AGV-based delivery control methods, devices, equipment, and storage media

Abstract

This invention discloses an AGV-based delivery control method, apparatus, equipment, and storage medium. The AGV-based delivery control method is applied to a task terminal and includes: acquiring current landmark information; filtering target work order information from preset work order information based on the current landmark information; filtering target process information from preset process information based on the target work order information and preset target task instructions; filtering target binding information from preset binding information based on the target process information; verifying the bound work order information and the target work order information to obtain a verification result; if the verification result indicates that the work order information is consistent; creating a task based on the bound landmark information and bound material cart information to obtain target task information; and sending the target task information to the AGV device so that the AGV device delivers the preset task material cart to the preset task landmark according to the target task information. This invention can accurately deliver to the corresponding delivery point based on the material cart status.

Description

Technical Field

[0001] This invention relates to the field of industrial automation technology, and in particular to a delivery control method, apparatus, equipment and storage medium based on material carts. Background Technology

[0002] Currently, material carts are often needed to transport materials in the production workshop. However, material carts can only be associated with landmarks. Therefore, the delivery equipment can only deliver the material carts to the corresponding landmarks based on the information entered manually. It cannot automatically identify landmarks and material carts to achieve flexible delivery in the process. How to achieve flexible delivery in the process by automatically identifying landmarks and material carts through the delivery equipment is an urgent problem to be solved. Summary of the Invention

[0003] This invention aims to at least solve one of the technical problems existing in the prior art. To this end, this invention proposes an AGV-based delivery control method, which can achieve flexible delivery in the process by automatically identifying landmarks and material carts through delivery equipment.

[0004] The present invention also proposes an AGV-based delivery control device.

[0005] The present invention also proposes an AGV-based delivery control device.

[0006] The present invention also proposes a computer-readable storage medium.

[0007] In a first aspect, one embodiment of the present invention provides an AGV-based delivery control method applied to a task terminal, the AGV-based delivery control method comprising:

[0008] Obtain current landmark information; wherein, the current landmark information is the location information of the landmark where the preset task material vehicle is located;

[0009] Based on the current landmark information, the target work order information is filtered from the preset work order information;

[0010] Target process information is selected from preset process information based on the target work order information and preset target task instructions;

[0011] Target binding information is filtered from preset binding information based on the target process information; wherein, the target binding information includes binding work order information, binding landmark information, and binding material cart information;

[0012] The bound work order information and the target work order information are verified to obtain the verification result;

[0013] If the verification result indicates that the work order information is consistent, a task is created based on the bound landmark information and the bound material cart information to obtain the target task information;

[0014] The target task information is sent to the AGV device so that the AGV device can deliver the preset task material cart to the preset task landmark according to the target task information.

[0015] The AGV-based delivery control method of this invention has at least the following beneficial effects: The task terminal sends instructions to the AGV device, the AGV device obtains the location information of the preset task material vehicle landmark, and obtains the current landmark information. The task terminal obtains the current landmark information fed back by the AGV device. The task terminal filters the corresponding work order information from the preset work order information according to the current landmark information to obtain the target work order information. According to the target work order information and the preset target task instructions, the task terminal filters the process information from the preset process information to obtain the target process information. According to the target process information, the task terminal filters the corresponding binding information from the preset binding information to obtain the target binding information. The target binding information includes the binding work order information, the binding landmark information, and the binding material vehicle information. The task terminal verifies the binding work order information and the target work order information to obtain the verification result. If the verification result indicates that the work orders of the binding work order information and the target work order information are consistent, the binding landmark information and the binding material vehicle information are associated. The task is created according to the association information of the binding landmark information and the binding material vehicle information to obtain the target task information. The task terminal sends the target task information to the AGV device so that the AGV device delivers the preset task material vehicle to the preset task landmark according to the target task information. The AGV device acquires the current landmark information, the task terminal filters the target work order information based on the current landmark information, and then filters the target binding information based on the target work order information. The task terminal creates a task based on the target binding information to obtain the target task information. The AGV device delivers the preset task material cart to the preset task landmark based on the target task information. It can automatically identify landmarks and material carts through the delivery equipment to achieve flexible delivery in the process.

[0016] According to other embodiments of the AGV-based delivery control method of the present invention, the step of filtering target process information from preset process information based on the target work order information and preset target task instructions includes:

[0017] Based on the target work order information, obtain the product information of the current process to obtain the target product information;

[0018] The target process information is selected from the process information based on the target product information and the target task instruction; wherein the target process information is another process of the process corresponding to the current landmark information.

[0019] According to other embodiments of the AGV-based delivery control method of the present invention, the target task instruction includes a material requisition task instruction and a material delivery task instruction, the target process information includes previous process information and next process information, and the step of filtering the target process information from the process information according to the target product information and the target task instruction includes:

[0020] If the target task instruction is the material requisition task instruction, the previous process information is filtered from the process information according to the target product information; wherein, the previous process information is the process preceding the process corresponding to the current landmark information;

[0021] If the target task instruction is the material feeding task instruction, the next process information is selected from the process information based on the target product information; wherein, the next process information is the next process after the process corresponding to the current landmark information.

[0022] According to other embodiments of the AGV-based delivery control method of the present invention, the target binding information includes upstream process binding information and downstream process binding information, and the step of filtering target binding information from preset binding information based on the target process information includes:

[0023] The previous process binding information is filtered from the preset binding information based on the previous process information; wherein, the previous process binding information is the binding information of the previous process of the process corresponding to the current landmark information;

[0024] The next process binding information is filtered from the preset binding information based on the next process information; wherein, the next process binding information is the binding information of the next process corresponding to the current landmark information.

[0025] According to other embodiments of the AGV-based delivery control method of the present invention, the upstream process binding information includes upstream process work order information, upstream process landmark information, and upstream process material vehicle information; the downstream process binding information includes downstream process work order information, downstream process landmark information, and downstream process material vehicle information; the target task information includes material requisition task information and material delivery task information; if the verification result indicates that the work order information is consistent, a task is created based on the binding landmark information and the binding material vehicle information to obtain the target task information, including:

[0026] If the verification result indicates that the previous process work order information is consistent with the target work order information, a task is created based on the previous process landmark information and the previous process material cart information to obtain the material calling task information;

[0027] If the verification result indicates that the next process work order information is consistent with the target work order information, a task is created based on the next process landmark information and the next process material cart information to obtain the material delivery task information.

[0028] According to other embodiments of the present invention, after sending the target task information to the AGV device so that the AGV device delivers the preset task cart to the preset task landmark according to the target task information, the AGV-based delivery control method further includes:

[0029] Receive and display task completion information; wherein, the task completion information is obtained by the AGV device from the target landmark information of the reached landmark, and the target landmark information is verified according to the bound landmark information to obtain verification information. If the verification information indicates that the bound landmark information and the target landmark information correspond, it is returned.

[0030] According to other embodiments of the AGV-based delivery control method of the present invention, the AGV-based delivery control method further includes:

[0031] Obtain the status information of the candidate material cart;

[0032] Obtain the status information of candidate landmarks to get the landmark status information;

[0033] The target material car is selected from the candidate material cars based on the material car status information;

[0034] Stop locations are selected from the candidate landmarks based on the landmark status information;

[0035] The target material vehicle information and the parking landmark information of the parking point are used to create a task to obtain parking task information;

[0036] The parking task information is sent to the AGV device so that the AGV device can deliver the target material car to the parking point landmark.

[0037] Secondly, one embodiment of the present invention provides an AGV-based delivery control device applied to AGVs, the AGV-based delivery control device comprising:

[0038] The landmark information acquisition module is used to acquire current landmark information; wherein, the current landmark information is the location information of the landmark where the preset task material vehicle is located;

[0039] The work order information acquisition module is used to filter target work order information from preset work order information based on the current landmark information;

[0040] The process information acquisition module is used to filter out target process information from preset process information based on the target work order information and preset target task instructions;

[0041] The binding information filtering module is used to filter target binding information from preset binding information based on the target process information; wherein, the target binding information includes binding work order information, binding landmark information, and binding material cart information;

[0042] The information verification module is used to verify the bound work order information and the target work order information to obtain the verification result;

[0043] The task creation module, if the verification result indicates that the work order information is consistent, is used to create a task based on the bound landmark information and the bound material cart information to obtain the target task information;

[0044] The task sending module is used to send the target task information to the AGV device, so that the AGV device can deliver the preset task material cart to the preset task landmark according to the target task information.

[0045] The AGV-based delivery control device of this invention has at least the following beneficial effects: the task terminal sends instructions to the AGV device; the AGV device obtains the location information of the preset task material vehicle's location landmark to obtain the current landmark information; the landmark information acquisition module obtains the current landmark information fed back by the AGV device; the work order information acquisition module filters the corresponding work order information from the preset work order information based on the current landmark information to obtain the target work order information; the process information acquisition module filters the target process information from the preset process information based on the target work order information and the preset target task instructions; and the binding information filtering module filters the corresponding binding information from the preset binding information based on the target process information. The system obtains target binding information, including bound work order information, bound landmark information, and bound material cart information. The information verification module verifies the bound work order information and the target work order information, obtaining a verification result. If the verification result indicates that the bound work order information and the target work order information are consistent, the bound landmark information and the bound material cart information are linked. The task creation module creates a task based on the linked information of the bound landmark information and the bound material cart information, obtaining target task information. The task sending module sends the target task information to the AGV equipment, enabling the AGV equipment to deliver the preset task material cart to the preset task landmark according to the target task information. The system also allows the AGV equipment to obtain current landmark information, and the task terminal filters the target work order information and then filters the target binding information to obtain target binding information. The task terminal creates a task based on the target binding information, obtaining target task information. The AGV equipment then delivers the preset task material cart to the preset task landmark according to the target task information. This system enables flexible delivery within the process by automatically identifying landmarks and material carts through the delivery equipment.

[0046] Thirdly, one embodiment of the present invention provides an AGV-based delivery control device, comprising:

[0047] At least one processor, and,

[0048] A memory communicatively connected to the at least one processor; wherein,

[0049] The memory stores instructions that can be executed by the at least one processor to enable the at least one processor to perform the AGV-based delivery control method as described in the first aspect.

[0050] Fourthly, one embodiment of the present invention provides a computer-readable storage medium storing computer-executable instructions for causing a computer to perform the AGV-based delivery control method as described in the first aspect.

[0051] Other features and advantages of this application will be set forth in the following description and will be apparent in part from the description or may be learned by practicing the application. The objectives and other advantages of this application may be realized and obtained by means of the structures particularly pointed out in the description and the accompanying drawings. Attached Figure Description

[0052] Figure 1 This is a schematic flowchart of a specific embodiment of the AGV-based delivery control method in this invention.

[0053] Figure 2 yes Figure 1 A schematic diagram of a specific embodiment of step S103;

[0054] Figure 3 yes Figure 2 A schematic flowchart of a specific embodiment of step S202;

[0055] Figure 4 yes Figure 1 A schematic flowchart of a specific embodiment of step S104;

[0056] Figure 5 yes Figure 1 A schematic flowchart of a specific embodiment of step S106;

[0057] Figure 6 This is a schematic flowchart of another specific embodiment of the AGV-based delivery control method in this invention.

[0058] Figure 7This is a schematic flowchart of another specific embodiment of the AGV-based delivery control method in this invention.

[0059] Figure 8 This is a block diagram of a specific embodiment of the AGV-based delivery control device in this invention.

[0060] Explanation of reference numerals in the attached figures:

[0061] Landmark information acquisition module 801, work order information acquisition module 802, process information acquisition module 803, binding information filtering module 804, information verification module 805, task creation module 806, and task sending module 807. Detailed Implementation

[0062] The following will describe the concept and technical effects of the present invention clearly and completely with reference to embodiments, so as to fully understand the purpose, features and effects of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are all within the scope of protection of the present invention.

[0063] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0064] It should be noted that although the system diagram shows functional modules and the flowchart shows the logical order, in some cases, the steps shown or described may be executed in a different order than the module division in the system or the order in the flowchart.

[0065] In the description of this invention, unless otherwise explicitly defined, terms such as "set up," "install," and "connect" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this invention in conjunction with the specific content of the technical solution.

[0066] In the description of the embodiments of the present invention, the term "several" means one or more, and the term "multiple" means two or more. The terms "greater than," "less than," and "exceeding" should be understood as excluding the stated number, while the terms "above," "below," and "within" should be understood as including the stated number. The terms "first" and "second" should be understood as distinguishing technical features, and not as indicating or implying relative importance, the number of indicated technical features, or the order of the indicated technical features.

[0067] Currently, material carts are often needed to transport materials in the production workshop. However, material carts can only be associated with landmarks. Therefore, the delivery equipment can only deliver the material carts to the corresponding landmarks based on the information entered manually. It cannot automatically identify landmarks and material carts to achieve flexible delivery in the process. How to achieve flexible delivery in the process by automatically identifying landmarks and material carts through the delivery equipment is an urgent problem to be solved.

[0068] This invention aims to at least solve one of the technical problems existing in the prior art. To this end, this invention proposes an AGV-based delivery control method, which can achieve flexible delivery in the process by automatically identifying landmarks and material carts through delivery equipment.

[0069] Please refer to Figure 1 , Figure 1 A flowchart illustrating an AGV-based delivery control method according to an embodiment of the present invention is shown. In some embodiments, the AGV-based delivery control method is applied to a task terminal, and the AGV-based delivery control method specifically includes, but is not limited to, steps S101 to S107.

[0070] Step S101: Obtain current landmark information; wherein, the current landmark information is the location information of the landmark where the preset task material vehicle is located;

[0071] Step S102: Filter the target work order information from the preset work order information based on the current landmark information;

[0072] Step S103: Select target process information from preset process information based on target work order information and preset target task instructions;

[0073] Step S104: Filter target binding information from preset binding information based on target process information; wherein, target binding information includes binding work order information, binding landmark information, and binding material cart information;

[0074] Step S105: Verify the bound work order information and the target work order information to obtain the verification result;

[0075] Step S106: If the verification result indicates that the work order information is consistent, the task is created based on the bound landmark information and the bound material cart information to obtain the target task information;

[0076] Step S107: Send the target task information to the AGV device so that the AGV device can deliver the preset task material cart to the preset task landmark according to the target task information.

[0077] In steps S101 to S107 of this embodiment, the task terminal sends instructions to the AGV device. The AGV device obtains the location information of the preset task material vehicle's landmark, thus obtaining the current landmark information. The task terminal obtains the current landmark information fed back by the AGV device. Based on the current landmark information, the task terminal filters corresponding work order information from preset work order information to obtain target work order information. Based on the target work order information and the preset target task instruction, it filters process information from preset process information to obtain target process information. Based on the target process information, it filters corresponding binding information from preset binding information to obtain target binding information. The target binding information includes binding work order information, binding landmark information, and binding material vehicle information. The task terminal verifies the binding work order information and the target work order information to obtain a verification result. If the verification result indicates that the binding work order information and the target work order information are consistent, it constructs association information between the binding landmark information and the binding material vehicle information. Based on the association information between the binding landmark information and the binding material vehicle information, it creates a task to obtain target task information. The task terminal sends the target task information to the AGV device so that the AGV device delivers the preset task material vehicle to the preset task landmark according to the target task information. The AGV device acquires the current landmark information, the task terminal filters the target work order information based on the current landmark information, and then filters the target binding information based on the target work order information. The task terminal creates a task based on the target binding information to obtain the target task information. The AGV device delivers the preset task material cart to the preset task landmark based on the target task information. It can automatically identify landmarks and material carts through the delivery equipment to achieve flexible delivery in the process.

[0078] It should be noted that the task terminal is built on the MES system.

[0079] Before step S101 in some embodiments, the task terminal obtains the location information of the landmarks at the origin or destination of the task in real time, and obtains the binding information currently associated with the landmarks. It then obtains the work order information for the process, the production work order information, the product process information, and the landmark status. Based on the work order information for the process, the production work order information, the product process information, and the landmark status, it determines whether the task can be issued and displays the determination result to the user. Specifically, if the landmark status is abnormal, it displays "Task issuance is not allowed"; if the landmark status is occupied, it displays "Material dispatch task can be issued"; and if the landmark status is idle, it displays "Material requisition task can be issued".

[0080] In step S101 of some embodiments, the worker inputs the instruction into the task terminal at the workstation, the task terminal sends the instruction to the AGV device, the AGV device moves to the landmark corresponding to the worker's workstation, and then obtains the location information of the current landmark to obtain the current landmark information.

[0081] In step S102 of some embodiments, the task terminal obtains the workstation bound to the landmark from the current landmark information, and filters out the work order number currently produced by the workstation from the preset work order information based on the workstation bound to the landmark to obtain the target work order information.

[0082] Please refer to Figure 2 , Figure 2 The diagram illustrates a flow chart of an AGV-based delivery control method according to an embodiment of the present invention. In some embodiments, the process of filtering target process information from preset process information based on target work order information and preset target task instructions includes, but is not limited to, steps S201 to S202.

[0083] Step S201: Obtain the product information of the current process based on the target work order information to obtain the target product information;

[0084] Step S202: Select target process information from process information based on target product information and target task instructions; wherein, target process information is another process of the process corresponding to the current landmark information.

[0085] In steps S201 to S202 of this embodiment, the task terminal compares the target work order information with the workstation to obtain the process sequence corresponding to the current workstation, and obtains the product produced by the current workstation according to the process sequence, thus obtaining the target product information. The task terminal then filters another process corresponding to the current workstation from the process information based on the target product information and the target task instruction, thus obtaining the target process information. By obtaining the target product information corresponding to the current workstation through work order information, and filtering the process information based on the target product information and the target task instruction, the target process information can be obtained. This allows for the selection of the corresponding process based on the task instruction, work order, and process.

[0086] Please refer to Figure 3 , Figure 3 A flowchart illustrating an AGV-based delivery control method in an embodiment of the present invention is shown. In some embodiments, the target task instruction includes a material requisition task instruction and a material delivery task instruction, and the target process information includes the previous process information and the next process information. Filtering the target process information from the process information based on the target product information and the target task instruction specifically includes, but is not limited to, steps S301 to S302.

[0087] Step S301: If the target task instruction is a material requisition task instruction, filter the previous process information from the process information according to the target product information; wherein, the previous process information is the process before the process corresponding to the current landmark information.

[0088] Step S302: If the target task instruction is a material feeding task instruction, the next process information is filtered from the process information according to the target product information; wherein, the next process information is the next process after the process corresponding to the current landmark information.

[0089] In steps S301 to S302 of this embodiment, if the target task instruction is a material requisition task instruction, the previous process corresponding to the current landmark information is filtered from the process information based on the target product information to obtain the previous process information; if the target task instruction is a material feeding task instruction, the next process corresponding to the current landmark information is filtered from the process information based on the target product information to obtain the next process information. By filtering the previous process information from the process information based on the target product information and the material requisition task instruction, and by filtering the next process information from the process information based on the target product information and the material feeding task instruction, the corresponding process can be selected based on the product information and the task instruction.

[0090] It should be noted that the process information includes the production and processing path sequence. If the target task instruction is a material requisition task instruction, the previous process of the current location is obtained according to the production and processing path sequence bound to the target product information, thus obtaining the previous process information; if the target task instruction is a material delivery task instruction, the next process of the current location is obtained according to the production and processing path sequence bound to the target product information, thus obtaining the next process information.

[0091] In step S104 of some embodiments, the bound landmark information includes: landmark name, landmark number, landmark status, and landmark associated location. The landmark status is obtained through sensor identification and includes idle, occupied, and abnormal states. Idle status indicates that no material cart is currently parked at the landmark, and a material cart can be parked there; occupied status indicates that a material cart is already parked at the landmark, and no more material carts can be parked there; abnormal status indicates that a material cart cannot be parked there. The landmark associated location includes process location and docking point location. The bound material cart information includes: material cart name, material cart number, and material cart status. The material cart status includes full and empty status, and the material cart status is obtained by manual identification and input based on the product production progress.

[0092] Please refer to Figure 4 , Figure 4 A flowchart illustrating an AGV-based delivery control method according to an embodiment of the present invention is shown. In some embodiments, the target binding information includes upstream process binding information and downstream process binding information. Filtering the target binding information from preset binding information based on the target process information specifically includes, but is not limited to, steps S401 to S402.

[0093] Step S401: Filter out the binding information of the previous process from the preset binding information based on the previous process information; wherein, the binding information of the previous process is the binding information of the previous process of the process corresponding to the current landmark information;

[0094] Step S402: Filter the next process binding information from the preset binding information according to the next process information; wherein, the next process binding information is the binding information of the next process corresponding to the current landmark information.

[0095] In steps S401 to S402 of this embodiment, if the target task instruction is a material requisition task instruction, the binding information of the previous process corresponding to the current landmark information is filtered from the preset binding information based on the previous process information to obtain the previous process binding information; if the target task instruction is a material feeding task instruction, the binding information of the next process corresponding to the current landmark information is filtered from the preset binding information based on the next process information to obtain the next process binding information. By filtering the previous process binding information from the preset binding information and the next process binding information from the preset binding information, the corresponding process binding information can be filtered according to the process information and the task instruction.

[0096] Please refer to Figure 5 , Figure 5 A flowchart illustrating the AGV-based delivery control method in an embodiment of the present invention is shown. In some embodiments, the upstream process binding information includes upstream process work order information, upstream process landmark information, and upstream process material vehicle information; the downstream process binding information includes downstream process work order information, downstream process landmark information, and downstream process material vehicle information; the target task information includes material requisition task information and material delivery task information. If the verification result indicates that the work order information is consistent, a task is created based on the bound landmark information and bound material vehicle information to obtain the target task information, specifically including but not limited to steps S501 to S502.

[0097] Step S501: If the verification result indicates that the work order information of the previous process is consistent with the target work order information, a task is created based on the landmark information and material car information of the previous process to obtain the material calling task information.

[0098] Step S502: If the verification result indicates that the work order information of the next process is consistent with the target work order information, a task is created based on the landmark information and material car information of the next process to obtain the material delivery task information.

[0099] In steps S501 to S502 of this embodiment, if the target task instruction is a material requisition task instruction, and the verification result indicates that the work order information of the previous process is consistent with the work order information of the target work order, association information is constructed based on the landmark information and material cart information of the previous process, and a task is created based on the association information of the landmark information and material cart information of the previous process, thus obtaining material requisition task information; if the target task instruction is a material delivery task instruction, and the verification result indicates that the work order information of the next process is consistent with the work order information of the target work order, association information is constructed based on the landmark information and material cart information of the next process, and a task is created based on the association information of the landmark information and material cart information of the next process, thus obtaining material delivery task information. By creating a task using the landmark information and material cart information of the previous process to obtain material requisition task information, and by creating a task using the landmark information and material cart information of the next process to obtain material delivery task information, it is possible to create material requisition tasks or material delivery tasks based on the bound landmark information and material cart information.

[0100] In step S501 of some embodiments, the previous process work order information includes the work order bound to the previous process, the previous process landmark information includes the landmark information bound to the previous process, and the previous process material cart information includes the material cart information bound to the previous process. The previous process landmark information includes: the previous process landmark name, the previous process landmark number, the previous process landmark status, and the associated location of the previous process landmark. The previous process material cart information includes: the previous process material cart name, the previous process material cart number, and the previous process material cart status.

[0101] In step S502 of some embodiments, the next process work order information includes the work order bound to the next process, the next process landmark information includes the landmark information bound to the next process, and the next process material cart information includes the material cart information bound to the next process. The next process landmark information includes: next process landmark name, next process landmark number, next process landmark status, and next process landmark associated location. The next process material cart information includes: next process material cart name, next process material cart number, and next process material cart status.

[0102] In step S107 of some embodiments, when the AGV device delivers the preset task material cart to the preset task landmark according to the target task information, the AGV device detects the current delivery status in real time and feeds back the delivery status to the task terminal, which can improve the accuracy of material cart delivery and achieve precise delivery and delivery error prevention.

[0103] Please refer to Figure 6 , Figure 6 A flowchart illustrating an AGV-based delivery control method according to an embodiment of the present invention is shown. In some embodiments, after sending target task information to the AGV device so that the AGV device delivers the preset task material cart to the preset task landmark according to the target task information, the AGV-based delivery control method further includes, but is not limited to, step S601.

[0104] Step S601: Receive and display task completion information; wherein, the task completion information is obtained by the AGV device from the target landmark information of the reached landmark, and the target landmark information is verified according to the bound landmark information to obtain verification information. If the verification information indicates that the bound landmark information and the target landmark information correspond, it is returned.

[0105] In step S601 of some embodiments, after the AGV device arrives at the corresponding landmark, it obtains the target landmark information corresponding to the landmark. If the target task instruction is a material calling task instruction, the target landmark information is verified according to the landmark information of the previous process to obtain verification information. If the verification information indicates that the landmark information of the previous process and the target landmark information correspond, the AGV device returns task completion information to the task terminal, and the task terminal displays the task completion information. If the target task instruction is a material feeding task instruction, the target landmark information is verified according to the landmark information of the next process to obtain verification information. If the verification information indicates that the landmark information of the next process and the target landmark information correspond, the AGV device returns task completion information to the task terminal, and the task terminal displays the task completion information. By verifying the currently arrived landmark information and the bound landmark information by the AGV device, and if the currently arrived landmark information and the bound landmark information correspond, the task completion information is fed back to the task terminal, enabling the task terminal to display the task completion information. This can improve the accuracy of material delivery, thereby achieving precise delivery and delivery error prevention.

[0106] Please refer to Figure 7 , Figure 7 A flowchart illustrating an AGV-based delivery control method according to an embodiment of the present invention is shown. In some embodiments, the AGV-based delivery control method further includes, but is not limited to, steps S701 to S706.

[0107] Step S701: Obtain the status information of the candidate material cart to get the material cart status information;

[0108] Step S702: Obtain the status information of the candidate landmarks to obtain the landmark status information;

[0109] Step S703: Select the target material car from the candidate material cars based on the material car status information;

[0110] Step S704: Select the stop point landmarks from the candidate landmarks based on the landmark status information;

[0111] Step S705: Create a task by combining the target material vehicle information and the parking landmark information of the parking point landmark to obtain parking task information;

[0112] Step S706: The parking task information is sent to the AGV device so that the AGV device can deliver the target material car to the parking point landmark.

[0113] In steps S701 to S706 of this embodiment, candidate material vehicles not currently being delivered are acquired, along with their status information. Candidate landmarks for unbound material vehicles are also acquired, along with their status information. Based on the material vehicle status information, empty vehicles are selected from the candidate vehicles, and a target material vehicle is randomly selected from among the empty vehicles. Based on the landmark status information, landmarks for parking points are selected from the candidate landmarks, and a corresponding parking point landmark is randomly selected from among the parking point landmarks. The target material vehicle information and the parking point landmark information are acquired. A task is created based on the target material vehicle information and the parking point landmark information, resulting in parking task information. The task terminal sends the parking task information to the AGV device, enabling the AGV device to deliver the target material vehicle to the parking point landmark. The system filters empty carts based on their status to obtain target carts, and filters parking points based on their status to obtain parking point landmarks. A task is created based on the target carts and parking point landmarks so that the AGV equipment can deliver the target carts to the parking point landmarks. This system enables the system to filter empty carts based on their status and automatically deliver them to the corresponding parking points.

[0114] In some embodiments, the task terminal obtains the current landmark information obtained by the AGV device scanning the current landmark, and obtains the landmark name, landmark number, landmark status, and landmark associated location of the current landmark. If the landmark associated location represents a process location, the terminal obtains the status information of the material cart bound to the current landmark. If the material cart status is full, the terminal obtains the target work order information for the current landmark production, and obtains the target product information for production through the target work order information. The terminal obtains the information of the previous process in the production process path sequence through the target product information, and obtains the previous process information. Based on the landmark and material cart bound to the previous process information, the terminal obtains the binding information, and obtains the previous process work order information, the previous process landmark information, and the previous process material cart information. The terminal verifies the target work order information and the previous process work order information. If the verification result is that the work order information is consistent, the terminal creates a task based on the previous process landmark information and the previous process material cart information, and obtains the material call task information. The task terminal sends the material call task information to the AGV device and updates the material cart status and landmark status of the previous process in real time, and updates the material cart status and landmark status of the current process in real time. The AGV equipment moves to the landmark location of the previous process according to the material order information, and verifies the landmark name and landmark number. If the verification result is that the landmark name and landmark number are consistent with the landmark information of the previous process, the material cart name and material cart code of the previous process are then verified with the material cart information of the previous process. If the verification result is that the material cart name and material cart code are consistent with the material cart information of the previous process, the AGV equipment loads the material cart at the landmark location of the previous process and returns to the landmark location of the current process to complete the material order. It can carry out accurate delivery under different stopping points and different material carts.

[0115] In some embodiments, the task terminal obtains the current landmark information obtained by the AGV device scanning the current landmark, and obtains the landmark name, landmark number, landmark status, and landmark associated location of the current landmark. If the landmark associated location represents a process location, the terminal obtains the status information of the material cart bound to the current landmark. If the material cart status is full, the terminal obtains the target work order information for the current landmark production, and obtains the target product information for production through the target work order information. The terminal obtains the information of the next process in the production process path sequence through the target product information, and obtains the next process information. Based on the landmark and material cart bound to the next process information, the terminal obtains the binding information, and obtains the next process work order information, the next process landmark information, and the next process material cart information. The terminal verifies the target work order information and the next process work order information. If the verification result is that the work order information is consistent, the terminal creates a task based on the next process landmark information and the next process material cart information, and obtains the material delivery task information. The task terminal sends the material delivery task information to the AGV device and updates the material cart status and landmark status of the next process in real time, and updates the material cart status and landmark status of the current process in real time. The AGV equipment moves to the landmark position of the current process according to the material delivery task information, and verifies the landmark name and landmark number. If the verification result is that the landmark name and landmark number are consistent with the landmark information of the current process, the material car name and material car code of the current process are then verified with the material car information of the next process. If the verification result is that the material car name and material car code are consistent with the material car information of the current process, the AGV equipment loads the material car at the landmark position of the current process and moves it to the landmark position of the next process to complete the material delivery. It can perform accurate delivery under different stopping points and different material cars.

[0116] In addition, this application also discloses an AGV-based delivery control device, please refer to... Figure 8 , Figure 8 This invention discloses a block diagram of an AGV-based delivery control device. Applied to a task terminal, it can implement the aforementioned AGV-based delivery control method. The AGV-based delivery control device includes: a landmark information acquisition module 801, a work order information acquisition module 802, a process information acquisition module 803, a binding information filtering module 804, an information verification module 805, a task creation module 806, and a task sending module 807. The landmark information acquisition module 801, work order information acquisition module 802, process information acquisition module 803, binding information filtering module 804, information verification module 805, task creation module 806, and task sending module 807 are all communicatively connected.

[0117] Landmark information acquisition module 801 acquires current landmark information; wherein, the current landmark information is the location information of the preset task material vehicle's landmark. Work order information acquisition module 802 filters target work order information from preset work order information based on the current landmark information. Process information acquisition module 803 filters target process information from preset process information based on the target work order information and preset target task instructions. Binding information filtering module 804 filters target binding information from preset binding information based on target process information; wherein, target binding information includes binding work order information, binding landmark information, and binding material vehicle information. Information verification module 805 verifies the binding work order information and target work order information to obtain a verification result. If the verification result indicates that the work order information is consistent, task creation module 806 creates a task based on the binding landmark information and binding material vehicle information to obtain target task information. Task sending module 807 sends the target task information to the AGV equipment so that the AGV equipment delivers the preset task material vehicle to the preset task landmark according to the target task information.

[0118] The task terminal sends instructions to the AGV device. The AGV device obtains the location information of the preset task material vehicle landmark, thus obtaining the current landmark information. The landmark information acquisition module 801 obtains the current landmark information fed back by the AGV device. The work order information acquisition module 802 filters the corresponding work order information from the preset work order information based on the current landmark information to obtain the target work order information. The process information acquisition module 803 filters the target process information from the preset process information based on the target work order information and the preset target task instructions. The binding information filtering module 804 filters the corresponding binding information from the preset binding information based on the target process information to obtain the target binding information. The target binding information includes the binding work order information, the binding landmark information, and the binding material vehicle information. The information verification module 805 verifies the binding work order information and the target work order information to obtain the verification result. If the verification result indicates that the work order information of the binding work order information and the target work order information are consistent, the binding landmark information and the binding material vehicle information are linked. The task creation module 806 creates a task based on the association information between the bound landmark information and the bound material cart information, obtaining the target task information. The task sending module 807 sends the target task information to the AGV equipment, enabling the AGV equipment to deliver the preset task material cart to the preset task landmark according to the target task information. The AGV equipment obtains the current landmark information, the task terminal filters the target work order information based on the current landmark information, and then filters the target binding information based on the target work order information. The task terminal creates a task based on the target binding information to obtain the target task information, and the AGV equipment delivers the preset task material cart to the preset task landmark according to the target task information. This allows for flexible delivery within the process by automatically recognizing landmarks and material carts through the delivery equipment.

[0119] The operation process of the AGV-based delivery control device in this embodiment is specifically described above. Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 and Figure 7 The steps S101 to S107, S201 and S202, S301 and S302, S401 and S402, S501 and S502, S601 and S701 to S706 of the AGV-based delivery control method are not described in detail here.

[0120] Another embodiment of the present invention discloses an AGV-based delivery control device, comprising: at least one processor, and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform, for example... Figure 1 Control method steps S101 to S107 Figure 2 Control method steps S201 and S202 Figure 3 Control method steps S301 and S302 Figure 4 Control method steps S401 and S402 Figure 5 Control method steps S501 and S502 Figure 6 Control method steps S601 and Figure 7 The control method in steps S701 to S706 is an AGV-based delivery control method.

[0121] Another embodiment of the present invention discloses a computer-readable storage medium, the storage medium comprising: storing computer-executable instructions for causing a computer to perform... Figure 1 Control method steps S101 to S107 Figure 2 Control method steps S201 and S202 Figure 3 Control method steps S301 and S302 Figure 4 Control method steps S401 and S402 Figure 5 Control method steps S501 and S502 Figure 6 Control method steps S601 and Figure 7 The control method in steps S701 to S706 is an AGV-based delivery control method.

[0122] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0123] It will be understood by those skilled in the art that all or some of the steps and systems in the methods disclosed above can be implemented as software, firmware, hardware, and suitable combinations thereof. Some or all of the physical components can be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application-specific integrated circuit. Such software can be distributed on a computer-readable medium, which can include computer storage media (or non-transitory media) and communication media (or transient media). As is known to those skilled in the art, the term computer storage media includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules, or other data). Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technologies, CD-ROM, digital versatile disc (DVD) or other optical disc storage, magnetic cartridges, magnetic tape, disk storage or other magnetic storage devices, or any other medium that can be used to store desired information and is accessible to a computer. Furthermore, as is known to those skilled in the art, communication media typically contain computer-readable instructions, data structures, program modules, or other data in modulated data signals such as carrier waves or other transmission mechanisms, and may include any information delivery medium.

[0124] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments, and various changes can be made within the scope of knowledge possessed by those skilled in the art without departing from the spirit of the present invention. Furthermore, the embodiments of the present invention and the features thereof can be combined with each other unless otherwise specified.

Claims

1. A delivery control method based on AGV, characterized in that, Applied to a task terminal, the AGV-based delivery control method includes: Obtain current landmark information; wherein, the current landmark information is the location information of the landmark where the preset task material vehicle is located; Based on the current landmark information, the target work order information is filtered from the preset work order information; Based on the target work order information, obtain the product information of the current process to obtain the target product information; Target process information is selected from preset process information based on the target product information and preset target task instructions; wherein, the target process information is another process of the process corresponding to the current landmark information; Target binding information is filtered from preset binding information based on the target process information; wherein, the target binding information includes binding work order information, binding landmark information, and binding material cart information; The bound work order information and the target work order information are verified to obtain the verification result; If the verification result indicates that the work order information is consistent, a task is created based on the bound landmark information and the bound material cart information to obtain the target task information; The target task information is sent to the AGV device so that the AGV device can deliver the preset task material cart to the preset task landmark according to the target task information.

2. The AGV-based delivery control method according to claim 1, characterized in that, The target task instructions include material requisition task instructions and material delivery task instructions; the target process information includes upstream process information and downstream process information; the step of filtering the target process information from the process information based on the target product information and the target task instructions includes: If the target task instruction is the material requisition task instruction, the previous process information is filtered from the process information according to the target product information; wherein, the previous process information is the process preceding the process corresponding to the current landmark information; If the target task instruction is the material feeding task instruction, the next process information is selected from the process information based on the target product information; wherein, the next process information is the next process after the process corresponding to the current landmark information.

3. The AGV-based delivery control method according to claim 2, characterized in that, The target binding information includes upstream process binding information and downstream process binding information. The step of filtering target binding information from preset binding information based on the target process information includes: The previous process binding information is filtered from the preset binding information based on the previous process information; wherein, the previous process binding information is the binding information of the previous process of the process corresponding to the current landmark information; The next process binding information is filtered from the preset binding information based on the next process information; wherein, the next process binding information is the binding information of the next process corresponding to the current landmark information.

4. The AGV-based delivery control method according to claim 3, characterized in that, The upstream process binding information includes upstream process work order information, upstream process landmark information, and upstream process material cart information; the downstream process binding information includes downstream process work order information, downstream process landmark information, and downstream process material cart information; the target task information includes material requisition task information and material delivery task information; if the verification result indicates that the work order information is consistent, a task is created based on the bound landmark information and the bound material cart information to obtain the target task information, including: If the verification result indicates that the previous process work order information is consistent with the target work order information, a task is created based on the previous process landmark information and the previous process material cart information to obtain the material calling task information; If the verification result indicates that the next process work order information is consistent with the target work order information, a task is created based on the next process landmark information and the next process material cart information to obtain the material delivery task information.

5. The AGV-based delivery control method according to claim 1, characterized in that, After sending the target task information to the AGV device so that the AGV device delivers the preset task material cart to the preset task landmark according to the target task information, the AGV-based delivery control method further includes: Receive and display task completion information; wherein, the task completion information is obtained by the AGV device from the target landmark information of the reached landmark, and the target landmark information is verified according to the bound landmark information to obtain verification information. If the verification information indicates that the bound landmark information and the target landmark information correspond, it is returned.

6. The AGV-based delivery control method according to claim 1, characterized in that, The AGV-based delivery control method further includes: Obtain the status information of the candidate material cart; Obtain the status information of candidate landmarks to get the landmark status information; The target material car is selected from the candidate material cars based on the material car status information; Stop locations are selected from the candidate landmarks based on the landmark status information; The target material vehicle information and the parking landmark information of the parking point are used to create a task to obtain parking task information; The parking task information is sent to the AGV device so that the AGV device can deliver the target material car to the parking point landmark.

7. A delivery control device based on AGV, characterized in that, Applied to a task terminal, the AGV-based delivery control device includes: The landmark information acquisition module is used to acquire current landmark information; wherein, the current landmark information is the location information of the landmark where the preset task material vehicle is located; The work order information acquisition module is used to filter target work order information from preset work order information based on the current landmark information; The process information acquisition module is used to acquire product information of the current process based on the target work order information to obtain target product information; and to filter target process information from preset process information based on the target product information and preset target task instructions; wherein, the target process information is another process of the process corresponding to the current landmark information. The binding information filtering module is used to filter target binding information from preset binding information based on the target process information; wherein, the target binding information includes binding work order information, binding landmark information, and binding material cart information; The information verification module is used to verify the bound work order information and the target work order information to obtain the verification result; The task creation module, if the verification result indicates that the work order information is consistent, is used to create a task based on the bound landmark information and the bound material cart information to obtain the target task information; The task sending module is used to send the target task information to the AGV device, so that the AGV device can deliver the preset task material cart to the preset task landmark according to the target task information.

8. A delivery control device based on AGV, characterized in that, include: At least one processor, and, A memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor to enable the at least one processor to perform the AGV-based delivery control method as described in any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions for causing a computer to perform the AGV-based delivery control method as described in any one of claims 1 to 6.

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