Agv control method and device

Abstract

The application provides an AGV control method and device, and belongs to the technical field of AGV management. The AGV control method comprises the following steps: obtaining production parameters, wherein the production parameters comprise at least one of the following: daily production plan quantity of production equipment, state of the production equipment, equipment maintenance plan of the production equipment, and equipment maintenance plan of the AGV; determining a first charging threshold and a second charging threshold according to the production parameters, wherein the first charging threshold is smaller than the second charging threshold; obtaining the power of the AGV; when the power of the AGV is smaller than the first charging threshold, controlling the AGV to travel to a set position to charge after completing a current task; and when the power of the AGV is greater than the second charging threshold, controlling the AGV to accept a scheduling task instruction. The technical scheme of the application can improve the conveying efficiency.

Description

Technical Field

[0001] This invention relates to the field of AGV management technology, and in particular to an AGV control method and device. Background Technology

[0002] With the development of industrial technology, more and more automated equipment is being used in various production environments such as factories, warehouses and logistics. AGV (Automated Guided Vehicle) devices are among the more common automated equipment in these production environments. AGV devices can work around the clock without human management. However, in order to ensure the normal operation of AGV devices, they need to be charged in a timely manner.

[0003] In the silicon wafer manufacturing process, AGVs are the main logistics component in some production areas, used to transport materials. Traditional AGV control methods have relatively simple charging control logic, controlling the AGV to charge based on pre-set upper and lower charging limits. However, there are certain production capacity fluctuations during the production process. Traditional solutions are prone to problems such as AGVs not charging when the transport volume is low, and AGVs charging frequently when the transport volume is high, affecting transport efficiency. Summary of the Invention

[0004] To address the aforementioned technical problems, this invention provides an AGV control method and apparatus that can improve conveying efficiency.

[0005] To achieve the above objectives, the technical solution adopted in the embodiments of the present invention is as follows:

[0006] An AGV control method, comprising:

[0007] Obtain production parameters, which include at least one of the following: daily production plan of production equipment, status of production equipment, equipment maintenance plan of production equipment, and equipment maintenance plan of AGV;

[0008] A first charging threshold and a second charging threshold are determined based on the production parameters, wherein the first charging threshold is less than the second charging threshold.

[0009] The system obtains the AGV's power level. When the AGV's power level is less than the first charging threshold, the system controls the AGV to travel to a set location to charge after the current task is completed. When the AGV's power level is greater than the second charging threshold, the system controls the AGV to accept a scheduling task instruction.

[0010] In some embodiments, the method further includes:

[0011] When the AGV's power level is not greater than the second charging threshold and not less than the first charging threshold, if the AGV is in a charging state, the AGV is controlled not to accept scheduling task instructions; if the AGV is not in a charging state, the AGV is controlled to accept scheduling task instructions.

[0012] In some embodiments, determining the first charging threshold and the second charging threshold based on the production parameters includes:

[0013] Set a first initial charging threshold and a second initial charging threshold, wherein the first initial charging threshold is less than the second initial charging threshold;

[0014] The first initial charging threshold is obtained by adjusting the value of the first initial charging threshold according to the production parameters; the second initial charging threshold is obtained by adjusting the value of the second initial charging threshold according to the production parameters.

[0015] In some embodiments, adjusting the value of the first initial charging threshold according to the production parameters to obtain the first charging threshold, and adjusting the value of the second initial charging threshold according to the production parameters to obtain the second charging threshold, includes at least one of the following:

[0016] When the daily production plan of the production equipment is greater than the preset daily production plan threshold, the value of the first initial charging threshold is reduced to obtain the first charging threshold, and the value of the second initial charging threshold is reduced to obtain the second charging threshold; when the daily production plan of the production equipment is less than the preset daily production plan threshold, the value of the first initial charging threshold is increased to obtain the first charging threshold, and the value of the second initial charging threshold is increased to obtain the second charging threshold.

[0017] If there are production devices that are out of service, the value of the first initial charging threshold is increased to obtain the first charging threshold, and the value of the second initial charging threshold is increased to obtain the second charging threshold. The difference between the first charging threshold and the first initial charging threshold is proportional to the number of production devices that are out of service, and the difference between the second charging threshold and the second initial charging threshold is proportional to the number of production devices that are out of service.

[0018] If there are production devices in the equipment maintenance state, the value of the first initial charging threshold is increased to obtain the first charging threshold, and the value of the second initial charging threshold is increased to obtain the second charging threshold. The difference between the first charging threshold and the first initial charging threshold is proportional to the number of production devices in the equipment maintenance state, and the difference between the second charging threshold and the second initial charging threshold is proportional to the number of production devices in the equipment maintenance state.

[0019] If there are AGVs in the equipment maintenance state, the value of the first initial charging threshold is reduced to obtain the first charging threshold, and the value of the second initial charging threshold is reduced to obtain the second charging threshold. The difference between the first initial charging threshold and the first charging threshold is proportional to the number of AGVs in the equipment maintenance state, and the difference between the second initial charging threshold and the second charging threshold is proportional to the number of AGVs in the equipment maintenance state.

[0020] In some embodiments, the method further includes:

[0021] The target AGV is determined from multiple AGVs based on the AGV's battery level and the distance between the AGV and the target transport location;

[0022] Send a scheduling task instruction to the target AGV to travel to the target transport position.

[0023] In some embodiments, determining the target AGV from a plurality of AGVs based on the AGV's battery level and the distance between the AGV and the target transport location includes:

[0024] Identify the N AGVs that are closest to the target transport location, where N is an integer greater than 1;

[0025] Calculate the weighted value of each of the N AGVs, where the weighted value = first weight * d + second weight * t, and d is the distance between the AGV and the target transport position, and t is the AGV's power minus the target power, where the target power is the power of the AGV closest to the target transport position.

[0026] The AGV with the lowest weighted value is selected as the target AGV.

[0027] This invention also provides an AGV control device, comprising:

[0028] The acquisition module is used to acquire production parameters, which include at least one of the following: the daily production plan of the production equipment, the status of the production equipment, the equipment maintenance plan of the production equipment, and the equipment maintenance plan of the AGV.

[0029] The determining module is used to determine a first charging threshold and a second charging threshold based on the production parameters, wherein the first charging threshold is less than the second charging threshold;

[0030] The control module is used to obtain the power level of the AGV. When the power level of the AGV is less than the first charging threshold, the module controls the AGV to travel to a set location for charging after the current task is completed. When the power level of the AGV is greater than the second charging threshold, the module controls the AGV to accept the scheduling task instruction.

[0031] In some embodiments, the control module is further configured to, when the AGV's power level is not greater than the second charging threshold and not less than the first charging threshold, control the AGV not to accept scheduling task instructions if the AGV is in a charging state; and control the AGV to accept scheduling task instructions if the AGV is not in a charging state.

[0032] In some embodiments, the control module is specifically used to set a first initial charging threshold and a second initial charging threshold, wherein the first initial charging threshold is less than the second initial charging threshold; adjust the value of the first initial charging threshold according to the production parameters to obtain the first charging threshold; and adjust the value of the second initial charging threshold according to the production parameters to obtain the second charging threshold.

[0033] In some embodiments, the control module is specifically configured to perform at least one of the following:

[0034] When the daily production plan of the production equipment is greater than the preset daily production plan threshold, the value of the first initial charging threshold is reduced to obtain the first charging threshold, and the value of the second initial charging threshold is reduced to obtain the second charging threshold; when the daily production plan of the production equipment is less than the preset daily production plan threshold, the value of the first initial charging threshold is increased to obtain the first charging threshold, and the value of the second initial charging threshold is increased to obtain the second charging threshold.

[0035] If there are production devices that are out of service, the value of the first initial charging threshold is increased to obtain the first charging threshold, and the value of the second initial charging threshold is increased to obtain the second charging threshold. The difference between the first charging threshold and the first initial charging threshold is proportional to the number of production devices that are out of service, and the difference between the second charging threshold and the second initial charging threshold is proportional to the number of production devices that are out of service.

[0036] If there are production devices in the equipment maintenance state, the value of the first initial charging threshold is increased to obtain the first charging threshold, and the value of the second initial charging threshold is increased to obtain the second charging threshold. The difference between the first charging threshold and the first initial charging threshold is proportional to the number of production devices in the equipment maintenance state, and the difference between the second charging threshold and the second initial charging threshold is proportional to the number of production devices in the equipment maintenance state.

[0037] If there are AGVs in the equipment maintenance state, the value of the first initial charging threshold is reduced to obtain the first charging threshold, and the value of the second initial charging threshold is reduced to obtain the second charging threshold. The difference between the first initial charging threshold and the first charging threshold is proportional to the number of AGVs in the equipment maintenance state, and the difference between the second initial charging threshold and the second charging threshold is proportional to the number of AGVs in the equipment maintenance state.

[0038] In some embodiments, the apparatus further includes:

[0039] The target AGV determination module is used to determine the target AGV from multiple AGVs based on the AGV's battery level and the distance between the AGV and the target transport position;

[0040] The sending module is used to send a scheduling task instruction to the target AGV to travel to the target transport position.

[0041] In some embodiments, the target AGV determination module is specifically used to determine the N AGVs closest to the target transport location, where N is an integer greater than 1; calculate the weighted value of each of the N AGVs, where the weighted value = first weight * d + second weight * t, where d is the distance between the AGV and the target transport location, and t is the AGV's power level minus the target power level, where the target power level is the power level of the AGV closest to the target transport location; and select the AGV with the lowest weighted value as the target AGV.

[0042] This invention also provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the steps in the AGV control method described above.

[0043] The beneficial effects of this invention are:

[0044] In this embodiment, production parameters are acquired, and the first charging threshold and the second charging threshold are dynamically adjusted based on the production parameters. This allows the first charging threshold and the second charging threshold to change with production capacity fluctuations, avoiding the problem that the AGV does not charge when the transport volume is low, and the AGV charges frequently when the transport volume is high. This reduces the impact of AGV charging on transport efficiency and improves the transport efficiency of the AGV. Attached Figure Description

[0045] Figure 1 This diagram illustrates how AGVs are controlled in the prior art.

[0046] Figure 2 A flowchart illustrating the AGV control method according to an embodiment of the present invention;

[0047] Figure 3This diagram illustrates the control of an AGV according to an embodiment of the present invention.

[0048] Figure 4 A schematic diagram illustrating the charging threshold of an embodiment of the present invention;

[0049] Figure 5 This is a schematic diagram showing the structure of the AGV control device according to an embodiment of the present invention. Detailed Implementation

[0050] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the described embodiments of the present invention are within the scope of protection of the present invention.

[0051] To address the aforementioned technical problems, this invention provides an AGV control method and apparatus that can improve conveying efficiency.

[0052] Figure 1 This diagram illustrates the control of AGVs in the prior art, such as... Figure 1 As shown, in the prior art, the MES (Manufacturing Execution System) generates a transport task and sends it to the MCS (Material Control System); the MCS generates a corresponding transport instruction based on the transport task sent by the MES and collects the AGV status; the MCS sends the transport instruction to the AGV-C (AGV Control Unit), which performs AGV task scheduling, AGV charging scheduling, and AGV status management.

[0053] In the silicon wafer manufacturing process, AGVs are the main logistics component in some production areas, used for transporting materials. The charging control logic of AGV-C is relatively simple: when the AGV's battery level is below a first charging threshold, it is controlled to charge; after charging, when the AGV's battery level exceeds a second charging threshold, it is controlled to accept scheduling task instructions. The first and second charging thresholds are fixed, but production capacity fluctuates. If the first charging threshold is set too low, the AGV may not charge when the transport volume is low; if it is set too high, the AGV may charge frequently when the transport volume is high, affecting transport efficiency.

[0054] This invention provides an AGV control method and device that can improve conveying efficiency.

[0055] This invention provides an AGV control method, such as... Figure 2 As shown, it includes:

[0056] Step 101: Obtain production parameters, which include at least one of the following: daily production plan of production equipment, status of production equipment, equipment maintenance plan of production equipment, and equipment maintenance plan of AGV;

[0057] Step 102: Determine a first charging threshold and a second charging threshold based on the production parameters, wherein the first charging threshold is less than the second charging threshold;

[0058] Step 103: Obtain the AGV's power level. When the AGV's power level is less than the first charging threshold, control the AGV to travel to a set location to charge after the current task is completed. When the AGV's power level is greater than the second charging threshold, control the AGV to accept the scheduling task instruction.

[0059] In this embodiment, production parameters are acquired, and the first charging threshold and the second charging threshold are dynamically adjusted based on the production parameters. This allows the first charging threshold and the second charging threshold to change with production capacity fluctuations, avoiding the problem that the AGV does not charge when the transport volume is low, and the AGV charges frequently when the transport volume is high. This reduces the impact of AGV charging on transport efficiency and improves the transport efficiency of the AGV.

[0060] In some embodiments, the method further includes:

[0061] When the AGV's power level is not greater than the second charging threshold and not less than the first charging threshold, if the AGV is in a charging state, the AGV is controlled not to accept scheduling task instructions; if the AGV is not in a charging state, the AGV is controlled to accept scheduling task instructions.

[0062] In this embodiment, as Figure 3 As shown, the MES generates transport tasks and sends them to the MCS. Additionally, the MES sends the daily production plan for the production equipment to the MCS. The EAP (Equipment Automation Program) collects the real-time status of the production equipment and sends it to the MCS. The PMS (Equipment Maintenance System) sends the equipment maintenance plans for the production equipment and the AGVs to the MCS. The MCS generates corresponding transport instructions based on the transport tasks issued by the MES and collects the AGV status. Furthermore, the MCS adjusts the charging threshold based on at least one of the following: the daily production plan for the production equipment, the status of the production equipment, the equipment maintenance plan for the production equipment, and the equipment maintenance plan for the AGVs. The MCS sends the transport instructions and the adjusted charging threshold to the AGV-C, which then performs AGV task scheduling, AGV charging scheduling, and AGV status management.

[0063] The technical solution of this embodiment can be applied to the silicon wafer manufacturing scenario. The aforementioned production equipment can be crystal pulling equipment, epitaxial growth equipment, polishing equipment, etc. in the silicon wafer manufacturing process. In the silicon wafer manufacturing process, AGVs are used to transport materials.

[0064] Figure 4 A schematic diagram illustrating the charging threshold of an embodiment of the present invention is shown below. Figure 4 The system is configured with four charging thresholds: a first charging threshold, a second charging threshold, a third charging threshold, and a fourth charging threshold. The third charging threshold is lower than the first charging threshold, the first charging threshold is lower than the second charging threshold, and the second charging threshold is lower than the fourth charging threshold. When the AGV's battery level exceeds the fourth charging threshold, the AGV must be forced to leave the charging station. When the AGV's battery level exceeds the second charging threshold but is not higher than the fourth charging threshold, the AGV can normally accept scheduling task instructions. When the AGV's battery level is not higher than the second charging threshold but not lower than the first charging threshold, if the AGV is in a charging state, it is controlled not to accept scheduling task instructions; if the AGV is not in a charging state, it is controlled to accept scheduling task instructions. When the AGV's battery level is lower than the first charging threshold but not lower than the third charging threshold, the AGV is prioritized for charging, and it charges after completing the current transport task. When the AGV's battery level is lower than the third charging threshold, the AGV must be forced to charge. The first and second charging thresholds determine whether the AGV is charging or accepting scheduling task instructions; therefore, in this embodiment, the first and second charging thresholds are dynamically adjusted based on production parameters.

[0065] In some embodiments, determining the first charging threshold and the second charging threshold based on the production parameters includes:

[0066] A first initial charging threshold and a second initial charging threshold are set, wherein the first initial charging threshold is less than the second initial charging threshold. In this embodiment, the values ​​of the first initial charging threshold and the second initial charging threshold can be set based on experience, for example, the first initial charging threshold can be set to 50% and the second initial charging threshold can be set to 70%.

[0067] The first initial charging threshold is obtained by adjusting the value of the first initial charging threshold according to the production parameters; the second initial charging threshold is obtained by adjusting the value of the second initial charging threshold according to the production parameters. For example, when the production capacity is large, the value of the first initial charging threshold can be reduced to 30%, which can avoid frequent charging of AGVs; when the production capacity is relatively small, the value of the first initial charging threshold can be increased to 70%, which can make AGVs charge as much as possible when the amount of transport is small.

[0068] In some embodiments, adjusting the value of the first initial charging threshold according to the production parameters to obtain the first charging threshold, and adjusting the value of the second initial charging threshold according to the production parameters to obtain the second charging threshold, includes at least one of the following:

[0069] The first item: When the daily production plan of the production equipment is greater than the preset daily production plan threshold, the value of the first initial charging threshold is reduced to obtain the first charging threshold, and the value of the second initial charging threshold is reduced to obtain the second charging threshold; when the daily production plan of the production equipment is less than the preset daily production plan threshold, the value of the first initial charging threshold is increased to obtain the first charging threshold, and the value of the second initial charging threshold is increased to obtain the second charging threshold.

[0070] For example, set the first initial charging threshold to 50% and the second initial charging threshold to 70%; the preset daily production plan threshold is 80% of the full-load production plan. When the daily production plan of the production equipment is 100% of the full-load production plan, the capacity is relatively large and the amount of material transported is large. At this time, the value of the first initial charging threshold can be reduced to 30%, and the value of the second initial charging threshold can be reduced to 50%. This can avoid frequent charging of AGVs and reduce the number of times AGVs are charged. When the daily production plan of the production equipment is 50% of the full-load production plan, the capacity is relatively small and the amount of material transported is small. At this time, the value of the first initial charging threshold can be increased to 70%, and the value of the second initial charging threshold can be increased to 90%. This can encourage AGVs to charge as much as possible when the amount of material transported is small, increase the number of times AGVs are charged, and thus improve the overall transport efficiency.

[0071] Second item: If there are production equipment in a downtime state, increase the value of the first initial charging threshold to obtain the first charging threshold, increase the value of the second initial charging threshold to obtain the second charging threshold, the difference between the first charging threshold and the first initial charging threshold is proportional to the number of production equipment in a downtime state, and the difference between the second charging threshold and the second initial charging threshold is proportional to the number of production equipment in a downtime state.

[0072] For example, set the first initial charging threshold to 50% and the second initial charging threshold to 70%. When production equipment is down, production capacity decreases and the amount of material transported decreases. In this case, the values ​​of the first and second initial charging thresholds can be increased. This allows the AGVs to charge as much as possible when the amount of material transported is low, increasing the number of times the AGVs charge, thereby improving overall transport efficiency. Specifically, when the number of downtime production equipment is n, the values ​​of the first and second initial charging thresholds can be increased by 1%*n to 3%*n, respectively.

[0073] Third item: If there are production equipment in the equipment maintenance state, increase the value of the first initial charging threshold to obtain the first charging threshold, increase the value of the second initial charging threshold to obtain the second charging threshold, the difference between the first charging threshold and the first initial charging threshold is proportional to the number of production equipment in the equipment maintenance state, and the difference between the second charging threshold and the second initial charging threshold is proportional to the number of production equipment in the equipment maintenance state.

[0074] For example, set the first initial charging threshold to 50% and the second initial charging threshold to 70%. When production equipment is under maintenance, production capacity and material handling volume decrease. In this case, the values ​​of the first and second initial charging thresholds can be increased. This allows the AGVs to charge as much as possible when the material handling volume is low, increasing the number of AGV charging cycles and thus improving overall material handling efficiency. Specifically, when the number of production equipment under maintenance is m, the values ​​of the first and second initial charging thresholds can be increased by 1%*m to 3%*m, respectively.

[0075] Fourth item: If there are AGVs in the equipment maintenance state, reduce the value of the first initial charging threshold to obtain the first charging threshold, reduce the value of the second initial charging threshold to obtain the second charging threshold, the difference between the first initial charging threshold and the first charging threshold is proportional to the number of AGVs in the equipment maintenance state, and the difference between the second initial charging threshold and the second charging threshold is proportional to the number of AGVs in the equipment maintenance state.

[0076] For example, set the first initial charging threshold to 50% and the second initial charging threshold to 70%. When the AGV is in maintenance mode, the number of AGVs capable of performing transport tasks decreases. In this case, the values ​​of the first and second initial charging thresholds can be lowered. This avoids frequent charging of AGVs, reduces the number of charging cycles, and allows as many AGVs as possible to perform transport tasks. Specifically, when the number of AGVs in maintenance mode is k, the values ​​of the first and second initial charging thresholds can be reduced by 1%*k to 3%*k, respectively.

[0077] In some embodiments, the method further includes:

[0078] The target AGV is determined from multiple AGVs based on the AGV's battery level and the distance between the AGV and the target transport location;

[0079] Send a scheduling task instruction to the target AGV to travel to the target transport position.

[0080] In some embodiments, determining the target AGV from a plurality of AGVs based on the AGV's battery level and the distance between the AGV and the target transport location includes:

[0081] Identify the N AGVs that are closest to the target transport location, where N is an integer greater than 1;

[0082] Calculate the weighted value of each of the N AGVs, where the weighted value = first weight * d + second weight * t, and d is the distance between the AGV and the target transport position, and t is the AGV's power minus the target power, where the target power is the power of the AGV closest to the target transport position.

[0083] The AGV with the lowest weighted value is selected as the target AGV.

[0084] In related technologies, the target AGV is determined only based on the distance between the AGV and the target transport position. In this embodiment, the target AGV is determined by combining the AGV's power level and the distance between the AGV and the target transport position. This allows the power levels of the AGVs to form a gradient, increasing the difference between the power levels of the AGVs and avoiding the occurrence of multiple AGVs with similar power levels. This enables the AGVs to use the charging pile at different times, thereby improving the utilization efficiency of the charging pile.

[0085] In a specific example, we can identify the three AGVs closest to the target transport location: AGV1, AGV2, and AGV3. AGV1 is closest to the target transport location, with a distance d of 90m and a battery level of 70%. AGV2 is 100m away and has a battery level of 51%. AGV3 is 100m away and has a battery level of 41%. The first weight can be 0.9, and the second weight can be 100. Therefore, the weighted value for AGV1 is 90 * 0.9 = 81; the weighted value for AGV2 is 100 * 0.9 + (51% - 70%) * 100 = 90 - 19 = 71; and the weighted value for AGV3 is 100 * 0.9 + (41% - 70%) * 100 = 90 - 29 = 61. AGV3 is selected as the target AGV based on a weighted average. This ensures that after performing a transport task, AGV3 has a significantly higher battery level compared to AGV1 and AGV2, creating a substantial battery gradient. This allows AGV3 to use the charging station at different times than AGV1 and AGV2, preventing multiple AGVs from needing to use the charging station simultaneously. Furthermore, because AGV3 has lower battery level after a transport task, its charging capacity can be increased during a single charge, reducing the frequency of charging and thus improving overall transport efficiency.

[0086] This invention also provides an AGV control device, such as... Figure 5 As shown, it includes:

[0087] The acquisition module 21 is used to acquire production parameters, which include at least one of the following: the daily production plan of the production equipment, the status of the production equipment, the equipment maintenance plan of the production equipment, and the equipment maintenance plan of the AGV.

[0088] The determining module 22 is used to determine a first charging threshold and a second charging threshold based on the production parameters, wherein the first charging threshold is less than the second charging threshold;

[0089] The control module 23 is used to obtain the power of the AGV, and when the power of the AGV is less than the first charging threshold, control the AGV to travel to a set position to charge after the current task is completed; when the power of the AGV is greater than the second charging threshold, control the AGV to accept the scheduling task instruction.

[0090] In this embodiment, production parameters are acquired, and the first charging threshold and the second charging threshold are dynamically adjusted based on the production parameters. This allows the first charging threshold and the second charging threshold to change with production capacity fluctuations, avoiding the problem that the AGV does not charge when the transport volume is low, and the AGV charges frequently when the transport volume is high. This reduces the impact of AGV charging on transport efficiency and improves the transport efficiency of the AGV.

[0091] In this embodiment, as Figure 3 As shown, the MES generates transport tasks and sends them to the MCS. Additionally, the MES sends the daily production plan for the production equipment to the MCS. The EAP (Equipment Automation Program) collects the real-time status of the production equipment and sends it to the MCS. The PMS (Equipment Maintenance System) sends the equipment maintenance plans for the production equipment and the AGVs to the MCS. The MCS generates corresponding transport instructions based on the transport tasks issued by the MES and collects the AGV status. Furthermore, the MCS adjusts the charging threshold based on at least one of the following: the daily production plan for the production equipment, the status of the production equipment, the equipment maintenance plan for the production equipment, and the equipment maintenance plan for the AGVs. The MCS sends the transport instructions and the adjusted charging threshold to the AGV-C, which then performs AGV task scheduling, AGV charging scheduling, and AGV status management.

[0092] Figure 4 A schematic diagram illustrating the charging threshold of an embodiment of the present invention is shown below. Figure 4The system is configured with four charging thresholds: a first charging threshold, a second charging threshold, a third charging threshold, and a fourth charging threshold. The third charging threshold is lower than the first charging threshold, the first charging threshold is lower than the second charging threshold, and the second charging threshold is lower than the fourth charging threshold. When the AGV's battery level exceeds the fourth charging threshold, the AGV must be forced to leave the charging station. When the AGV's battery level exceeds the second charging threshold but is not higher than the fourth charging threshold, the AGV can normally accept scheduling task instructions. When the AGV's battery level is not higher than the second charging threshold but not lower than the first charging threshold, if the AGV is in a charging state, it is controlled not to accept scheduling task instructions; if the AGV is not in a charging state, it is controlled to accept scheduling task instructions. When the AGV's battery level is lower than the first charging threshold but not lower than the third charging threshold, the AGV is prioritized for charging, and it charges after completing the current transport task. When the AGV's battery level is lower than the third charging threshold, the AGV must be forced to charge. The first and second charging thresholds determine whether the AGV is charging or accepting scheduling task instructions; therefore, in this embodiment, the first and second charging thresholds are dynamically adjusted based on production parameters.

[0093] In this embodiment, the acquisition module 21 and the determination module 22 can be located in the MCS; the control module can be located in the AGV-C.

[0094] In some embodiments, the control module 23 is further configured to, when the AGV's power level is not greater than the second charging threshold and not less than the first charging threshold, control the AGV not to accept scheduling task instructions if the AGV is in a charging state; and control the AGV to accept scheduling task instructions if the AGV is not in a charging state.

[0095] In some embodiments, the control module 23 is specifically used to set a first initial charging threshold and a second initial charging threshold, wherein the first initial charging threshold is less than the second initial charging threshold. In this embodiment, the values ​​of the first and second initial charging thresholds can be set based on experience, for example, setting the first initial charging threshold to 50% and the second initial charging threshold to 70%. The value of the first initial charging threshold is adjusted according to the production parameters to obtain the first charging threshold; the value of the second initial charging threshold is adjusted according to the production parameters to obtain the second charging threshold. For example, when the production capacity is high, the value of the first initial charging threshold can be reduced to obtain a first charging threshold of 30%, which can avoid frequent charging of the AGV; when the production capacity is relatively low, the value of the first initial charging threshold can be increased to obtain a first charging threshold of 70%, which can make the AGV charge as much as possible when the transport volume is low.

[0096] In some embodiments, the control module 23 is specifically configured to perform at least one of the following:

[0097] When the daily production plan of the production equipment is greater than the preset daily production plan threshold, the value of the first initial charging threshold is reduced to obtain the first charging threshold, and the value of the second initial charging threshold is reduced to obtain the second charging threshold; when the daily production plan of the production equipment is less than the preset daily production plan threshold, the value of the first initial charging threshold is increased to obtain the first charging threshold, and the value of the second initial charging threshold is increased to obtain the second charging threshold.

[0098] If there are production devices that are out of service, the value of the first initial charging threshold is increased to obtain the first charging threshold, and the value of the second initial charging threshold is increased to obtain the second charging threshold. The difference between the first charging threshold and the first initial charging threshold is proportional to the number of production devices that are out of service, and the difference between the second charging threshold and the second initial charging threshold is proportional to the number of production devices that are out of service.

[0099] If there are production devices in the equipment maintenance state, the value of the first initial charging threshold is increased to obtain the first charging threshold, and the value of the second initial charging threshold is increased to obtain the second charging threshold. The difference between the first charging threshold and the first initial charging threshold is proportional to the number of production devices in the equipment maintenance state, and the difference between the second charging threshold and the second initial charging threshold is proportional to the number of production devices in the equipment maintenance state.

[0100] If there are AGVs in the equipment maintenance state, the value of the first initial charging threshold is reduced to obtain the first charging threshold, and the value of the second initial charging threshold is reduced to obtain the second charging threshold. The difference between the first initial charging threshold and the first charging threshold is proportional to the number of AGVs in the equipment maintenance state, and the difference between the second initial charging threshold and the second charging threshold is proportional to the number of AGVs in the equipment maintenance state.

[0101] In some embodiments, the apparatus further includes:

[0102] The target AGV determination module is used to determine the target AGV from multiple AGVs based on the AGV's battery level and the distance between the AGV and the target transport position;

[0103] The sending module is used to send a scheduling task instruction to the target AGV to travel to the target transport position.

[0104] In some embodiments, the target AGV determination module is specifically used to determine the N AGVs closest to the target transport location, where N is an integer greater than 1; calculate the weighted value of each of the N AGVs, where the weighted value = first weight * d + second weight * t, where d is the distance between the AGV and the target transport location, and t is the AGV's power level minus the target power level, where the target power level is the power level of the AGV closest to the target transport location; and select the AGV with the lowest weighted value as the target AGV.

[0105] In related technologies, the target AGV is determined only based on the distance between the AGV and the target transport position. In this embodiment, the target AGV is determined by combining the AGV's power level and the distance between the AGV and the target transport position. This allows the power levels of the AGVs to form a gradient, increasing the difference between the power levels of the AGVs and avoiding the occurrence of multiple AGVs with similar power levels. This enables the AGVs to use the charging pile at different times, thereby improving the utilization efficiency of the charging pile.

[0106] This invention also provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the steps in the AGV control method described above.

[0107] Computer-readable media, including both permanent and non-permanent, removable and non-removable media, can store information using any method or technology. Information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage, or any other non-transferable medium that can be used to store information accessible to the computer-readable terminal device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0108] The above description represents the preferred embodiments of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. An AGV control method, characterized in that, include: Obtain production parameters, which include at least one of the following: daily production plan of production equipment, status of production equipment, equipment maintenance plan of production equipment, and equipment maintenance plan of AGV; A first charging threshold and a second charging threshold are determined based on the production parameters, wherein the first charging threshold is less than the second charging threshold. The system obtains the AGV's power level. When the AGV's power level is less than the first charging threshold, the system controls the AGV to travel to a set location to charge after the current task is completed. When the AGV's power level is greater than the second charging threshold, the system controls the AGV to accept a scheduling task instruction. The step of determining the first charging threshold and the second charging threshold based on the production parameters includes: Set a first initial charging threshold and a second initial charging threshold, wherein the first initial charging threshold is less than the second initial charging threshold; The first initial charging threshold is obtained by adjusting the value of the first initial charging threshold according to the production parameters; the second initial charging threshold is obtained by adjusting the value of the second initial charging threshold according to the production parameters. The step of adjusting the value of the first initial charging threshold according to the production parameters to obtain the first charging threshold, and adjusting the value of the second initial charging threshold according to the production parameters to obtain the second charging threshold, includes at least one of the following: When the daily production plan of the production equipment is greater than the preset daily production plan threshold, the value of the first initial charging threshold is reduced to obtain the first charging threshold, and the value of the second initial charging threshold is reduced to obtain the second charging threshold; when the daily production plan of the production equipment is less than the preset daily production plan threshold, the value of the first initial charging threshold is increased to obtain the first charging threshold, and the value of the second initial charging threshold is increased to obtain the second charging threshold. If there are production devices that are out of service, the value of the first initial charging threshold is increased to obtain the first charging threshold, and the value of the second initial charging threshold is increased to obtain the second charging threshold. The difference between the first charging threshold and the first initial charging threshold is proportional to the number of production devices that are out of service, and the difference between the second charging threshold and the second initial charging threshold is proportional to the number of production devices that are out of service. If there are production devices in the equipment maintenance state, the value of the first initial charging threshold is increased to obtain the first charging threshold, and the value of the second initial charging threshold is increased to obtain the second charging threshold. The difference between the first charging threshold and the first initial charging threshold is proportional to the number of production devices in the equipment maintenance state, and the difference between the second charging threshold and the second initial charging threshold is proportional to the number of production devices in the equipment maintenance state. If there are AGVs in the equipment maintenance state, the value of the first initial charging threshold is reduced to obtain the first charging threshold, and the value of the second initial charging threshold is reduced to obtain the second charging threshold. The difference between the first initial charging threshold and the first charging threshold is proportional to the number of AGVs in the equipment maintenance state, and the difference between the second initial charging threshold and the second charging threshold is proportional to the number of AGVs in the equipment maintenance state.

2. The AGV control method according to claim 1, characterized in that, The method further includes: When the AGV's power level is not greater than the second charging threshold and not less than the first charging threshold, if the AGV is in a charging state, the AGV is controlled not to accept scheduling task instructions; if the AGV is not in a charging state, the AGV is controlled to accept scheduling task instructions.

3. The AGV control method according to any one of claims 1-2, characterized in that, The method further includes: The target AGV is determined from multiple AGVs based on the AGV's battery level and the distance between the AGV and the target transport location; Send a scheduling task instruction to the target AGV to travel to the target transport position.

4. The AGV control method according to claim 3, characterized in that, The step of determining the target AGV from multiple AGVs based on the AGV's battery level and the distance between the AGV and the target transport location includes: Identify the N AGVs that are closest to the target transport location, where N is an integer greater than 1; Calculate the weighted value of each of the N AGVs, where the weighted value = first weight * d + second weight * t, and d is the distance between the AGV and the target transport position, and t is the AGV's power minus the target power, where the target power is the power of the AGV closest to the target transport position. The AGV with the lowest weighted value is selected as the target AGV.

5. An AGV control device, characterized in that, include: The acquisition module is used to acquire production parameters, which include at least one of the following: the daily production plan of the production equipment, the status of the production equipment, the equipment maintenance plan of the production equipment, and the equipment maintenance plan of the AGV. The determining module is used to determine a first charging threshold and a second charging threshold based on the production parameters, wherein the first charging threshold is less than the second charging threshold; The control module is used to obtain the power level of the AGV, and when the power level of the AGV is less than the first charging threshold, control the AGV to travel to a set location to charge after the current task is completed; when the power level of the AGV is greater than the second charging threshold, control the AGV to accept the scheduling task instruction. Specifically, the control module is used to set a first initial charging threshold and a second initial charging threshold, wherein the first initial charging threshold is less than the second initial charging threshold; adjust the value of the first initial charging threshold according to the production parameters to obtain the first charging threshold; and adjust the value of the second initial charging threshold according to the production parameters to obtain the second charging threshold. The control module is specifically used to perform at least one of the following: When the daily production plan of the production equipment is greater than the preset daily production plan threshold, the value of the first initial charging threshold is reduced to obtain the first charging threshold, and the value of the second initial charging threshold is reduced to obtain the second charging threshold; when the daily production plan of the production equipment is less than the preset daily production plan threshold, the value of the first initial charging threshold is increased to obtain the first charging threshold, and the value of the second initial charging threshold is increased to obtain the second charging threshold. If there are production devices that are out of service, the value of the first initial charging threshold is increased to obtain the first charging threshold, and the value of the second initial charging threshold is increased to obtain the second charging threshold. The difference between the first charging threshold and the first initial charging threshold is proportional to the number of production devices that are out of service, and the difference between the second charging threshold and the second initial charging threshold is proportional to the number of production devices that are out of service. If there are production devices in the equipment maintenance state, the value of the first initial charging threshold is increased to obtain the first charging threshold, and the value of the second initial charging threshold is increased to obtain the second charging threshold. The difference between the first charging threshold and the first initial charging threshold is proportional to the number of production devices in the equipment maintenance state, and the difference between the second charging threshold and the second initial charging threshold is proportional to the number of production devices in the equipment maintenance state. If there are AGVs in the equipment maintenance state, the value of the first initial charging threshold is reduced to obtain the first charging threshold, and the value of the second initial charging threshold is reduced to obtain the second charging threshold. The difference between the first initial charging threshold and the first charging threshold is proportional to the number of AGVs in the equipment maintenance state, and the difference between the second initial charging threshold and the second charging threshold is proportional to the number of AGVs in the equipment maintenance state.

6. The AGV control device according to claim 5, characterized in that, The control module is further configured to, when the AGV's power level is not greater than the second charging threshold and not less than the first charging threshold, control the AGV not to accept scheduling task instructions if the AGV is in a charging state; and control the AGV to accept scheduling task instructions if the AGV is not in a charging state.

7. The AGV control device according to any one of claims 5-6, characterized in that, The device further includes: The target AGV determination module is used to determine the target AGV from multiple AGVs based on the AGV's battery level and the distance between the AGV and the target transport position; The sending module is used to send a scheduling task instruction to the target AGV to travel to the target transport position.

8. The AGV control device according to claim 7, characterized in that, The target AGV determination module is specifically used to determine the N AGVs closest to the target transport location, where N is an integer greater than 1; calculate the weighted value of each of the N AGVs, where the weighted value = first weight * d + second weight * t, where d is the distance between the AGV and the target transport location, and t is the AGV's power consumption minus the target power consumption, where the target power consumption is the power consumption of the AGV closest to the target transport location; and select the AGV with the lowest weighted value as the target AGV.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the steps in the AGV control method as described in any one of claims 1-4.

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