AGV control method and device with button combination coding

Abstract

This application discloses an AGV control method and device using button combination coding, comprising the following steps: setting a combination of buttons and knobs on the conspicuous external end face of the AGV; setting the functions and attributes of the combined buttons and knobs, including but not limited to: an action combination button, a vehicle type knob, and a coding combination knob; the action combination button is used to control the AGV to perform a preset action; the vehicle type knob is used to set the AGV to a vehicle type performing certain specific functions; the coding combination knob is used to set the address code corresponding to the AGV performing the preset action; the AGV is controlled to perform a preset task through the combination coding of buttons and knobs, and the task and action of the AGV can be modified at any time by adjusting the combination coding. This application avoids the hazards of AGV control signal loss, signal disconnection, and control failure caused by changes in network signal strength; it enriches the functions of traditional AGV setting devices, simplifies the operation process, and facilitates the promotion and application of AGV products.

Description

Technical Field

[0001] This application relates to the field of AGV control technology, specifically to an AGV control method and apparatus using button combination encoding. Background Technology

[0002] Automated Guided Vehicles (AGVs) are transport vehicles equipped with electromagnetic or optical automatic navigation devices, capable of traveling along predetermined navigation paths, and possessing safety protection and various transfer functions. AGV operation relies on information exchange between the onboard navigation control system and a cloud platform or control center. However, due to variations in the strength of environmental wireless signals, AGV navigation and operation can experience loss of control. This necessitates a stringent wireless network environment for AGV operation. During AGV task execution, the onboard control system must pre-set its planned path, and the AGV can only perform its transport function according to the preset route. There is a lack of flexible and effective control methods for AGV routes and tasks. AGV operation control is set through a setting device. Traditional setting devices have simple button functions, and some remote wireless settings (patent number: CN201110298765.4) are susceptible to variations in the strength of environmental wireless network signals, easily causing AGVs to lose connection in localized areas where wireless signals cannot penetrate.

[0003] Patent CN: 201310080232.8 proposes using a handheld AGV setting device to configure the station functions of the AGV on-board controller at each station. This includes setting the AGV's stopping time, actions at the station, and its direction and speed, thus controlling different AGV routes to meet the needs of various users. However, this method offers limited functionality and is inconvenient to use with traditional on-board setting devices.

[0004] This application proposes to modify the AGV on-board control rules using the concept of modular programming design, so as to achieve multi-functional and convenient control of AGV operation with a limited combination of buttons, which can effectively solve or alleviate the shortcomings of the existing technology. Summary of the Invention

[0005] This application provides an AGV control method and apparatus using button combination encoding to solve or alleviate one or more technical problems in the prior art.

[0006] As one aspect of the embodiments of this application, this application provides an AGV control method and apparatus based on button combination encoding, including the following steps:

[0007] Step 1: Arrange several buttons and knobs on the conspicuous outer end panel of the AGV, and set the functions and attributes of the buttons and knobs.

[0008] This includes, but is not limited to: action combination buttons, vehicle type knobs, and code combination knobs; the function and attribute of the action combination buttons is to control the AGV to perform preset actions, including but not limited to: forward, backward, run, return, put on the shelf, unput on the shelf, positioning and navigation, and stop; the function and attribute of the vehicle type knob is to set the AGV to a vehicle type that performs certain specific functions, including but not limited to: material picking vehicle, production vehicle, round-trip or circular transport vehicle, harvesting and sowing vehicle, put on the shelf vehicle, unput on the shelf vehicle, and outbound vehicle; the function and attribute of the code combination knob is to set the address code corresponding to the AGV performing certain specific functions, including but not limited to: factory area code, road network node code, production line workstation code, material flow location code, product output address code, shelf code, stacking area code, harvesting area code, and sowing area code; each preset action corresponds to one button; the number of vehicle type knobs is greater than or equal to one; the address code is composed of the codes of several knobs;

[0009] Step 2: Based on the task to be performed by the AGV, first rotate the vehicle type knob to the position corresponding to the specified task. Then, rotate the code combination knob to form the preset address code required for the task. Finally, activate the preset action button in the action combination button to control the AGV to execute the preset action and complete the required task. The preset action is a series of behaviors required to complete simple and complex tasks.

[0010] The button is a self-resetting button, including but not limited to a jog button; the knob is a multi-position knob, including but not limited to an eight-position knob.

[0011] The address code and the preset action depend on the vehicle type and the characteristic attributes of the AGV's service location, and are customized functions and attributes.

[0012] The address encoding is performed according to a preset encoding rule, depending on the navigation technology used by the AGV, including but not limited to: magnetic strip navigation and color strip navigation.

[0013] The beneficial effects of this application embodiment compared with the prior art are as follows: This application embodiment adopts an AGV control method and device with button combination coding, which does not require remote control of network signals, avoiding the hazards of AGV control signal loss, signal disconnection and control failure caused by changes in network signal strength; it enriches the functions of traditional AGV setters, using a combination of a small number of self-resetting jog buttons and multi-position knobs to build a rich set of functions, which can control AGV to perform complex tasks, while simplifying the operation and control process; finally, this application embodiment greatly reduces the technical threshold of traditional AGV control methods, which is conducive to the promotion and application of AGV products. Attached Figure Description

[0014] Figure 1 The diagram shown is a schematic of the AGV trolley and end-face buttons used in this application.

[0015] Figure 2 The diagram shown is a coding diagram of the eight-position knob used in this application.

[0016] Figure 3 The diagram shown illustrates the encoding rules used in this application.

[0017] Figure 4 The image shown is an example map of magnetic navigation used in this application.

[0018] Explanation of reference numerals in the attached figures:

[0019] 1000, AGV trolley; 1. Stop button; 2. Resume button; 3. Start button; 4. Action combination button; 5. Code combination knob; 6. Vehicle type knob. Detailed Implementation

[0020] 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 are within the scope of protection of the present application.

[0021] In the description of this application, it should be noted that the terms "upper", "lower", "middle", "front", "rear", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0022] Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0023] The embodiments of this application will be further described in detail below with reference to the accompanying drawings and specific examples.

[0024] This application provides an embodiment of an AGV control method and apparatus using button combination encoding, comprising the following steps:

[0025] Step 1: Arrange several buttons and knobs on the conspicuous outer end panel of the AGV, and set the functions and attributes of the buttons and knobs, including but not limited to: action combination buttons, vehicle type knobs, and code combination knobs; the function and attribute of the action combination buttons is to control the AGV to perform preset actions; the function and attribute of the vehicle type knob is to set the AGV to a vehicle type that performs certain specific functions; the function and attribute of the code combination knob is to set the address code corresponding to the AGV performing certain specific functions;

[0026] Step 2: According to the task to be performed by the AGV, first rotate the vehicle type knob to the vehicle type position corresponding to the specified task, then rotate the code combination knob to form the preset address code required for the task, and finally touch the preset action button in the action combination button to control the AGV to perform the preset action and complete the required task.

[0027] The address code and the preset action depend on the vehicle type and the characteristic attributes of the AGV's service location, and are customized functions and attributes; the preset action is a series of behaviors required to complete simple and complex tasks.

[0028] The address encoding is performed according to a preset encoding rule, depending on the navigation technology used by the AGV, including but not limited to: magnetic strip navigation and color strip navigation.

[0029] like Figure 1 As shown, several buttons and knobs are installed on the front panel of the AGV 1000. These buttons and knobs are positioned in the upper part of the AGV for easy operation by employees. The action combination button 4 provides a set of twelve buttons, each a self-resetting jog button. After pressing and releasing the button, it automatically springs back to its original position and triggers a switch signal. The encoding combination knob 5 consists of four eight-position knobs. Combining the eight bits of each knob's signal can generate 8... 4 Each address code provides rich address information for AGV navigation control. The vehicle type knob 6 is an eight-position knob that generates eight bits of information, providing eight vehicle type codes. The AGV also features a universal start button 3, stop button 1, and resume button 2.

[0030] like Figure 2 As shown, each of the eight-position knobs corresponds to a single code for each position. Each code can be assigned a specific attribute, or a combination of codes can assign specific attributes and functions. For example... Figure 3As shown, when the eight-position knob is used as the vehicle type knob, each code can correspond to one AGV vehicle type. For example, code 1 corresponds to the material receiving vehicle, code 2 to the production vehicle, code 3 to the round-trip or circular transport vehicle, code 4 to the harvesting and planting vehicle, code 5 to the shelving vehicle, code 6 to the unloading vehicle, and code 7 to the outbound vehicle. One code is reserved for backup. When the four knobs are used as code combination knobs, the code combination of code combination knob 1 and code combination knob 2 can be used as address code 1. Address code 1 is a 2-digit octal number and can provide 8... 2 Address encoding information; the encoding combination of knob 3 and knob 4 can be used as address encoding 2, which is a 2-digit octal number and can provide 8 2 One address encoding information; combining address encoding 1 and address encoding 2 can provide 8 2 ×8 2 =4096 address information.

[0031] In one embodiment, Figure 3 The address code of the coded combination knob shown is 2344, where 23 is the area code, representing storage area 23, and 44 represents the storage address code of the goods, representing goods number 44.

[0032] In another embodiment, Figure 3 The address code of the coded combination knob shown is 2344, which corresponds to the production line code, representing production line number 23, while 44 represents the process code, specifically the part punching station.

[0033] For example Figure 3 As shown, the action combination button contains nine jog buttons, which represent actions or functions such as run, auto, forward, backward, stop, return, put on the shelf, take off the shelf, and address search.

[0034] In one embodiment, after the jog button is triggered, the AGV will perform a task of cyclically running along the current main road. If the AGV needs to stop on the current main road, the stop jog button is triggered, and the AGV performs a stopping action. When the AGV needs to put the goods it is transporting on shelves, the shelf jog button is triggered, and the AGV automatically performs the shelf task. The jog button is a self-resetting button. After the button is triggered, it will perform simple tasks such as forward, backward, stop, and return, or it can perform a series of complex tasks such as shelf putting, unshelf putting, addressing, or even more complex combined tasks.

[0035] In one embodiment, the vehicle type knob of the AGV is first turned to code 5, corresponding to the shelving task. Then, the code combination knob of the AGV is turned to codes 2344 respectively, and the AGV will shelve the goods it carries to the shelf position of warehouse address 44 in warehouse area 23. Finally, the start button 3 and the shelving jog button of the AGV are triggered in succession, and the AGV automatically performs the goods shelving task.

[0036] like Figure 4 As shown, the factory area map based on magnetic strips includes the main magnetic strip channel area from C1 to C6, and the branch magnetic strip production areas from B1 to B13. The black lines represent the magnetic strips. The main magnetic strips from C1 to C6 and the branch magnetic strips from B1 to B13 are connected by magnetic strips, and the magnetic strip intersection nodes are assigned address codes. For example, the address code for the node connecting B1 and C1 is C1B1, the address code for the node connecting B2 and C2 is C2B2, ..., and the address code for the node connecting B13 and C1 is C1B13.

[0037] In one embodiment, the address encoding of the combination knob is... Figure 4 The address codes shown correspond to each other; for example, knob code 1111 corresponds to address code C1B1, knob code 1112 corresponds to address code C1B13, and so on. The AGV's vehicle type is set to a material requisition vehicle, and its task is to retrieve materials from production area C1B13. To do this, turn the vehicle type knob on the AGV panel to code 1, turn the code combination knob to code 1112, and then trigger the jog button. The AGV will automatically execute the pre-compiled navigation program of the onboard navigation system, follow the main magnetic strip to area C1, and then locate area B13, the address code for C1B13. When a worker in area B13 triggers the AGV's stop button 1, the AGV stops moving and waits for the worker to load materials. Then, triggering the jog button again will cause the AGV to return, ending the task.

[0038] For those skilled in the art, the specific embodiments are merely illustrative descriptions of this application. Obviously, the specific implementation of the embodiments of this application is not limited to the above-described manner. Any non-substantial improvements made using the inventive concept and technical solution of this application, or the direct application of the inventive concept and technical solution of this application to other situations without modification, are all within the protection scope of this application.

Claims

1. An AGV control method and apparatus using button combination encoding, comprising the following steps: Step 1: Arrange several buttons and knobs on the conspicuous outer end panel of the AGV, and set the functions and attributes of the buttons and knobs, including action combination buttons, vehicle type knobs, and code combination knobs; the function and attribute of the action combination buttons is to control the AGV to perform preset actions; the function and attribute of the vehicle type knob is to set the AGV to a vehicle type that performs certain specific functions; the function and attribute of the code combination knob is to set the address code corresponding to the preset actions performed by the AGV. Step 2: According to the task to be performed by the AGV, first rotate the vehicle type knob to the vehicle type position corresponding to the specified task, then rotate the code combination knob to form the preset address code required for the task, and finally touch the preset action button in the action combination button to control the AGV to perform the preset action and complete the required task. The coding combination knob consists of four eight-position knobs, and the eight-bit signals from each knob are combined to generate 8. 4 Each address code provides rich address information for AGV navigation control. The vehicle type knob is an eight-position knob that generates eight bits of information, providing eight types of vehicle codes. The vehicle type knob can be used to select vehicle types including material requisition vehicle, production vehicle, round-trip or circular transport vehicle, harvesting and seeding vehicle, loading vehicle, unloading vehicle, and outbound vehicle; the number of vehicle type knobs is greater than or equal to 1. The address codes of the coded combination knobs include factory zoning codes, road network node codes, production line station codes, material flow location codes, product output address codes, shelf codes, stacking area codes, picking area codes, and sowing area codes; the address codes are composed of codes from several knobs.

2. The AGV control method and apparatus using button combination encoding according to claim 1, characterized in that, The preset actions of the action combination buttons include forward, backward, automatic, run, return, add to shelves, remove from shelves, location navigation, and dock; each button corresponds to a preset action, which is the behavior required to complete simple and complex tasks.

3. The AGV control method and apparatus using button combination encoding according to claim 1, characterized in that, The button is a jog button; the knob is an eight-position knob.

4. The AGV control method and apparatus using button combination encoding according to claim 1, characterized in that, The address code and the preset action depend on the vehicle type and the characteristic attributes of the AGV's service location, and are customized functions and attributes.

5. The AGV control method and apparatus using button combination encoding according to claim 1, characterized in that, The address encoding is performed according to a preset encoding rule, depending on the navigation technology used by the AGV, including magnetic strip navigation and color strip navigation.

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