A flexible production line AGV scheduling control method, device and system

Abstract

The application discloses a flexible production line AGV scheduling control method, device and system, and is applied to the technical field of industrial automation. The product is processed through the movable AGV platform to be used, the suitable AGV platform to be used and the map point position to be used are selected according to the task to be executed before processing, then the AGV platform to be used is moved to the actual position corresponding to the map point position to be used, that is, the production equipment is moved, the flexible production line corresponding to the task to be executed is formed, and finally the task is executed based on the flexible production line, so that the flexible production line has higher flexibility and can be applied to more scenes through the mode of moving the production equipment.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of industrial automation, in particular to a flexible production line AGV scheduling control method, a flexible production line AGV scheduling control device and a flexible production line AGV scheduling control system. BACKGROUND

[0002] At present, most of the industrial field automation equipment adopts the mode of fixed installation and processing production. With the emergence of more and more small batch and personalized product customization, most of the automation processing equipment needs to be constantly moved and combined to meet different production requirements. At this time, the flexible production line with AGV (Automated Guided Vehicle) platform as the element is born according to different production tasks.

[0003] However, in this scenario, the scheduling system in the prior art only solves the scheduling mode of AGV as a transportation unit to work. The scheduling path planning may be very complex, resulting in a decline in production efficiency. Therefore, how to provide a flexible production line AGV scheduling control scheme with higher flexibility is a problem that needs to be solved by those skilled in the art. SUMMARY

[0004] The purpose of the present application is to provide a flexible production line AGV scheduling control method, which can set up a flexible production line more flexibly. Another purpose of the present application is to provide a flexible production line AGV scheduling control device and a flexible production line AGV scheduling control system, which can set up a flexible production line more flexibly.

[0005] To solve the above technical problems, the present application provides a flexible production line AGV scheduling control method, comprising:

[0006] Obtaining a digital map of a production scene; the digital map comprises a plurality of map points;

[0007] Obtaining a to-be-executed task, determining a to-be-used AGV platform according to the to-be-executed task, and determining a to-be-used map point;

[0008] Moving the to-be-used AGV platform to the actual position corresponding to the to-be-used map point to form a flexible production line corresponding to the to-be-executed task;

[0009] Executing the to-be-executed task based on the flexible production line.

[0010] Optionally, the to-be-used AGV platform comprises a carrying AGV and a working AGV.

[0011] The working AGV is moved to the actual position corresponding to the to-be-used map point, and a flexible production line corresponding to the to-be-executed task is formed.

[0012] The working AGV is moved to the actual position corresponding to the to-be-used map point, and a flexible production line corresponding to the to-be-executed task is formed.

[0013] The to-be-executed task is executed based on the flexible production line.

[0014] The to-be-executed task is executed based on the flexible production line.

[0015] The to-be-executed task is executed based on the flexible production line.

[0016] The to-be-executed task is executed based on the flexible production line.

[0017] The to-be-executed task is executed based on the flexible production line.

[0018] The to-be-executed task is executed based on the flexible production line.

[0019] Optionally, the working AGV includes an island AGV and a composite AGV corresponding to the island AGV.

[0020] The working AGV is moved to the actual position corresponding to the to-be-used map point, and a flexible production line corresponding to the to-be-executed task is formed.

[0021] The working AGV is moved to the actual position corresponding to the to-be-used map point, and a flexible production line corresponding to the to-be-executed task is formed.

[0022] Optionally, the to-be-executed task is obtained, the to-be-used AGV platform is determined according to the to-be-executed task, and the to-be-used map point is determined.

[0023] The to-be-executed task is obtained, and the to-be-used AGV platform is determined according to the to-be-executed task.

[0024] When the number of the island AGVs is not greater than the number of the map points involved in a straight line between the raw material unloading point and the unloading table discharging point, the map points involved in the straight line between the raw material unloading point and the unloading table discharging point are used as to-be-used map points.

[0025] Optionally, the task to be executed is acquired, the AGV platform to be used is determined according to the task to be executed, and the map point to be used is determined.

[0026] The task to be executed is acquired, the AGV platform to be used, the map point to be used, and the working order of the AGV platform to be used are determined according to the task to be executed.

[0027] The AGV platform to be used is moved to the actual position corresponding to the map point to be used, to form a flexible production line corresponding to the task to be executed.

[0028] According to the working order, the AGV platform to be used is moved to the actual position corresponding to the map point to be used along the path from the raw material unloading point to the unloading table unloading point, to form a flexible production line corresponding to the task to be executed.

[0029] Optionally, the digital map of the production scene is acquired.

[0030] The production scene is scanned and digitally modeled to generate a digital map.

[0031] Optionally, the actual position corresponding to the map point is provided with an electrical quick plug device.

[0032] The AGV platform to be used is moved to the actual position corresponding to the map point to be used, to form a flexible production line corresponding to the task to be executed.

[0033] The AGV platform to be used is moved to the actual position corresponding to the map point to be used and connected with the electrical quick plug device, so that the electrical quick plug device supplies power to the connected AGV platform to be used, to form a flexible production line corresponding to the task to be executed.

[0034] The application also provides a flexible production line AGV scheduling control device, comprising:

[0035] A map acquisition module is configured to acquire a digital map of a production scene; the digital map comprises a plurality of map points.

[0036] A task acquisition module is configured to acquire a task to be executed, determine an AGV platform to be used according to the task to be executed, and determine a map point to be used.

[0037] A production line establishment module is configured to move the AGV platform to be used to an actual position corresponding to the map point to be used, to form a flexible production line corresponding to the task to be executed.

[0038] A task execution module is configured to execute the task to be executed based on the flexible production line.

[0039] The application further provides a flexible production line AGV scheduling control system, comprising an upper computer and a plurality of AGV platforms, and the upper computer is in communication connection with the AGV platforms.

[0040] The upper computer is used for:

[0041] acquiring a digital map of a production scene, wherein the digital map comprises a plurality of map points;

[0042] acquiring a to-be-executed task, determining a to-be-used AGV platform according to the to-be-executed task, and determining a to-be-used map point;

[0043] moving the to-be-used AGV platform to an actual position corresponding to the to-be-used map point, to form a flexible production line corresponding to the to-be-executed task;

[0044] executing the to-be-executed task based on the flexible production line.

[0045] The application provides a flexible production line AGV scheduling control method, comprising the following steps: acquiring a digital map of a production scene; the digital map comprises a plurality of map points; acquiring a to-be-executed task, determining a to-be-used AGV platform according to the to-be-executed task, and determining a to-be-used map point; moving the to-be-used AGV platform to an actual position corresponding to the to-be-used map point, to form a flexible production line corresponding to the to-be-executed task; and executing the to-be-executed task based on the flexible production line.

[0046] The to-be-used AGV platform can be moved to process products, and before processing, a suitable to-be-used AGV platform and a to-be-used map point are selected according to a to-be-executed task, then the to-be-used AGV platform is moved to an actual position corresponding to the to-be-used map point, that is, a production device is moved, to form a flexible production line corresponding to the to-be-executed task, and finally the task is executed based on the flexible production line, so that the flexible production line has higher flexibility and can be applied to more scenes by moving the production device.

[0047] Another object of the application is to provide a flexible production line AGV scheduling control device and a flexible production line AGV scheduling control system, which also have the above-mentioned beneficial effects, and details are not repeated here. BRIEF DESCRIPTION OF DRAWINGS

[0048] In order to more clearly illustrate the technical solutions of the embodiments of the application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiment or prior art description. Obviously, the drawings in the following description only constitute some embodiments of the application, and for those skilled in the art, other drawings can also be obtained without creative labor on the basis of these drawings.

[0049] Figure 1A flow chart of a flexible production line AGV scheduling control method provided by an embodiment of the present application;

[0050] Figure 2 A flow chart of a first specific flexible production line AGV scheduling control method provided by an embodiment of the present application;

[0051] Figure 3 A flow chart of a second specific flexible production line AGV scheduling control method provided by an embodiment of the present application;

[0052] Figure 4 A flow chart of a third specific flexible production line AGV scheduling control method provided by an embodiment of the present application;

[0053] Figure 5 A marked schematic diagram in a digital map;

[0054] Figure 6 A structure block diagram of a flexible production line AGV scheduling control device provided by an embodiment of the present application;

[0055] Figure 7 A structure block diagram of a flexible production line AGV scheduling control system provided by an embodiment of the present application. DETAILED DESCRIPTION

[0056] The core of the present application is to provide a flexible production line AGV scheduling control method. In the prior art, a flexible production line usually has fixed-position production equipment, and only through the transportation AGV to transmit components between different production equipment to realize the production of the flexible production line. However, in the prior art, because the production equipment is fixed, when facing different production tasks, only through the transportation AGV to transmit the production components, the scheduling path planning may be very complex, resulting in the decline of production efficiency.

[0057] The flexible production line AGV scheduling control method provided by the present application comprises: acquiring a digital map of a production scene; the digital map comprises a plurality of map points; acquiring a to-be-executed task, determining a to-be-used AGV platform according to the to-be-executed task, and determining to-be-used map points; moving the to-be-used AGV platform to the actual position corresponding to the to-be-used map points to form a flexible production line corresponding to the to-be-executed task; and executing the to-be-executed task based on the flexible production line.

[0058] The product is processed by setting the movable AGV platform to be used. Before processing, the suitable AGV platform to be used and the map point to be used are selected according to the task to be executed. Then the AGV platform to be used is moved to the actual position corresponding to the map point to be used, that is, the production equipment is moved, to form a flexible production line corresponding to the task to be executed. Finally, the task is executed based on the flexible production line. Through the mode of moving the production equipment, the flexible production line has higher flexibility and can be applied to more scenes.

[0059] In order for those skilled in the art to better understand the present application, the present application will be further described in detail below in combination with the drawings and specific embodiments. Obviously, the described embodiments are only some of the embodiments of the present application, not all. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0060] Please refer to Figure 1 , Figure 1 A flowchart of a flexible production line AGV scheduling control method provided by an embodiment of the present application.

[0061] See Figure 1 In an embodiment of the present application, the flexible production line AGV scheduling control method comprises:

[0062] S101: Obtain a digital map of a production scene.

[0063] In an embodiment of the present application, the digital map comprises a plurality of map points. The above-mentioned digital map is a map generated based on a production scene. The digital map is provided with a plurality of map points. The map points correspond to actual positions in the production scene, i.e. positions in the production scene where the corresponding AGV platform can be displayed. Correspondingly, in an embodiment of the present application, a plurality of AGV platforms are usually provided. Different AGV platforms can be used to process the same or different parts and perform the same or different processes. Different AGV platforms combined in sequence can perform different production tasks. The specific structure of the AGV platform can be set according to actual conditions, which is not limited here.

[0064] In this step, the digital map corresponding to the production scene needs to be obtained. Specifically, it can be loaded by receiving the digital map sent by an external system, or it can be called from the memory or cache. The specific process can be set according to actual conditions, which is not limited here.

[0065] S102: Obtain a task to be executed, determine an AGV platform to be used according to the task to be executed, and determine a map point to be used.

[0066] In this step, the task to be executed will be received, and then the task to be executed usually needs to be parsed to determine the AGV platform required to complete the task to be executed, i.e., the AGV platform to be used, and then the map point to be used can be determined from all map points according to the type and / or quantity of the AGV platform to be used, so as to move the AGV platform to be used to the actual position corresponding to the map point to be used in the subsequent step.

[0067] S103: Move the AGV platform to be used to the actual position corresponding to the map point to be used, to form a flexible production line corresponding to the task to be executed.

[0068] In this step, the AGV platform to be used is driven to move to the actual position corresponding to the map point to be used, thereby constructing a flexible production line in the production scene that can execute the task to be executed.

[0069] It should be noted that when the AGV platform to be used executes the task to be executed, the task to be executed is usually divided into a plurality of sub-tasks to be executed, and different sub-tasks to be executed are allocated to different AGV platforms to be used, and then each sub-task to be executed is executed in turn according to the working order, and finally the entire task to be executed is completed. Therefore, when the processor processes the sub-tasks to be executed, the AGV platforms to be used have adjacent AGV platforms to be used in the working order level according to the working order. Accordingly, when the AGV platforms to be executed are allocated to the map points to be used in this step, the AGV platforms to be executed can be allocated to the map points to be used with the same adjacent relationship based on the adjacent relationship of the AGV platforms to be used in the working order level, so that the AGV platforms to be used that are adjacent in the actual scene are simultaneously required to execute adjacent sub-tasks to be executed in the working order level, thereby reducing the line in the subsequent material handling process and reducing the complexity of the entire flexible production line.

[0070] S104: Execute the task to be executed based on the flexible production line.

[0071] In this step, the task to be executed needs to be executed based on the flexible production line until the task to be executed is completed. The specific execution process will be described in detail in the following inventive embodiments, and will not be described here.

[0072] The flexible production line AGV scheduling control method provided by the application can process products through the movable AGV platform to be used, select the suitable AGV platform to be used and the map point to be used according to the task to be executed before processing, then move the AGV platform to be used to the actual position corresponding to the map point to be used, that is, move the production equipment, form the flexible production line corresponding to the task to be executed, and finally execute the task based on the flexible production line, so that the flexible production line has higher flexibility and can be applied to more scenes through the mode of moving the production equipment.

[0073] The specific content of the flexible production line AGV scheduling control method provided by the application will be described in detail in the following application embodiments.

[0074] Please refer to Figure 2 , Figure 2 The flowchart of the first specific flexible production line AGV scheduling control method provided by the application embodiment.

[0075] See Figure 2 In the application embodiment, the flexible production line AGV scheduling control method comprises:

[0076] S201: Obtain the digital map of the production scene.

[0077] This step is basically the same as S101 in the above-mentioned application embodiment, and the details are described with reference to the above-mentioned application embodiment, which will not be repeated here.

[0078] S202: Obtain the task to be executed, determine the AGV platform to be used according to the task to be executed, and determine the map point to be used.

[0079] In the application embodiment, the AGV platform to be used comprises a carrying AGV and a working AGV. The carrying AGV is used to realize the transfer of materials, and the working AGV is used to process the materials. Generally, the working AGV needs to be provided with a tool clamp, a processing robot, etc., and the carrying AGV is mainly used to perform the task of carrying materials between various production equipment, and its structure can be set according to the actual situation. In this step, the correspondence between the AGV platform to be used and the map point to be used needs to be determined. Specifically, in this step, the correspondence between the working AGV and the map point to be used needs to be determined, so that the working AGV can be moved to the corresponding map point in the subsequent step. As for the carrying AGV, it also needs to have a corresponding map point in the digital map to serve as a resting and parking point, so the correspondence between the AGV platform to be used, including the working AGV and the carrying AGV, and the map point to be used needs to be determined in this step.

[0080] S203: Move the working AGV to the actual position corresponding to the to-be-used map point, to form a flexible production line corresponding to the to-be-executed task.

[0081] In this step, the working AGV is moved to the corresponding to-be-used map point. In an actual production scene, the working AGV is moved to the corresponding actual position based on the corresponding to-be-used map point, so as to form a flexible production line. Of course, the transportation of materials between the flexible production lines needs to rely on the carrying AGV.

[0082] S204: Transport materials in the flexible production line by the carrying AGV to execute the to-be-executed task.

[0083] In this step, the materials need to be transported in the flexible production line by the carrying AGV, and the materials are processed by the working AGV to execute the to-be-executed task until the to-be-executed task is completed.

[0084] In an actual production scene, a raw material unloading point and a discharging table discharging point are usually provided. The raw material unloading point is used to output raw materials, and the head-type production line needs to process the raw materials to produce target products, and then the target products can be recycled through the discharging table discharging point. The specific structure of the raw material unloading point and the discharging table discharging point can refer to the prior art, which will not be described here.

[0085] Correspondingly, the step can specifically include:

[0086] S2041: Transport the raw materials from the raw material unloading point to the flexible production line by the carrying AGV, and process the raw materials.

[0087] S2042: Transport the materials in the flexible production line by the carrying AGV to prepare target products.

[0088] S2043: Transport the target products to the discharging table discharging point by the carrying AGV to complete the to-be-executed task.

[0089] That is, the carrying AGV can first transport the raw materials output by the raw material unloading point to the flexible production line, which is usually transported to the working AGV arranged at the first position in the flexible production line according to the working order for processing. Then, when each working AGV works in the flexible production line, each working AGV will sequentially transport the parts produced after processing to the corresponding working AGV for processing according to the working order, until the final target product is obtained. Finally, the carrying AGV transports the obtained target product to the discharging table discharging point for recycling, thereby completing the to-be-executed task.

[0090] It should be noted that when the carrying AGV transports the materials, the carrying AGV can be specifically responsible for transporting the materials between a few specific working AGVs, or the carrying AGV can transport the materials between the working AGVs according to the above working sequence, or the materials generated by the working AGVs can be transported to the next working AGV according to the sequence of completing the tasks of the working AGVs, and the like; the control mode can be set according to the actual situation, and is not specifically limited here.

[0091] After this step, the AGV platforms to be used, including the working AGVs and the carrying AGVs, can be controlled to move back to the warehouse in preparation for the next task to be executed.

[0092] The flexible production line AGV scheduling control method provided by the embodiment of the application can process products by setting movable AGV platforms to be used, select suitable AGV platforms to be used and map point positions to be used according to the task to be executed before processing, then move the AGV platforms to be used to the actual positions corresponding to the map point positions to be used, that is, move the production equipment, to form a flexible production line corresponding to the task to be executed, and finally execute the task based on the flexible production line, so that the flexible production line has higher flexibility and can be applied to more scenarios by moving the production equipment.

[0093] The specific content of the flexible production line AGV scheduling control method provided by the embodiment of the application will be described in detail in the following embodiment.

[0094] Please refer to Figure 3 , Figure 3 The flowchart of the second specific flexible production line AGV scheduling control method provided by the embodiment of the application.

[0095] See Figure 3 In the embodiment of the application, the flexible production line AGV scheduling control method comprises:

[0096] S301: Obtain a digital map of a production scene.

[0097] This step is basically the same as S101 in the above embodiment, and the details are described with reference to the above embodiment, which will not be repeated here.

[0098] S302: Obtain a task to be executed, and determine an AGV platform to be used, a map point position to be used, and a working sequence of the AGV platform to be used according to the task to be executed.

[0099] In this step, in addition to determining the AGV platform to be used and the map point to be used according to the task to be performed, the working order of the AGV platform to be used is also determined according to the task to be performed. For example, there are three AGV platforms to be used, which are No. 1 AGV platform to be used, No. 2 AGV platform to be used, and No. 3 AGV platform to be used. Then it is determined that the material needs to be processed in the order of No. 1 AGV platform to be used→No. 3 AGV platform to be used→No. 2 AGV platform to be used, and then the task to be performed can be completed. Therefore, the working order is: No. 1 AGV platform to be used→No. 3 AGV platform to be used→No. 2 AGV platform to be used. Of course, the above is only an example and is not a specific limitation of the working order. The remaining contents of this step have been described in detail in the above embodiment, and will not be repeated here.

[0100] S303: According to the working order, the AGV platform to be used is moved to the actual position represented by the corresponding map point to be used along the path from the raw material feeding point to the feeding point of the feeding table, to form a flexible production line corresponding to the task to be performed.

[0101] In the embodiment of the application, the distribution of the map point to be used can be determined in the digital map in combination with the above-mentioned map point to be used, and then the path from the raw material feeding point to the feeding point of the feeding table can be determined. At this time, the corresponding relationship between the AGV platform to be used and the map point to be used can be determined in combination with the above-mentioned path and the working order. In this step, according to the above-mentioned working order, the AGV platform to be used is moved to the actual position represented by the corresponding map point to be used along the direction from the raw material feeding point to the feeding point of the feeding table in the above-mentioned path, to form a flexible production line.

[0102] Specifically, when moving the AGV platform to be used, each AGV platform to be used can be moved to the actual position represented by the corresponding map point in the above-mentioned working order or path, or each AGV platform to be used can be moved through other orders, which is not specifically limited here.

[0103] S304: The material is carried in the flexible production line by the carrying AGV to perform the task to be performed.

[0104] This step is basically the same as S204 in the above-mentioned embodiment, and the details are described in the above-mentioned embodiment, which will not be repeated here.

[0105] The flexible production line AGV scheduling control method provided by the embodiment of the application can process products through the movable AGV platform to be used, select the suitable AGV platform to be used and the map point to be used according to the task to be executed before processing, then move the AGV platform to be used to the actual position corresponding to the map point to be used, that is, move the production equipment, to form the flexible production line corresponding to the task to be executed, and finally execute the task based on the flexible production line, so that the flexible production line has higher flexibility and can be applied to more scenes through the mode of moving the production equipment.

[0106] The specific content of the flexible production line AGV scheduling control method provided by the application will be described in detail in the following embodiments of the application.

[0107] Please refer to Figure 4 and Figure 5 , Figure 4 the flowchart of the third specific flexible production line AGV scheduling control method provided by the embodiment of the application; Figure 5 a digital map.

[0108] Please refer to Figure 4 and Figure 5 , in the embodiment of the application, the flexible production line AGV scheduling control method comprises:

[0109] S401: scanning the production scene and digitally modeling to generate a digital map.

[0110] In this step, the production scene can be scanned on site through a scanning device, and the scanned results are digitally modeled to generate a digital map. At this time, the digital map will include the above-mentioned map point. The specific process of scanning and digital modeling can refer to the prior art, which will not be described here.

[0111] S402: obtaining a task to be executed, and determining an AGV platform to be used according to the task to be executed.

[0112] In the embodiment of the application, the AGV platform to be used includes a carrying AGV and a working AGV, and the working AGV includes an island AGV and a composite AGV corresponding to the island AGV. The island AGV table top is usually installed with a tooling fixture and an island robot required for executing a production task, and the composite AGV table top is usually installed with an auxiliary robot cooperating with the island AGV operation, so that the island AGV and the composite AGV usually have a one-to-one corresponding relationship in the embodiment of the application. Of course, the island AGV and the composite AGV can also have a one-to-many, many-to-one or many-to-many relationship, which is not limited here.

[0113] In the embodiment of the present application, the corresponding island AGV and the composite AGV will form an AGV platform to be used. When the material is processed, it is mainly processed in the island AGV, the carrying AGV transports the material to the island AGV, the island AGV processes the material, and the composite AGV assists in processing at the corresponding island AGV. When the material processing is completed, the carrying AGV will take the processed material from the island AGV and transport it to the next location.

[0114] In this step, the island AGV and the auxiliary AGV will be determined according to the task to be performed.

[0115] S403: Determine the to-be-used map point according to the island AGV and the auxiliary AGV.

[0116] Specifically, this step can include: when the number of the island AGV is not greater than the number of map points involved in the straight line between the raw material unloading point and the unloading table discharging point, the map points involved in the straight line between the raw material unloading point and the unloading table discharging point are taken as the to-be-used map points.

[0117] That is, in actual situations, the straight line between the raw material unloading point and the unloading table discharging point will involve a part of the map points, and the straight line between the raw material unloading point and the unloading table discharging point will generally be a straight line. When the number of the island AGV is not greater than the number of map points involved in the straight line between the raw material unloading point and the unloading table discharging point, in order to reduce the complexity of the path and reduce the moving distance of the carrying AGV, the map points involved in the straight line between the raw material unloading point and the unloading table discharging point are taken as the to-be-used map points, and the island AGV is arranged within the range of the straight line, so that the flexible production line is generally distributed in a straight line, and the moving distance of the carrying AGV is reduced. Of course, in this step, not all map points involved in the above straight line are taken as to-be-used map points, which need to be determined according to the number of AGV platforms to be used; at the same time, the to-be-used map points need to leave map points for setting the composite AGV.

[0118] S404: Move the island AGV and the composite AGV to the actual positions corresponding to the to-be-used map points, so that the corresponding island AGV and the composite AGV are arranged adjacent to each other to form a flexible production line corresponding to the task to be performed.

[0119] In this step, the island AGV and the composite AGV will be moved to the actual positions corresponding to the to-be-used map points, and after moving, the corresponding island AGV and the composite AGV need to be arranged adjacent to each other, so that they can work together to form a flexible production line.

[0120] Specifically, in the embodiment of the present application, the actual position corresponding to the map point is provided with an electrical quick plug device. The electrical quick plug device can be connected with the AGV platform to be used, and power supply and gas supply can be completed. The specific structure of the electrical quick plug device can refer to the prior art, and will not be described here. In the production scene, the position provided with the electrical quick plug device will set a map point in the corresponding digital map. When the AGV platform to be used moves to the vicinity of the electrical quick plug device, the electrical quick plug device will be electrically connected with the AGV platform to be used, realizing power supply and gas supply to the AGV platform to be used, and realizing the establishment of the flexible production line.

[0121] Correspondingly, the step can be specifically: moving the AGV platform to be used to the actual position corresponding to the map point to be used and connecting the electrical quick plug device, so that the electrical quick plug device supplies power to the connected AGV platform to be used, and constitutes a flexible production line corresponding to the task to be executed.

[0122] S405: The AGV carries the material in the flexible production line to execute the task to be executed.

[0123] This step is basically the same as S204 in the above-mentioned embodiment of the application, and the details are referred to the above-mentioned embodiment of the application, which will not be described here.

[0124] The flexible production line AGV scheduling control method provided by the embodiment of the present application processes products by setting movable AGV platforms to be used. Before processing, the suitable AGV platform to be used and the map point to be used are selected according to the task to be executed. Then the AGV platform to be used is moved to the actual position corresponding to the map point to be used, i.e. the production equipment is moved, to constitute a flexible production line corresponding to the task to be executed. Finally, the task is executed based on the flexible production line. By moving the production equipment, the flexible production line has higher flexibility and can be applied to more scenes.

[0125] The flexible production line AGV scheduling control device provided by the embodiment of the present application will be introduced below. The flexible production line AGV scheduling control device described below can be correspondingly referred to the flexible production line AGV scheduling control method described above.

[0126] Figure 6 The structure block diagram of the flexible production line AGV scheduling control device provided by the embodiment of the present application is referred to Figure 6 The flexible production line AGV scheduling control device can include:

[0127] The map acquisition module 100 is used to acquire the digital map of the production scene. The digital map includes a plurality of map points.

[0128] The task acquisition module 200 is configured to acquire a task to be executed, determine an AGV platform to be used according to the task to be executed, and determine a map point to be used.

[0129] The production line establishment module 300 is configured to move the AGV platform to be used to an actual position corresponding to the map point to be used, to form a flexible production line corresponding to the task to be executed.

[0130] The task execution module 400 is configured to execute the task to be executed based on the flexible production line.

[0131] Optionally, in the embodiment of the present application, the AGV platform to be used includes a carrying AGV and a working AGV.

[0132] The production line establishment module 300 is configured to:

[0133] move the working AGV to an actual position corresponding to the map point to be used, to form a flexible production line corresponding to the task to be executed.

[0134] The task execution module 400 is configured to:

[0135] carry materials in the flexible production line by the carrying AGV, to execute the task to be executed.

[0136] Optionally, in the embodiment of the present application, the task execution module 400 includes:

[0137] a first carrying unit configured to carry raw materials from a raw material feeding point to the flexible production line by the carrying AGV, to process the raw materials.

[0138] a second carrying unit configured to carry materials in the flexible production line by the carrying AGV, to prepare target products.

[0139] a third carrying unit configured to carry the target products to a feeding table feeding point by the carrying AGV, to complete the task to be executed.

[0140] Optionally, in the embodiment of the present application, the working AGV includes an island AGV and a composite AGV corresponding to the island AGV.

[0141] The production line establishment module 300 is configured to:

[0142] move the island AGV and the composite AGV to an actual position corresponding to the map point to be used, to adjacently arrange the corresponding island AGV and the composite AGV, to form a flexible production line corresponding to the task to be executed.

[0143] Optionally, in the embodiment of the present application, the task acquisition module 200 includes:

[0144] The AGV determining unit is configured to acquire a to-be-executed task and determine an AGV platform to be used according to the to-be-executed task.

[0145] The map point position determining unit is configured to, when the number of the work island AGVs is not greater than the number of map point positions involved in a straight line between the raw material unloading point and the unloading platform discharging point, take the map point positions involved in the straight line between the raw material unloading point and the unloading platform discharging point as to-be-used map point positions.

[0146] Optionally, in the embodiment of the present application, the task acquisition module 200 is configured to:

[0147] acquire a to-be-executed task and determine an AGV platform to be used, to-be-used map point positions, and a working order of the AGV platform to be used according to the to-be-executed task.

[0148] The production line establishing module 300 is configured to:

[0149] move the AGV platform to be used along a path from the raw material unloading point to the unloading platform discharging point to actual positions corresponding to the to-be-used map point positions according to the working order, and construct a flexible production line corresponding to the to-be-executed task.

[0150] Optionally, in the embodiment of the present application, the map acquisition module 100 is configured to:

[0151] perform map scanning on a production scene and digital modeling, and generate a digital map.

[0152] Optionally, in the embodiment of the present application, the actual positions corresponding to the map point positions are provided with electrical quick plug devices.

[0153] The production line establishing module 300 is configured to:

[0154] move the AGV platform to be used to actual positions corresponding to the to-be-used map point positions and connect the electrical quick plug devices, so that the electrical quick plug devices supply power to the connected AGV platform to be used, and construct a flexible production line corresponding to the to-be-executed task.

[0155] The flexible production line AGV scheduling control device of the embodiment is used to implement the aforementioned flexible production line AGV scheduling control method, and thus the specific embodiments in the flexible production line AGV scheduling control device can be seen from the aforementioned embodiment part of the flexible production line AGV scheduling control method. For example, the map acquisition module 100, the task acquisition module 200, the production line establishing module 300, and the task execution module 400 are respectively used to implement steps S101 to S104 in the aforementioned flexible production line AGV scheduling control method, and thus the specific embodiments can be referred to the description of the corresponding embodiment part, which will not be described herein again.

[0156] The following describes the flexible production line AGV scheduling and control system provided in the embodiments of the present invention. The flexible production line AGV scheduling and control system described below can be referred to in correspondence with the flexible production line AGV scheduling and control method described above.

[0157] Figure 7 The structural block diagram of a flexible production line AGV scheduling and control system provided in an embodiment of the present invention is shown below. Figure 7 The flexible production line AGV scheduling and control system may include a host computer 11 and multiple AGV platforms 12, wherein the host computer 11 and the AGV platforms 12 are communicatively connected. In this embodiment of the invention, the host computer 11 and the AGV platforms 12 may be specifically equipped with industrial-grade 5G gateway devices, and 5G communication is used to connect the host computer 11 and the AGV platforms 12, thereby improving the response speed of each device.

[0158] The host computer 11 is used for:

[0159] Obtain a digital map of the production scene; the digital map includes multiple map points.

[0160] Obtain the tasks to be executed, determine the AGV platform to be used based on the tasks to be executed, and determine the map points to be used;

[0161] The AGV platform to be used is moved to the actual location corresponding to the map point to be used, thereby forming a flexible production line corresponding to the task to be performed;

[0162] The task to be performed is executed based on the flexible production line.

[0163] Optionally, in this embodiment of the invention, the AGV platform to be used includes a transport AGV and a work AGV;

[0164] The host computer 11 is used for:

[0165] The working AGV is moved to the actual location corresponding to the map point to be used, thus forming a flexible production line corresponding to the task to be performed;

[0166] The material is transported in the flexible production line by the transport AGV to perform the task to be performed.

[0167] Optionally, in this embodiment of the invention, the host computer 11 is used for:

[0168] The raw materials are transported from the raw material unloading point to the flexible production line by the AGV for processing.

[0169] The AGV (Automated Guided Vehicle) transports materials within the flexible production line to prepare the target product.

[0170] The target product is carried to a discharging station by the carrying AGV to complete the task to be executed.

[0171] Optionally, in the embodiment of the present application, the working AGV comprises an island AGV, and a composite AGV corresponding to the island AGV;

[0172] The upper computer 11 is configured to:

[0173] The island AGV and the composite AGV are moved to actual positions corresponding to the to-be-used map points, so that the corresponding island AGV and composite AGV are arranged adjacently to form a flexible production line corresponding to the task to be executed.

[0174] Optionally, in the embodiment of the present application, the upper computer 11 is configured to:

[0175] The task to be executed is obtained, and an AGV platform to be used is determined according to the task to be executed.

[0176] When the number of the island AGVs is not greater than the number of map points involved in a straight line between the raw material discharging station and the discharging station of the discharging table, the map points involved in the straight line between the raw material discharging station and the discharging station of the discharging table are taken as to-be-used map points.

[0177] Optionally, in the embodiment of the present application, the upper computer 11 is configured to:

[0178] The task to be executed is obtained, and an AGV platform to be used, to-be-used map points, and a working order of the AGV platform to be used are determined according to the task to be executed.

[0179] According to the working order, the AGV platform to be used is moved to actual positions corresponding to the to-be-used map points along a path from the raw material discharging station to the discharging station of the discharging table, to form a flexible production line corresponding to the task to be executed.

[0180] Optionally, in the embodiment of the present application, the upper computer 11 is configured to:

[0181] The production scene is scanned and digitally modeled to generate a digital map.

[0182] Optionally, in the embodiment of the present application, the actual positions corresponding to the map points are provided with electrical quick insertion devices.

[0183] The upper computer 11 is configured to:

[0184] The to-be-used AGV platform is moved to the actual position corresponding to the to-be-used map point, and is connected with the electrical quick plug device, so that the electrical quick plug device supplies power to the connected to-be-used AGV platform, and a flexible production line corresponding to the to-be-executed task is formed.

[0185] The flexible production line AGV scheduling control system of the embodiment is used to realize the flexible production line AGV scheduling control method, and therefore the specific implementation of the flexible production line AGV scheduling control system can refer to the embodiment part of the flexible production line AGV scheduling control method, and therefore the specific implementation can refer to the description of the corresponding embodiment part, and will not be described here.

[0186] Each embodiment in the specification is described in a progressive manner, and each embodiment focuses on the difference from other embodiments. The same or similar parts of each embodiment can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the related parts can refer to the method part.

[0187] The skilled person can further realize that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be realized by electronic hardware, computer software or a combination of the two. In order to clearly show the interchangeability of hardware and software, the composition and steps of each example have been described in the above description. Whether the functions are executed in hardware or software depends on the specific application and design constraints of the technical solution. The skilled person can use different methods to realize the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0188] The steps of the method or algorithm described in combination with the embodiments disclosed herein can be directly implemented by hardware, a software module executed by a processor, or a combination of the two. The software module can be placed in a random access memory (RAM), a memory, a read-only memory (ROM), an electrically programmable ROM, an electrically erasable programmable ROM, a register, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

[0189] Finally, it is to be understood that the phraseology or terminology such as "first" and "second" etc. used herein is merely intended to differentiate one entity or operation from another entity or operation, without necessarily requiring or implying any such actual relationship or order between such entities or operations. Moreover, the terms "comprising", "including", or any other variation thereof are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or even inherent to such process, method, article, or apparatus. An element proceeded by "comprises a... " does not, without more constraints, exclude the existence of additional identical elements in the process, method, article, or apparatus that comprises the recited element.

[0190] The above describes in detail the flexible production line AGV scheduling control method, the flexible production line AGV scheduling control device and the flexible production line AGV scheduling control system provided by the present application. The principles and implementation manners of the present application are described by using specific examples in the present application. The above description of the examples is only used to help understand the method of the present application and its core idea. It should be pointed out that, for those skilled in the art, without departing from the principles of the present application, some improvements and modifications can be made to the present application, and these improvements and modifications also fall within the protection scope of the claims of the present application.

Claims

1. A flexible production line AGV dispatching control method, characterized by, The method comprises the following steps: acquiring a digital map of a production scene; the digital map comprises a plurality of map points; acquiring a task to be executed, determining an AGV platform to be used according to the task to be executed, and determining map points to be used; moving the AGV platform to be used to an actual position corresponding to the map points to be used, to form a flexible production line corresponding to the task to be executed; when allocating the map points to be used to each AGV platform to be used, the map points to be used with the same proximity relationship are allocated to each AGV platform to be used based on the proximity relationship of each AGV platform to be used at the work order level; executing the task to be executed based on the flexible production line; the AGV platform to be used comprises a carrying AGV and a working AGV; the carrying AGV is used to realize the transfer of materials, and the working AGV is used to process the materials; the step of moving the AGV platform to be used to an actual position corresponding to the map points to be used to form a flexible production line corresponding to the task to be executed comprises: moving the working AGV to an actual position corresponding to the map points to be used to form a flexible production line corresponding to the task to be executed; the step of executing the task to be executed based on the flexible production line comprises: transferring materials in the flexible production line by the carrying AGV to execute the task to be executed; the working AGV comprises an island AGV and a composite AGV corresponding to the island AGV; the island AGV is installed with a tooling fixture and an island robot required for executing a production task on a table top of the island AGV; and the composite AGV is installed with an auxiliary robot cooperating with the island AGV for work on a table top of the composite AGV; the step of acquiring a task to be executed, determining an AGV platform to be used according to the task to be executed, and determining map points to be used comprises: acquiring a task to be executed, and determining an AGV platform to be used according to the task to be executed; when the number of the island AGVs is not greater than the number of map points involved in a straight line between a raw material unloading point and a discharging table discharging point, the map points involved in the straight line between the raw material unloading point and the discharging table discharging point are taken as the map points to be used.

2. The method of claim 1, wherein, the step of transferring materials in the flexible production line by the carrying AGV to execute the task to be executed comprises: transferring raw materials from a raw material unloading point to the flexible production line by the carrying AGV to process the raw materials; transferring materials in the flexible production line by the carrying AGV to prepare a target product; transferring the target product to a discharging table discharging point by the carrying AGV to complete the task to be executed.

3. The method of claim 2, wherein, the working AGV comprises an island AGV and a composite AGV corresponding to the island AGV; the step of moving the working AGV to an actual position corresponding to the map points to be used to form a flexible production line corresponding to the task to be executed comprises: moving the island AGV and the composite AGV to an actual position corresponding to the map points to be used, so that the corresponding island AGV and the composite AGV are arranged adjacently to form a flexible production line corresponding to the task to be executed.

4. The method of claim 2, wherein, The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps:

5. The method of claim 1, wherein, The method comprises the following steps: The method comprises the following steps:

6. The method of claim 5, wherein, The method comprises the following steps: The method comprises the following steps: The method comprises the following steps:

7. 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8. A flexible production line AGV dispatching control system characterized by, The system comprises an upper computer and a plurality of AGV platforms, and the upper computer is in communication connection with the AGV platforms. The upper computer is configured to: obtain a digital map of a production scene, wherein the digital map comprises a plurality of map points; obtain a to-be-executed task, determine a to-be-used AGV platform according to the to-be-executed task, and determine to-be-used map points; move the to-be-used AGV platform to an actual position corresponding to the to-be-used map points to form a flexible production line corresponding to the to-be-executed task; when assigning the to-be-used map points to each to-be-used AGV platform, assign the to-be-used map points with the same proximity relationship to each to-be-used AGV platform based on the proximity relationship of each to-be-used AGV platform at the work order level; execute the to-be-executed task based on the flexible production line; the to-be-used AGV platform comprises a carrying AGV and a working AGV; the carrying AGV is configured to realize the transfer of materials, and the working AGV is configured to process the materials; the upper computer is specifically configured to: move the working AGV to an actual position corresponding to the to-be-used map points to form a flexible production line corresponding to the to-be-executed task; carry the materials in the flexible production line by the carrying AGV to execute the to-be-executed task; the working AGV comprises a work island AGV and a composite AGV corresponding to the work island AGV; the work island AGV is provided with a tool clamp and a work island robot required for executing a production task on a work island AGV table surface; and the composite AGV is provided with an auxiliary robot for cooperating with the work island AGV to work on a composite AGV table surface; the upper computer is specifically configured to: obtain a to-be-executed task, and determine a to-be-used AGV platform according to the to-be-executed task; when the number of the work island AGVs is not greater than the number of the map points involved in the straight line between the raw material unloading point and the unloading table discharging point, take the map points involved in the straight line between the raw material unloading point and the unloading table discharging point as the to-be-used map points.

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