task of the loading machine; and / or, Based on the status of the unloading machine, the status of the buffer machine, and the correspondence between the unloading machine and the buffer machine in the production scenario, an AGV vehicle is assigned to the delivery task of the unloading machine.

7. An electronic device, characterized in that, include: Processor and memory; The memory stores a computer-readable program that can be executed by the processor; When the processor executes the computer-readable program, it implements the steps of the method as described in any one of claims 1-5.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores one or more programs, which can be executed by one or more processors to implement the steps of the method as described in any one of claims 1-5.

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