An AGV control method, device and control system

Abstract

This application provides an AGV control method, device, and control system, relating to the field of AGV control technology. The method applied to the AGV control system includes: acquiring product off-line information and product temporary storage quantity information corresponding to at least one production line; determining the picking priority corresponding to each production line based on the product off-line information, product temporary storage quantity information, and at least one preset product temporary storage quantity threshold; and controlling idle automated guided vehicles (AGVs) to pick up goods from the corresponding first target production line according to the picking priority. By interacting with the Manufacturing Execution System (MES) and the Manufacturing Execution System (WMS), the picking priority of each production line is determined, and idle AGVs are promptly arranged to pick up goods based on this priority. This reduces manual scanning and system workflow processes, which helps to reduce labor costs and improve product transfer efficiency. It also helps to reduce the area used for temporary product storage, thereby saving temporary storage costs or site costs.

Description

Technical Field

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

[0002] In manufacturing enterprises, after production lines complete their processes, the manufactured goods are typically stacked on pallets and placed in a temporary storage area beside the production line, awaiting warehousing. Warehousing requires manual input of goods information into the Warehouse Management System (WMS) using a handheld digital assistant (PDA). The WMS then issues an inbound instruction to the Warehouse Control System (WCS), which in turn issues a dispatch instruction to the Automated Guided Vehicles (AGVs). The AGV dispatch system then assigns AGVs to retrieve the goods. During periods of high production efficiency, delays or errors in issuing inbound instructions can easily lead to goods piling up in the temporary storage area, preventing timely warehousing. Furthermore, dedicated personnel are required to operate the PDAs in this area, increasing labor costs for the enterprise. Additionally, setting up a large temporary storage area at the production line is a waste of factory space. Summary of the Invention

[0003] The technical objective of this application is to provide an AGV control method, device, and control system to solve the problems of low AGV scheduling efficiency, which leads to product accumulation in the temporary storage area of ​​the production line, and high temporary storage and labor costs.

[0004] To address the aforementioned technical problems, this application provides an AGV control method applied to an AGV control system, comprising:

[0005] Obtain product off-line information and product temporary storage quantity information for at least one production line;

[0006] Based on the product off-line information, product temporary storage quantity information, and at least one preset product temporary storage quantity threshold, the picking priority corresponding to each production line is determined.

[0007] Based on the pickup priority, idle AGVs are controlled to go to the corresponding first target production line to pick up goods.

[0008] Specifically, the pickup priority is determined by the sum of values ​​obtained from at least one of the following conditions, as described above:

[0009] If, based on the product off-line information, it is determined that no products are off the production line, then the first value is obtained;

[0010] If, based on the product off-line information, it is determined that there are products off the production line, then a second value is obtained, which is greater than the first value.

[0011] If, based on the product storage quantity information, it is determined that there are no products stored in the product storage area of ​​the production line, then a third value is obtained;

[0012] If, based on the product storage quantity information, it is determined that there are products temporarily stored in the product storage area, a fourth value is obtained, wherein the fourth value is greater than the third value, and the quantity of the temporarily stored products is positively correlated with the fourth value.

[0013] Specifically, the method described above, after controlling the AGV to reach the first target production line, further includes:

[0014] Obtain the product placement information detected by the AGV, determine the target pallet that the AGV needs to pick up, and send it to the AGV;

[0015] Receive the shape information, weight information, and pallet identification information of the target pallet and the product group on it detected by the AGV;

[0016] If both the shape information and the weight information meet the corresponding requirements, then the pallet identification information is bound to the shape information and / or the weight information to obtain binding information;

[0017] The binding information is sent to the WMS, and the AGV is controlled to transport the target pallet into the warehouse based on the warehouse location information fed back by the WMS.

[0018] Specifically, as described above, after receiving the shape information and the weight information, the method further includes:

[0019] If the shape information does not meet the preset shape requirements, a first warning signal is sent to the AGV;

[0020] If the weight information does not meet the preset weight requirement, a second warning signal is sent to the AGV.

[0021] Preferably, the method described above further includes:

[0022] Obtain information on the number of available pallets corresponding to at least one production line;

[0023] Based on the available pallet quantity information and at least one preset pallet threshold, the replenishment priority corresponding to each production line is determined;

[0024] Based on the replenishment priority, the production line corresponding to the highest replenishment priority is determined as the second target production line;

[0025] Based on the location of the second target production line, the idle AGV is controlled to replenish pallets for the second target production line.

[0026] Another embodiment of this application provides an AGV control method applied to an AGV, including:

[0027] Under the control of the AGV control system, the AGV proceeds to the first target production line to pick up goods. The first target production line is determined by the AGV control system based on the picking priority of each production line. The picking priority is determined by the AGV control system based on the product off-line information and the product temporary storage quantity information of the corresponding production line.

[0028] Specifically, the method described above also includes:

[0029] Upon arrival at the first target production line, the product placement information in the temporary storage area is detected and sent to the AGV control system.

[0030] After receiving the target pallet sent by the AGV control system, the system acquires the shape information, weight information, and pallet identification information of the target pallet and the product group on it, and uploads them to the AGV control system.

[0031] If both the shape information and the weight information meet the corresponding requirements, the target pallet is transported to the target storage location in the warehouse under the control of the AGV control system.

[0032] Furthermore, in the method described above, after uploading the shape information and the weight information to the AGV control system, the method further includes:

[0033] If the first warning signal is received from the AGV control system, an out-of-shape warning is issued based on the first warning signal, and the shape information is re-detected and uploaded.

[0034] If a second warning signal is received from the AGV control system, the target pallet is lowered and a weight over-limit warning is issued, and the weight information is re-detected and uploaded.

[0035] Another embodiment of this application provides an AGV control system, including:

[0036] The first processing module is used to obtain product off-line information and product temporary storage quantity information corresponding to at least one production line;

[0037] The second processing module is used to determine the picking priority corresponding to each production line based on the product off-line information, product temporary storage quantity information, and at least one preset product temporary storage quantity threshold.

[0038] The third processing module is used to control the idle AGVs to go to the corresponding first target production line to pick up goods according to the picking priority.

[0039] Another embodiment of this application provides an AGV control device, comprising:

[0040] The fourth processing module is used to retrieve goods from the first target production line under the control of the AGV control system. The first target production line is determined by the AGV control system based on the retrieval priority of each production line. The retrieval priority is determined by the AGV control system based on the product off-line information and product temporary storage quantity information of the corresponding production line.

[0041] Another embodiment of this application provides an electronic device, including a processor, a memory, and a computer program stored in the memory and executable on the processor. When executed by the processor, the computer program implements the steps of the AGV control method applied to the AGV control system as described above, or implements the steps of the AGV control method applied to the AGV as described above.

[0042] Another embodiment of this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the AGV control method applied to an AGV control system as described above, or implements the steps of the AGV control method applied to an AGV as described above.

[0043] Compared with the prior art, the AGV control method, device and control system provided in this application have at least the following beneficial effects:

[0044] By interacting with the Manufacturing Execution System (MES) and the Manufacturing Management System (WMS) through the AGV control system, information on products coming off the production line and the quantity of products temporarily stored in the temporary storage area at the production line can be obtained. Based on this information, the degree of product accumulation on the corresponding production line can be determined, i.e., whether each production line needs to retrieve goods and the urgency of retrieval. Then, based on this retrieval priority, idle AGVs can be promptly dispatched to retrieve goods according to their urgency. This reduces manual scanning and system workflow, which helps to lower labor costs and improve product transfer efficiency, thereby alleviating product accumulation at the production line. Furthermore, it also helps to reduce the area used for temporary product storage, thus saving on temporary storage costs or site costs. Attached Figure Description

[0045] Figure 1 This is one of the flowcharts illustrating an AGV control method applied to an AGV control system.

[0046] Figure 2 The second flowchart illustrates the AGV control method applied to the AGV control system.

[0047] Figure 3 This is the third flowchart illustrating the AGV control method applied to an AGV control system.

[0048] Figure 4 This is one of the flowcharts illustrating an AGV control method applied to AGVs.

[0049] Figure 5 This is the second flowchart illustrating the AGV control method applied to AGVs.

[0050] Figure 6 This is a schematic diagram of the AGV control system.

[0051] Figure 7 This is a schematic diagram of the AGV control device.

[0052] Figure 8 This is a schematic diagram of the AGV structure;

[0053] Figure 9 This is a schematic diagram of the installation of a weight sensor on an AGV. Detailed Implementation

[0054] To make the technical problems, technical solutions, and advantages of this application clearer, a detailed description will be provided below in conjunction with the accompanying drawings and specific embodiments. In the following description, specific details such as particular configurations and components are provided merely to aid in a comprehensive understanding of the embodiments of this application. Therefore, those skilled in the art should understand that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of this application. Furthermore, for clarity and brevity, descriptions of known functions and structures have been omitted.

[0055] It should be understood that the phrase "one embodiment" or "an embodiment" throughout the specification means that a specific feature, structure, or characteristic related to the embodiment is included in at least one embodiment of this application. Therefore, "in one embodiment" or "in an embodiment" appearing throughout the specification does not necessarily refer to the same embodiment. Furthermore, these specific features, structures, or characteristics can be combined in any suitable manner in one or more embodiments.

[0056] In the various embodiments of this application, it should be understood that the sequence number of each process described below does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0057] It should be understood that the term "and / or" in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, the character " / " in this article generally indicates that the preceding and following related objects have an "or" relationship.

[0058] In the embodiments provided in this application, it should be understood that "B corresponding to A" means that B is associated with A, and B can be determined based on A. However, it should also be understood that determining B based on A does not mean that B is determined solely based on A; B can also be determined based on A and / or other information.

[0059] See Figure 1 One embodiment of this application provides an AGV control method, applied to an AGV control system, comprising:

[0060] Step S101: Obtain product off-line information and product temporary storage quantity information corresponding to at least one production line;

[0061] Step S102: Determine the picking priority corresponding to each production line based on the product off-line information, product temporary storage quantity information, and at least one preset product temporary storage quantity threshold.

[0062] Step S103: Control the idle AGV to go to the corresponding first target production line to pick up goods according to the picking priority.

[0063] In this embodiment, the AGV control system interacts with the Manufacturing Execution System (MES) and the WMS to obtain information on products coming off the production line and the quantity of products temporarily stored in the temporary storage area at the production line. Based on the product coming off the production line information and the quantity of products temporarily stored, the degree of product accumulation on the corresponding production line can be determined. In this embodiment, this is represented by a retrieval priority. That is, based on the product coming off the production line information and the quantity of products temporarily stored, it is determined whether each production line needs to retrieve goods and the urgency of retrieval. Then, based on the retrieval priority, idle AGVs can be promptly arranged to retrieve goods according to the urgency of retrieval, reducing manual scanning and system flow processes, which helps to reduce labor costs and improve product transfer efficiency, thereby alleviating product accumulation at the production line. Furthermore, it also helps to reduce the area used for temporary storage of products, thereby saving temporary storage costs or site costs.

[0064] Specifically, the pickup priority is determined by the sum of values ​​obtained from at least one of the following conditions, as described above:

[0065] If, based on the product off-line information, it is determined that no products are off the production line, then the first value is obtained;

[0066] If, based on the product off-line information, it is determined that there are products off the production line, then a second value is obtained, which is greater than the first value.

[0067] If, based on the product storage quantity information, it is determined that there are no products stored in the product storage area of ​​the production line, then a third value is obtained;

[0068] If, based on the product storage quantity information, it is determined that there are products temporarily stored in the product storage area, a fourth value is obtained, wherein the fourth value is greater than the third value, and the quantity of the temporarily stored products is positively correlated with the fourth value.

[0069] In this embodiment, an example is given on how to determine the picking priority corresponding to each production line. The picking priority is determined by the sum of two values: one value is determined based on the product off-line information, and the other value is determined based on the product temporary storage quantity information. This fully considers the products that are being off-line and the products that have been temporarily stored, which helps to ensure the accuracy of the obtained priority.

[0070] Specifically, if there are no products coming off the production line at present, the first value is obtained, for example: 0;

[0071] If there are products coming off the production line, then a second value greater than the first value is obtained, for example: 1;

[0072] If there are no products in the product storage area of ​​the production line, a third value is obtained, for example: 0;

[0073] If there are products in the temporary storage area, a fourth value greater than the third value is obtained. The fourth value is positively correlated with the number of products in the temporary storage area. That is, the more products in the temporary storage area, the larger the fourth value. For example, the fourth value corresponds to the number of trays occupied by the products in the temporary storage area. If the number of products in the temporary storage area is 5 and one tray can hold 4 products, then 2 trays are needed, and the fourth value is also 2. Alternatively, multiple quantity thresholds can be set for the number of products in the temporary storage area, and the fourth value can be determined upwards based on the range of the thresholds in which the number of products in the temporary storage area falls.

[0074] It should be noted that, in one specific embodiment, the pickup priority is the sum of the obtained values, and the larger the sum of the values, the higher the priority.

[0075] It should also be noted that when the pickup priority is too low, AGVs may not be scheduled to pick up goods, for example, when the pickup priority is 0 or 1.

[0076] Optionally, when the number of products submitted is small, since the pressure on product storage is relatively low due to whether any products are currently offline, the priority of picking can be determined solely based on the product storage quantity information.

[0077] Furthermore, in the method described above, controlling an idle AGV to retrieve goods from the corresponding first target production line based on the retrieval priority includes:

[0078] Based on the picking priority, the production line corresponding to the highest picking priority is determined as the first target production line;

[0079] Based on the location of the first target production line, control the idle AGV to go to the first target production line to pick up the goods.

[0080] In one embodiment, when controlling an idle AGV to go to the corresponding first target production line to pick up goods according to the picking priority, the production line corresponding to the highest picking priority is first determined as the first target production line. Based on the location of the first target production line, a navigation route from an idle AGV to the first target production line can be generated according to the pre-configured map information, and then the corresponding AGV is controlled to go to the first target production line to pick up goods according to the navigation route.

[0081] See Figure 2 Specifically, the method described above, after controlling the AGV to reach the first target production line, further includes:

[0082] Step S201: Obtain the product placement information detected by the AGV, determine the target pallet that the AGV needs to pick up, and send it to the AGV;

[0083] Step S202: Receive the shape information, weight information, and pallet identification information of the target pallet and the product group on it detected by the AGV;

[0084] Step S203: If the shape information and weight information both meet the corresponding requirements, then bind the pallet identification information with the shape information and / or the weight information to obtain binding information;

[0085] Step S204: Send the binding information to the WMS, and control the AGV to transport the target pallet into the warehouse according to the warehouse location information fed back by the WMS.

[0086] This embodiment also illustrates the specific steps for controlling the AGV to pick up goods. After the AGV arrives at the first target production line, the product placement information detected by the AGV is first obtained. This product placement information is preferably identified by a vision recognition system set on the AGV. Through this product placement information, the position of each pallet containing the products and the model of the products on the pallets can be determined. Then, according to the preset picking principle, the target pallet that the AGV needs to pick up is determined and sent to the AGV so that it can pick up the corresponding target pallet. It should be noted that the picking principle is preset according to the actual situation of the workshop, which includes: picking up the nearest one, picking up according to the preset order (products are also placed according to the preset order when temporarily stored), etc.

[0087] Furthermore, the AGV acquires the shape information, weight information, and pallet identification information of the target pallet and the product group on it. The shape information is acquired by the AGV through a vision recognition system to determine whether the pallet and products exceed a preset size threshold. The weight information is acquired by the AGV after it picks up the target pallet using preset weight sensors to determine whether the pallet and products exceed a preset weight threshold. The pallet identification information is acquired by the AGV through a preset radio frequency identification (RFID) device to scan the target pallet, which is used to bind the pallet to the products and facilitate warehousing operations. This helps to avoid collisions and collapses when goods are stacked high due to excessive height or weight, improving safety during the transfer process and after warehousing. At the same time, using the AGV to achieve weight and shape detection also helps to reduce the space and equipment costs associated with setting up separate shape and weight detection mechanisms.

[0088] It should be noted that size and weight thresholds can be related to product type, and product type can be determined through production line information or product model information in product placement information.

[0089] If the obtained shape and weight information both meet the corresponding requirements, the target pallet is determined to be ready for warehousing. At this point, the pallet identification information is bound to the shape and / or weight information to obtain the binding information, which is then sent to the WMS to obtain the storage location information arranged by the WMS for the target pallet. Based on the storage location information fed back by the WMS, the AGV is controlled to move the target pallet to the corresponding storage location to complete the product warehousing.

[0090] It should be noted that, in one specific embodiment, the different methods of acquiring shape and weight information result in a different positional relationship between the AGV and the target pallet. Consequently, the acquisition of shape and weight information has a specific order. To avoid unnecessary operations, the AGV immediately uploads the acquired shape or weight information to the AGV control system for verification. Only after the current shape or weight information passes verification is the other information acquired. Specifically, since shape information can be acquired when the AGV is near the target pallet, while weight information needs to be detected after the AGV picks up the target pallet, shape information is acquired and uploaded first, and weight information is acquired and uploaded only after shape information verification is passed. Pallet identification information can be acquired simultaneously with shape or weight information, or before or after weight information acquisition.

[0091] It should also be noted that the visual recognition system uses a preset edge detection algorithm to convert the acquired image into a grayscale image to obtain the outer edge of the goods, and compares it with the preset grayscale value range to obtain the shape information and / or product placement information.

[0092] Specifically, as described above, after receiving the shape information and the weight information, the method further includes:

[0093] If the shape information does not meet the preset shape requirements, a first warning signal is sent to the AGV;

[0094] If the weight information does not meet the preset weight requirement, a second warning signal is sent to the AGV.

[0095] In this embodiment, when the AGV control system determines that the currently acquired shape information does not meet the preset shape requirements based on the corresponding shape threshold, it will send a first warning signal to the AGV to generate a corresponding alarm, so as to remind nearby staff to adjust the shape of the product on the pallet.

[0096] Similarly, when the AGV control system determines, based on the corresponding weight threshold, that the currently acquired weight information does not meet the preset weight requirement, it will send a second warning signal to the AGV. This will cause the AGV to generate a corresponding alarm, reminding nearby staff to adjust the weight of the products on the pallet. This further ensures the safe storage of products.

[0097] See Figure 3 Preferably, the method described above further includes:

[0098] Step S301: Obtain information on the number of idle pallets corresponding to at least one production line;

[0099] Step S302: Determine the replenishment priority for each production line based on the information on the number of idle pallets and at least one preset pallet threshold.

[0100] Step S303: Determine the production line corresponding to the highest replenishment priority as the second target production line based on the replenishment priority.

[0101] Step S304: Based on the location of the second target production line, control the idle AGV to replenish pallets for the second target production line.

[0102] In another embodiment of this application, when controlling the AGV, the number of idle pallets corresponding to each production line is also obtained and compared with at least one preset pallet threshold. The replenishment priority of each production line is determined downward according to the range of the pallet threshold where the number of idle pallets is located, and the lower the number of pallets, the higher the corresponding priority. Then, the production line corresponding to the highest replenishment priority is determined as the second target production line according to the replenishment priority. And according to the location of the second target production line, the idle AGV is controlled to replenish pallets for the second target production line by producing a navigation route from the idle AGV to the second target production line.

[0103] Specifically, in the method described above, the replenishment priority takes precedence over the pickup priority of the same level.

[0104] In one embodiment of this application, replenishment priority and pickup priority can be prioritized together. However, since the lack of pallets has a significant impact on production, when a replenishment priority and a pickup priority have the same level or value, the replenishment priority takes precedence.

[0105] In another embodiment, replenishment priority can be prioritized by setting a compensation value for the replenishment priority. Specifically, the compensation value is less than one priority level. For example, if both the pickup priority and the replenishment priority have a priority level or priority value of 2, and the one with the larger priority level or priority value takes precedence, then a compensation value of 0.5 can be added to the replenishment priority, changing its priority level or priority value to 2.5, thus making the replenishment priority take precedence over the pickup priority.

[0106] See Figure 4 Another embodiment of this application also provides an AGV control method applied to an AGV, comprising:

[0107] Step S401: According to the control of the AGV control system, proceed to the first target production line to pick up goods. The first target production line is determined by the AGV control system according to the picking priority of each production line. The picking priority is determined by the AGV control system according to the product off-line information and product temporary storage quantity information of the corresponding production line.

[0108] This embodiment discloses an AGV control method applied to AGVs. An AGV in an idle state can proceed to a first target production line to retrieve goods under the control of the AGV control system. This first target production line is the highest priority production line among all production lines according to their respective retrieval priorities. Specifically, the priority of each production line is determined by the AGV control system based on product off-line information and temporary storage quantity information obtained from communication with the MES (Manufacturing Execution System). This allows the AGV to retrieve goods sequentially based on whether each production line requires retrieval and the urgency of the retrieval, as determined by the AGV control system. This reduces manual scanning and system workflow processes, helping to lower labor costs and improve product transfer efficiency. It also helps alleviate product accumulation at the production line and further reduces the area needed for temporary product storage, thereby saving on temporary storage costs or site costs.

[0109] It should be noted that the AGV's journey to the first target production line to pick up the goods involves at least two steps: going to the first target production line and picking up the goods. Preferably, the journey to the first target production line is based on the navigation route sent by the AGV control system.

[0110] The following is an example of the specific pickup steps.

[0111] See Figure 5 Specifically, the method described above also includes:

[0112] Step S501: After arriving at the first target production line, detect the product placement information in the product temporary storage area and send it to the AGV control system.

[0113] Step S502: After receiving the target pallet sent by the AGV control system, obtain the shape information, weight information and pallet identification information of the target pallet and the product group on it, and upload them to the AGV control system.

[0114] Step S503: If both the shape information and the weight information meet the corresponding requirements, the target pallet is transported to the target storage location in the warehouse under the control of the AGV control system.

[0115] Specifically, when the AGV arrives at the first target production line under the control of the AGV control system, it first uses a vision recognition system installed on the AGV to detect the product placement information in the product temporary storage area corresponding to the first target production line and sends it to the AGV control system. The AGV control system then determines the target pallet and its products to be picked up based on the product placement information in the temporary storage area. After receiving the target pallet from the AGV control system, it again uses the vision recognition system to obtain the shape information of the target pallet, the weight information of the target pallet through a weight sensor, and the pallet identification information of the target pallet through an RDIF device, and uploads it to the AGV control system. The AGV control system then determines whether the target pallet can be put into storage based on the shape information, weight information, and corresponding requirements. If it can be put into storage, it obtains the corresponding storage location information and controls the AGV to move the target pallet to the target storage location in the warehouse.

[0116] It should be noted that, in one specific embodiment, the different methods of acquiring shape and weight information result in a different positional relationship between the AGV and the target pallet. Consequently, the acquisition of shape and weight information has a specific order. To avoid unnecessary operations, the AGV immediately uploads the acquired shape or weight information to the AGV control system for verification. Only after the current shape or weight information passes verification is the other information acquired. Specifically, since shape information can be acquired simply by approaching the target pallet, while weight information requires the AGV to pick up the target pallet for detection, shape information is acquired and uploaded first, and weight information is acquired and uploaded after the shape information passes verification by picking up the pallet. Pallet identification information can be acquired simultaneously with shape or weight information, or before or after weight information acquisition.

[0117] In another embodiment of this application, examples are given of the visual recognition system, weight sensor, and positional relationship between the RDIF device and the AGV.

[0118] The image acquisition device (camera, radar, etc.) of the vision recognition system is mounted on the fork carriage (preferably the upper crossbar of the fork carriage, such as...). Figure 8 (As shown in the image acquisition device 802 and fork carriage 801), and its shooting direction is set along the fork extension direction, and it can move up and down with the fork, which helps to ensure the integrity of the acquired image information.

[0119] Weight sensors are installed on at least four load-bearing wheels of the AGV (e.g., Figure 9 As shown in the weight sensor 901 and the load-bearing wheel 902, when the forks lift the pallet, the weight information of the pallet can be automatically detected, and the detection is carried out by at least four load-bearing wheels, which helps to ensure the accuracy of the obtained weight information.

[0120] RDIF equipment (fixed RDIF) is installed on the forklift of the AGV (e.g., Figure 8 The RDIF device 803 and fork carriage 801 are shown in the diagram, and the height between the fork carriage and the fork corresponds to the height of the pallet to facilitate the identification of electronic tags on the pallet. When the AGV forklift picks up goods, it automatically identifies the type of goods and detects the pallet information.

[0121] Furthermore, in the method described above, after uploading the shape information and the weight information to the AGV control system, the method further includes:

[0122] If the first warning signal is received from the AGV control system, an out-of-shape warning is issued based on the first warning signal, and the shape information is re-detected and uploaded.

[0123] If a second warning signal is received from the AGV control system, the target pallet is lowered and a weight over-limit warning is issued, and the weight information is re-detected and uploaded.

[0124] In this embodiment, after uploading shape and weight information to the AGV control system, if at least one of them does not meet the corresponding requirements, the AGV control system will send a corresponding warning signal to the AGV. If a first warning signal is received from the AGV control system, indicating that the shape exceeds the standard, a shape-exceeding warning will be issued based on the first warning signal, allowing workers to correct the product's shape and re-detect and upload the shape information. Similarly, if a second warning signal is received from the AGV control system, indicating that the weight exceeds the standard, a weight-exceeding warning will be issued based on the second warning signal, allowing workers to correct the product quantity and re-detect and upload the weight information. It should be noted that, to ensure the safety of workers when correcting the product quantity, the AGV needs to put down the target pallet first and then pick up the target pallet again when weighing it again. By processing the warning signals, safety can be ensured during and after the pallet is put into storage.

[0125] It should also be noted that when AGVs replenish goods under the control of the AGV control system, the process is different from that when picking goods, only the order of the production line and the warehouse is different. Furthermore, pallets do not need to be inspected for shape and weight. Therefore, it will not be elaborated here.

[0126] See Figure 6 Another embodiment of this application provides an AGV control system, including:

[0127] The first processing module 601 is used to obtain product off-line information and product temporary storage quantity information corresponding to at least one production line;

[0128] The second processing module 602 is used to determine the picking priority corresponding to each production line based on the product off-line information, product temporary storage quantity information and at least one preset product temporary storage quantity threshold.

[0129] The third processing module 603 is used to control the idle AGV to go to the corresponding first target production line to pick up goods according to the picking priority.

[0130] Specifically, the system described above determines the pickup priority based on the sum of values ​​obtained from at least one of the following conditions:

[0131] If, based on the product off-line information, it is determined that no products are off the production line, then the first value is obtained;

[0132] If, based on the product off-line information, it is determined that there are products off the production line, then a second value is obtained, which is greater than the first value.

[0133] If, based on the product storage quantity information, it is determined that there are no products stored in the product storage area of ​​the production line, then a third value is obtained;

[0134] If, based on the product storage quantity information, it is determined that there are products temporarily stored in the product storage area, a fourth value is obtained, wherein the fourth value is greater than the third value, and the quantity of the temporarily stored products is positively correlated with the fourth value.

[0135] Furthermore, in the system described above, the third processing module includes:

[0136] The first processing unit is configured to determine the production line corresponding to the highest picking priority as the first target production line based on the picking priority.

[0137] The second processing unit is used to control the idle AGV to go to the first target production line to pick up goods, based on the location of the first target production line.

[0138] Specifically, in the system described above, the third processing unit further includes:

[0139] The third processing unit is used to acquire the product placement information detected by the AGV, determine the target pallet that the AGV needs to pick up, and send it to the AGV.

[0140] The fourth processing unit is used to receive the shape information, weight information, and pallet identification information of the target pallet and the product group on it detected by the AGV;

[0141] The fifth processing unit is used to bind the pallet identification information with the shape information and / or the weight information if both the shape information and the weight information meet the corresponding requirements, so as to obtain binding information;

[0142] The sixth processing unit is used to send the binding information to the WMS and control the AGV to transport the target pallet into the warehouse according to the warehouse location information fed back by the WMS.

[0143] Specifically, in the system described above, the third processing module further includes:

[0144] The seventh processing unit is used to send a first warning signal to the AGV if the shape information does not meet the preset shape requirements.

[0145] The eighth processing unit is used to send a second warning signal to the AGV if the weight information does not meet the preset weight requirement.

[0146] Preferably, the system described above further includes:

[0147] The fifth processing module is used to obtain information on the number of idle pallets corresponding to at least one production line;

[0148] The sixth processing module is used to determine the replenishment priority of each production line based on the information on the number of idle pallets and at least one preset pallet threshold.

[0149] The seventh processing module is used to determine the production line corresponding to the highest replenishment priority as the second target production line based on the replenishment priority.

[0150] The eighth processing module is used to control the idle AGV to replenish pallets for the second target production line according to the location of the second target production line.

[0151] Specifically, in the system described above, the replenishment priority takes precedence over the pickup priority of the same level.

[0152] See Figure 7 Another embodiment of this application also provides an AGV control device, including:

[0153] The fourth processing module 701 is used to proceed to the first target production line under the control of the AGV control system. The first target production line is determined by the AGV control system according to the picking priority of each production line. The picking priority is determined by the AGV control system based on the product off-line information and product temporary storage quantity information of the corresponding production line.

[0154] Specifically, the device described above further includes:

[0155] The ninth processing module is used to detect the product placement information in the product temporary storage area after arriving at the first target production line, and send it to the AGV control system.

[0156] The tenth processing module is used to receive the target pallet sent by the AGV control system, obtain the shape information, weight information and pallet identification information of the target pallet and the product group on it, and upload them to the AGV control system.

[0157] The eleventh processing module is used to transport the target pallet to the target storage location in the warehouse under the control of the AGV control system, provided that both the shape information and the weight information meet the corresponding requirements.

[0158] Furthermore, the apparatus described above also includes:

[0159] The twelfth processing module is used to issue an out-of-shape warning based on the first warning signal if it receives the first warning signal from the AGV control system, and to re-detect and upload the shape information.

[0160] The thirteenth processing module is used to, if it receives a second warning signal from the AGV control system, put down the target pallet according to the second warning signal and issue a weight over-limit warning, and re-detect and upload the weight information.

[0161] The AGV control system embodiment of this application is a system corresponding to the AGV control method embodiment applied to the AGV control system described above. All implementation means in the above method embodiment are applicable to the embodiment of this system and can achieve the same technical effect.

[0162] The AGV control device embodiment of this application is a device corresponding to the above-described AGV control method embodiment applied to AGV. All implementation means in the above method embodiment are applicable to the device embodiment and can achieve the same technical effect.

[0163] Another embodiment of this application provides an electronic device, including a processor, a memory, and a computer program stored in the memory and executable on the processor. When executed by the processor, the computer program implements the steps of the AGV control method applied to the AGV control system as described above, or implements the steps of the AGV control method applied to the AGV as described above.

[0164] Another embodiment of this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the AGV control method applied to an AGV control system as described above, or implements the steps of the AGV control method applied to an AGV as described above.

[0165] Furthermore, reference numerals and / or letters may be repeated in different examples within this application. Such repetition is for the purpose of simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or settings discussed.

[0166] It should also be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion.

[0167] The above description is the preferred embodiment of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principles described in this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. An AGV control method, applied to an AGV control system, characterized in that, include: Obtain product off-line information and product temporary storage quantity information for at least one production line; Based on the product off-line information, product temporary storage quantity information, and at least one preset product temporary storage quantity threshold, the picking priority corresponding to each production line is determined. According to the picking priority, the idle automated guided vehicles (AGVs) are controlled to go to the corresponding first target production line to pick up the goods. The pickup priority is determined by the sum of values ​​obtained based on at least one of the following conditions, wherein the larger the sum of the values, the higher the pickup priority: If, based on the product off-line information, it is determined that no products are off the production line, then the first value is obtained; If, based on the product off-line information, it is determined that there are products off the production line, then a second value is obtained, which is greater than the first value. If, based on the product storage quantity information, it is determined that there are no products stored in the product storage area of ​​the production line, then a third value is obtained; If it is determined that there are products temporarily stored in the product storage area based on the product storage quantity information, a fourth value is obtained, wherein the fourth value is greater than the third value, and the quantity of the temporarily stored products is positively correlated with the fourth value. The method further includes: Obtain information on the number of available pallets corresponding to at least one production line; Based on the available pallet quantity information and at least one preset pallet threshold, the replenishment priority corresponding to each production line is determined, and the replenishment priority takes precedence over the picking priority of the same level. Based on the replenishment priority, the production line corresponding to the highest replenishment priority is determined as the second target production line; Based on the location of the second target production line, the idle AGV is controlled to replenish pallets for the second target production line.

2. The method according to claim 1, characterized in that, After controlling the AGV to reach the first target production line, the process also includes: Obtain the product placement information detected by the AGV, determine the target pallet that the AGV needs to pick up, and send it to the AGV; Receive the shape information, weight information, and pallet identification information of the target pallet and the product group on it detected by the AGV; If both the shape information and the weight information meet the corresponding requirements, then the pallet identification information is bound to the shape information and / or the weight information to obtain binding information; The binding information is sent to the warehouse management system (WMS), and the AGV is controlled to transport the target pallet into the warehouse based on the storage location information fed back by the WMS.

3. The method according to claim 2, characterized in that, After receiving the shape information and the weight information, the method further includes: If the shape information does not meet the preset shape requirements, a first warning signal is sent to the AGV; If the weight information does not meet the preset weight requirement, a second warning signal is sent to the AGV.

4. An AGV control method, applied to AGVs, characterized in that, include: Under the control of the AGV control system, the AGV proceeds to the first target production line to retrieve goods. The first target production line is determined by the AGV control system based on the retrieval priority of each production line. The retrieval priority is determined by the AGV control system based on the product off-line information and product temporary storage quantity information of the corresponding production line. The retrieval priority is determined by the sum of values ​​obtained from at least one of the following conditions, and the larger the sum of the values, the higher the retrieval priority: If, based on the product off-line information, it is determined that no products are off the production line, then the first value is obtained; If, based on the product off-line information, it is determined that there are products off the production line, then a second value is obtained, which is greater than the first value. If, based on the product storage quantity information, it is determined that there are no products stored in the product storage area of ​​the production line, then a third value is obtained; If it is determined that there are products temporarily stored in the product storage area based on the product storage quantity information, a fourth value is obtained, wherein the fourth value is greater than the third value, and the quantity of the temporarily stored products is positively correlated with the fourth value. The method further includes: The AGV control system replenishes pallets for the second target production line. The second target production line is determined by the AGV control system based on the replenishment priority of each production line. The replenishment priority is determined by the AGV control system based on the number of idle pallets of the corresponding production line and at least one preset pallet threshold. Moreover, the replenishment priority takes precedence over the picking priority of the same level.

5. The method according to claim 4, characterized in that, Also includes: Upon arrival at the first target production line, the product placement information in the temporary storage area is detected and sent to the AGV control system. After receiving the target pallet sent by the AGV control system, the system acquires the shape information, weight information, and pallet identification information of the target pallet and the product group on it, and uploads them to the AGV control system. If both the shape information and the weight information meet the corresponding requirements, the target pallet is transported to the target storage location in the warehouse under the control of the AGV control system.

6. The method according to claim 5, characterized in that, After uploading the shape information and weight information to the AGV control system, the method further includes: If the first warning signal is received from the AGV control system, an out-of-shape warning is issued based on the first warning signal, and the shape information is re-detected and uploaded. If a second warning signal is received from the AGV control system, the target pallet is lowered and a weight over-limit warning is issued, and the weight information is re-detected and uploaded.

7. An AGV control system, characterized in that, include: The first processing module is used to obtain product off-line information and product temporary storage quantity information corresponding to at least one production line; The second processing module is used to determine the picking priority corresponding to each production line based on the product off-line information, product temporary storage quantity information, and at least one preset product temporary storage quantity threshold. The third processing module is used to control an idle automated guided vehicle (AGV) to go to the corresponding first target production line to pick up goods according to the picking priority. The second processing module is specifically used to determine the pickup priority based on the sum of values ​​obtained from at least one of the following conditions, wherein the larger the sum of the values, the higher the pickup priority: If, based on the product off-line information, it is determined that no products are off the production line, then the first value is obtained; If, based on the product off-line information, it is determined that there are products off the production line, then a second value is obtained, which is greater than the first value. If, based on the product storage quantity information, it is determined that there are no products stored in the product storage area of ​​the production line, then a third value is obtained; If it is determined that there are products temporarily stored in the product storage area based on the product storage quantity information, a fourth value is obtained, wherein the fourth value is greater than the third value, and the quantity of the temporarily stored products is positively correlated with the fourth value. Also includes: The fifth processing module is used to obtain information on the number of idle pallets corresponding to at least one production line; The sixth processing module is used to determine the replenishment priority corresponding to each production line based on the information on the number of idle pallets and at least one preset pallet threshold, wherein the replenishment priority is higher than the picking priority of the same level. The seventh processing module is used to determine the production line corresponding to the highest replenishment priority as the second target production line based on the replenishment priority. The eighth processing module is used to control the idle AGV to replenish pallets for the second target production line according to the location of the second target production line.

8. An AGV control device, characterized in that, include: The fourth processing module is used to retrieve goods from the first target production line under the control of the AGV control system. The first target production line is determined by the AGV control system based on the retrieval priority of each production line. The retrieval priority is determined by the AGV control system based on the product off-line information and product temporary storage quantity information of the corresponding production line. The retrieval priority is determined by the sum of values ​​obtained according to at least one of the following conditions, and the larger the sum of the values, the higher the retrieval priority: If, based on the product off-line information, it is determined that no products are off the production line, then the first value is obtained; If, based on the product off-line information, it is determined that there are products off the production line, then a second value is obtained, which is greater than the first value. If, based on the product storage quantity information, it is determined that there are no products stored in the product storage area of ​​the production line, then a third value is obtained; If it is determined that there are products temporarily stored in the product storage area based on the product storage quantity information, a fourth value is obtained, wherein the fourth value is greater than the third value, and the quantity of the temporarily stored products is positively correlated with the fourth value. The fourth processing module is also used to replenish pallets for the second target production line according to the control of the AGV control system. The second target production line is determined by the AGV control system according to the replenishment priority of each production line. The replenishment priority is determined by the AGV control system according to the number of idle pallets of the corresponding production line and at least one preset pallet threshold. Moreover, the replenishment priority is higher than the picking priority of the same level.

9. An electronic device, characterized in that, It includes a processor, a memory, and a computer program stored in the memory and executable on the processor. When executed by the processor, the computer program implements the steps of the AGV control method applied to an AGV control system as described in any one of claims 1 to 3, or implements the steps of the AGV control method applied to an AGV as described in any one of claims 4 to 6.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the steps of the AGV control method applied to an AGV control system as described in any one of claims 1 to 3, or implements the steps of the AGV control method applied to an AGV as described in any one of claims 4 to 6.

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