AGV power dispatching method, device, electronic device and storage medium

Abstract

The present application provides an AGV power scheduling method, device, electronic device and storage medium, which are applied to the field of industrial manufacturing technology. The identification code on the material is read by the identification device to generate an optimal first transportation route. By monitoring the current first power information of the AGV, according to the first power information of the AGV and the first transportation route, it is judged whether the AGV has enough power to complete the transportation task, and transportation interruptions caused by insufficient power are avoided. In the case of insufficient power, an AGV with sufficient power is used to take over the material transportation task in the charging area to achieve the smooth transfer of materials. Therefore, the present application ensures that materials can be delivered in time through real-time power scheduling and dynamic adjustment of task requirements, while optimizing the use efficiency of the AGV and reducing transportation delays caused by power problems.

Description

Technical Field

[0001] The present application relates to the field of industrial manufacturing technology, and in particular to an AGV power scheduling method, device, electronic device and storage medium. Background Art

[0002] In the field of industrial automation, the importance of automatic guided vehicles (AGVs) as intelligent transportation equipment has become increasingly prominent with the in-depth development of Industry 4.0. AGVs can realize the automated handling of materials, significantly improve production efficiency and reduce labor costs. Especially on some flexible production lines, one production line is used to produce different parts, and quality inspection will be carried out after the parts are produced. In order to standardize the management of the factory's warehousing order, unqualified parts will be placed in designated storage areas and stored, and labels will be attached to the parts to indicate the defects of the unqualified parts and the workstations that need to be reworked. Usually, these parts that need to be reworked will be transported by AGV to the corresponding workstations for rework. However, the power management problem of AGV has become a key bottleneck that limits its performance. Specifically, the existing AGV power management methods have the following shortcomings:

[0003] 1. Since the running path and load of the AGV may be different when performing tasks, the power consumption is not evenly distributed, which increases the risk of power exhaustion, which may lead to interruption of task execution; 2. When the AGV is low on power, it may not be able to return in time because it is far away from the charging area or the path is blocked, which not only affects production efficiency, but may also cause interruption of the production process.

[0004] In summary, the existing technology lacks an effective power scheduling strategy and cannot dynamically optimize the scheduling according to the real-time power and task requirements of the AGV, resulting in low resource utilization efficiency and failure to maximize the operating efficiency of the AGV. Summary of the invention

[0005] In view of the above-mentioned shortcomings of the prior art, the AGV power scheduling method, device, electronic device and storage medium provided in the present application are applied to the field of industrial manufacturing technology. By real-time identification of material identification codes and the remaining power of AGVs, it is ensured that the AGV can efficiently complete the transportation task. When the AGV power is insufficient to complete all transportation tasks, it can re-plan the route in time and transfer some materials to other AGVs to ensure that the materials are delivered in time and reduce delays in the transportation process, thereby achieving the beneficial effects of dynamic scheduling of AGV power, improving resource utilization, and maximizing the operating efficiency of AGVs.

[0006] In a first aspect, the present application provides an AGV power scheduling method, which is applied to an AGV, wherein the AGV runs back and forth between a rework material bin and a processing station, and is used to deliver randomly placed materials from the rework material bin to the corresponding processing station, wherein an identification code is provided on the material, and a charging area is provided on the necessary path between the rework material bin and the processing station, wherein an identification device is provided in the charging area, and the method comprises:

[0007] S1: When the AGV passes through the charging area, the identification device identifies the identification code on the material to generate a first transportation route;

[0008] S2: Obtaining the current first power information of the AGV;

[0009] S3: determining, according to the first transportation route and the first power information, whether the AGV can transport all the materials currently carried by the AGV along the first transportation route;

[0010] S4: when the AGV cannot transport all the materials currently carried by the AGV along the first transport route, obtaining second power information of the remaining AGVs being transported between the charging area and the processing station;

[0011] S5: Control the current AGV to transfer the material in the charging area according to the second power information.

[0012] The present application provides an AGV scheduling method. By reading the identification code on the material through the identification device, the system can determine the specific processing station to which the material needs to be sent, thereby generating an optimal first transportation route to ensure that the material is accurately delivered to the destination and improve transportation efficiency. By monitoring the current first power information of the AGV, basic data is provided for subsequent power scheduling. According to the first power information and the first transportation route of the AGV, it is judged whether the AGV has enough power to complete the transportation task, avoid transportation interruption caused by insufficient power, and ensure the continuity and reliability of material transportation. When the current AGV power is insufficient to complete the task, the second power information of other AGVs being transported between the charging area and the processing station is collected to provide more options for power scheduling. It may be possible to assist in completing the transportation task through other AGVs with sufficient power. In the case of insufficient power, the AGV with sufficient power is used to take over the material transportation task in the charging area to achieve the smooth transfer of materials. Therefore, the present application ensures that the materials can be delivered in time through real-time power scheduling and dynamic adjustment of task requirements, while optimizing the use efficiency of AGVs and reducing transportation delays caused by power problems.

[0013] Further, step S5 includes:

[0014] S51: judging, according to the second power information, whether the remaining AGVs being transported between the charging area and the processing station can undertake the transportation task of the current AGV;

[0015] S52: when the remaining AGVs cannot undertake the transportation task of the current AGV, generating a second transportation route according to the first power information and the identification code, so that the current AGV delivers the second material that can be transported to the corresponding workstation and then returns to the charging area;

[0016] S53: When the remaining AGVs are able to undertake the transportation task of the current AGV, the current AGV is controlled to transfer the material in the charging area according to the first transportation route.

[0017] The present application provides an AGV scheduling method, which can determine whether it is necessary to reallocate the transportation task by evaluating whether the second power information of other AGVs being transported between the charging area and the processing station is sufficient to take over the transportation task of the current AGV, so as to ensure that the task can proceed smoothly and avoid waste of resources. If other AGVs are unable to undertake the transportation task of the current AGV, the system will generate a new second transportation route based on the remaining first power information of the current AGV and the identification code of the material, so that the current AGV can return to the charging area after delivering the second material. By flexibly adjusting the transportation route, it is ensured that even in the case of insufficient power, as many transportation tasks as possible can be completed, reducing material retention caused by power problems. When other AGVs are able to undertake the transportation task of the current AGV, the system will control the current AGV to transfer the material to the AGV with sufficient power in the charging area. Through the transfer of materials, it can be ensured that the transportation task can be completed by the AGV with sufficient power, improving transportation efficiency, while allowing the AGV with insufficient power to charge in time to prepare for the next transportation task.

[0018] Further, step S53 includes:

[0019] S531: when the remaining AGVs are able to undertake the transportation task of the current AGV, obtaining the farthest first workstation reached by the current AGV along the first transportation route according to the first power information;

[0020] S532: Obtaining a second workstation that the AGV cannot currently transport through the first workstation, where the second workstation includes one or more;

[0021] S533: Control the current AGV to transfer the third material corresponding to the second workstation in the charging area.

[0022] The present application provides an AGV scheduling method, which calculates and determines the farthest first station that the AGV can reach along the first transportation route based on the current first power information of the AGV, which helps to understand the transportation capacity range of the AGV and provide accurate information for subsequent material allocation and task adjustment. After determining the farthest station that the AGV can reach, identify the second stations that the AGV does not have enough power to transport to. The second station may include one or more. By identifying the second station, it can be clear which materials' transportation tasks need to be reallocated or adjusted to ensure that the entire logistics system can operate efficiently. Control the AGV with insufficient power to transfer the third materials that cannot be transported to the second station to other AGVs with sufficient power in the charging area, ensuring that even in the case of power restrictions, the materials can be safely and promptly transported to the correct destination. At the same time, it also optimizes the use efficiency of the AGV and reduces transportation delays and logistics bottlenecks caused by power problems.

[0023] Furthermore, after step S52, the following steps are further included:

[0024] S54: when the remaining AGVs are able to undertake the transportation task of the current AGV, obtaining weight information of each material according to the identification code;

[0025] S55: Control the current AGV to transfer the material in the charging area according to the weight information.

[0026] The present application provides an AGV scheduling method. Through the identification code on the material, the system can query and obtain the weight information of each material. Obtaining the weight information enables the system to more accurately determine which materials the AGV can transport under the current power level and how to most effectively allocate transportation tasks. By considering the weight of the material, the system can make more reasonable decisions, such as giving priority to transferring heavier materials to ensure that the AGV transports as much material as possible within the power limit. This helps to improve transportation efficiency, reduce transportation interruptions caused by insufficient power, and ensure that materials can be delivered to the destination in a timely manner.

[0027] Further, step S55 includes:

[0028] S551: Arrange the materials in descending order according to the weight information to obtain a transfer priority table of the materials;

[0029] S552: Determine, according to the transfer priority table and the first power information, a fourth material that cannot be transported by the AGV at present;

[0030] S553: ​​Control the current AGV to transfer the fourth material in the charging area.

[0031] Furthermore, after step S52, the following steps are further included:

[0032] S56: when the remaining AGVs are able to undertake the transportation task of the current AGV, obtaining a fifth material from the materials carried on the current AGV that is the same as the target workstation to which the materials on the other AGVs are sent;

[0033] S57: Control the current AGV to transfer the fifth material in the charging area.

[0034] Furthermore, after step S52, the following steps are further included:

[0035] S58: when the remaining AGVs are able to undertake the transportation task of the current AGV, obtaining the sixth material on the transportation route of the other AGVs among the materials carried by the current AGV;

[0036] S59: Control the current AGV to transfer the sixth material in the charging area.

[0037] In a second aspect, the present application provides an AGV power dispatching device, the device comprising:

[0038] Identification module: used to generate a first transportation route by identifying the identification code on the material through the identification device when the AGV passes through the charging area;

[0039] A first acquisition module: used to acquire the current first power information of the AGV;

[0040] A judgment module: used for judging whether the AGV can transport all the materials currently carried by the AGV along the first transportation route according to the first transportation route and the first power information;

[0041] A second acquisition module: used for acquiring the second power information of the remaining AGVs being transported between the charging area and the processing station when the AGV cannot transport all the materials currently carried by the AGV along the first transportation route;

[0042] Scheduling module: used to control the current AGV to transfer the material in the charging area according to the second power information.

[0043] In a third aspect, the present application provides an electronic device, including a processor and a memory, wherein the memory stores computer-readable instructions, and when the computer-readable instructions are executed by the processor, the steps in any of the above methods are executed.

[0044] In a fourth aspect, the present application provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the steps in any of the above methods are executed.

[0045] Beneficial effects: The AGV power scheduling method, device, electronic device and storage medium proposed in this application can determine the specific processing station to which the material needs to be sent by reading the identification code on the material through the identification device, thereby generating an optimal first transportation route to ensure that the material is accurately delivered to the destination and improve transportation efficiency. By monitoring the current first power information of the AGV, basic data is provided for subsequent power scheduling. According to the first power information and the first transportation route of the AGV, it is judged whether the AGV has enough power to complete the transportation task, avoid transportation interruption caused by insufficient power, and ensure the continuity and reliability of material transportation. When the current AGV power is insufficient to complete the task, the second power information of other AGVs being transported between the charging area and the processing station is collected to provide more options for power scheduling. It may be possible to assist in completing the transportation task through other AGVs with sufficient power. In the case of insufficient power, the AGV with sufficient power is used to take over the material transportation task in the charging area to achieve smooth transfer of materials. Therefore, this application ensures that materials can be delivered in time through real-time power scheduling and dynamic adjustment of task requirements, while optimizing the use efficiency of AGVs and reducing transportation delays caused by power problems. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 This is a flow chart of the AGV power scheduling method proposed in this application.

[0047] Figure 2 This is a structural diagram of the AGV power dispatching device proposed in this application.

[0048] Figure 3 A schematic diagram of the structure of the electronic device provided in this application.

[0049] Description of reference numerals: 201, identification module; 202, first acquisition module; 203, judgment module; 204, second acquisition module; 205, scheduling module; 301, processor; 302, memory; 303, communication bus; 3, electronic device. DETAILED DESCRIPTION

[0050] The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application usually described and marked in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present application.

[0051] It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. At the same time, in the description of this application, the terms "first, second", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0052] The following disclosure provides many different implementations or examples for achieving the purpose of the present invention, which solves the problem in the prior art that it is impossible to dynamically optimize the scheduling according to the real-time power and task requirements of the AGV, resulting in low resource utilization efficiency and inability to maximize the operating efficiency of the AGV.

[0053] Please refer to Figure 1 The present application provides an AGV power scheduling method, which is applied to an AGV. The AGV runs back and forth between a rework material bin and a processing station, and is used to deliver randomly placed materials in the rework material bin to corresponding processing stations. An identification code is set on the material, and a charging area is set on the necessary path between the rework material bin and the processing station. An identification device is set in the charging area. The method includes:

[0054] S1: When the AGV passes through the charging area, the identification device identifies the identification code on the material to generate a first transportation route;

[0055] S2: Obtain the current first power information of the AGV;

[0056] S3: judging whether the AGV can transport all the materials currently carried by the AGV along the first transportation route according to the first transportation route and the first power information;

[0057] S4: When the AGV cannot transport all the materials currently carried by the AGV along the first transport route, obtain second power information of the remaining AGVs being transported between the charging area and the processing station;

[0058] S5: Control the current AGV to transfer materials in the charging area according to the second power information.

[0059] In current industrial production, the processing of multiple products is involved, and processing defects will inevitably occur in the processing of multiple products. These products with processing defects need to be reworked and repaired. In order to avoid hindering the production process, usually after the defects are found through quality inspection, they will not be reworked immediately, but the defective products will be placed in the rework material warehouse at the same time, and then reworked uniformly. In order to distinguish defective products, an identification code will be affixed to the corresponding product to indicate the type of product and indicate that the product should be sent to the processing station for processing and repair. Specifically, multi-layer racks can be set on the AGV. When reworking, products with processing defects can be placed on the racks, and each layer of the rack can hold a defective product to be reworked.

[0060] When the AGV transports defective products to the corresponding processing station, the power problem of the AGV needs to be considered to avoid the problem that the AGV cannot be transported due to power outage during the transportation process. There are some solutions in the prior art for path planning or AGV scheduling based on the power of the AGV. The solution of the prior art is usually to obtain the power of the AGV before the AGV transports the goods, and then arrange the goods and routes transported by each AGV according to the power. However, this solution is not suitable for the application scenario proposed in the present application. In the scenario targeted by the present application, there may be multiple defective products, and the defective products are placed in a unified manner. If the defective products are divided in advance and then targetedly assigned to different AGVs for transportation, there is a problem of high cost. Therefore, in the solution of the present application, the defective products placed in a unified manner are randomly placed on the AGV, that is, the products transported by the AGV cannot be known in advance.

[0061] On this basis, the present application proposes to set up a charging area between the rework material warehouse and the processing station, and to set up an identification device in the charging area. The purpose is that when the AGV arrives at the charging area with the materials to be reworked, the identification device can identify the identification code on the materials to be reworked, and obtain the type of material and the processing station to which it needs to be sent, which will help with subsequent material management and route planning.

[0062] Among them, a device that can transfer materials is set up in the charging area, which may specifically include a temporary storage area and a material transfer robot. When materials need to be redistributed, the AGV will transport the materials to be reworked to the temporary storage area in the charging area, start the material transfer robot, and transfer the materials in the temporary storage area to the material racks of other AGVs with sufficient power according to the re-planned tasks. The material transfer robot will accurately place the materials on the designated material rack layer of the corresponding AGV according to the material identification code and the target processing station. The entire material transfer process is monitored by the control system to ensure the smooth operation, and manual or automatic adjustments are made when necessary.

[0063] Among them, when controlling the current AGV to transfer materials in the charging area according to the second power information, it can be specifically controlled whether the current AGV transfers materials in the charging area according to the second power information, and it can also be controlled which material the current AGV transfers in the charging area according to the second power information.

[0064] Among them, the situation that controls whether the current AGV transfers materials in the charging area is that the remaining first power information of the current AGV is insufficient to complete the task of transporting the materials to be reworked to the designated processing station and returning them safely to the charging area. By transferring part or all of the materials to be reworked to other AGVs with sufficient second power information, material allocation and AGV scheduling can be optimized to improve the efficiency of the entire production and AGV transportation system.

[0065] Among them, the control of which material the current AGV transfers in the charging area can be: judging whether the current AGV can transport a specific material to the target workstation based on the first power information of the current AGV remaining, if the first power information is insufficient, giving priority to transferring those materials that are farther away or have higher power requirements; or evaluating the carrying capacity of the current AGV based on the weight and size of the material, giving priority to transferring those materials that exceed the current AGV carrying limit; and also transferring materials with high urgency and processing requirements and materials with greater impact on the production process based on the urgency of the material and the processing requirements. By intelligently selecting which specific material to transfer, the ineffective movement of the AGV can be reduced and the overall transportation efficiency can be improved. Reasonable allocation of AGV transportation tasks ensures that each AGV can efficiently complete its tasks within its power range and that materials arrive at their destination in a timely and accurate manner, which can improve product quality and thus customer satisfaction.

[0066] Among them, the identification code on the material allows the system to quickly identify the destination and related information of the material, ensuring that the material can be accurately delivered to the correct processing station. The identification code can be a QR code or a barcode, which at least includes the processing station information to which the material is to be transported, the type information of the material, and the weight information of the material. The charging area on the necessary route ensures that the AGV has the opportunity to recharge during transportation to maintain its operating capacity. The identification device in the charging area can identify the identification code on the material and make scheduling decisions when necessary.

[0067] Among them, in step S1, the identification code on the material is read by the identification device to automatically obtain the processing station information to which the material is sent, without manual intervention. According to the processing station information to which all the materials carried on the AGV are sent, the system can automatically generate an optimal transportation route from the current location to the destination. Automatic identification and route generation reduce the need for manual operation and improve the operating efficiency of the entire logistics system. The system can dynamically adjust the transportation route according to the processing station information obtained in real time to ensure the optimality of transportation. Through the information obtained by the identification code, the system can better understand the priority and urgency of the material, thereby optimizing the resource allocation of the AGV. For example, the current AGV trolley carries materials from three stations A, B, and C. Among them, from the analysis of the workshop grid drawing, station A is closest to the charging area, station C is farthest from the charging area, and the material transportation priority of station C is the highest, then the system can dynamically adjust the transportation route. Among them, the priority and urgency of the material can be sorted according to the backlog of materials on each processing station. The station with less backlog of materials has a higher transportation priority. It is understandable that the priority determination method is set by the technical staff according to the actual situation of the workshop and is not limited to the sorting method of the backlog materials.

[0068] In step S2, the current first power information in the AGV may be obtained through a vehicle-mounted sensor or a battery management system built into the AGV.

[0069] In step S3, the system evaluates whether the AGV has enough power to complete the transportation task based on the current first power information of the AGV and the distance or consumption of the first transportation route, which can ensure that the AGV performs the transportation task within the power range allowed and reduce the task failure caused by insufficient power. And through power judgment, the reliability of the entire transportation system is improved, the transportation uncertainty caused by power problems is reduced, and it is convenient to provide intelligent scheduling decisions for insufficient power, such as material transfer or reallocation of transportation tasks. This method can be completed through the virtual simulation module on the system.

[0070] In step S4, the power information of other AGVs being transported between the charging area and the processing station is collected, which can provide data support for subsequent power scheduling and material transfer, evaluate the currently available AGV resources, determine which AGVs can take over or assist in completing the transportation task, and reasonably allocate AGVs with sufficient power to take over the transportation task, thereby improving the overall transportation efficiency, enabling the system to flexibly respond to insufficient power and ensure timely delivery of materials by adjusting transportation resources. For example: When AGV-① is transporting materials from the rework material warehouse to the processing station, the power monitoring shows that the first power information is insufficient to complete the entire transportation task. The system automatically obtains the second power information of other AGVs (AGV-②, AGV-③, AGV-④, AGV-⑤) being transported between the charging area and the processing station, so that the system monitors and finds that AGV-② and AGV-③ have sufficient power, while AGV-④ and AGV-⑤ are also close to exhaustion. Furthermore, the system can give priority to AGV-② and AGV-③ with sufficient second power information to take over the remaining transportation tasks of AGV-①, that is, in step S5, the system controls AGV-① to transfer the remaining materials to AGV-② and / or AGV-③ in the charging area.

[0071] Among them, in some preferred implementations, the real-time positions of AGV-② and AGV-③ can be further obtained, and the AGV with a closer real-time position among AGV-② and AGV-③ is selected to go to the charging area to transfer materials. If the real-time positions of AGV-② and AGV-③ are both close to the charging area and do not exceed the preset distance difference, AGV-② and AGV-③ are controlled to go to the charging area to take over the materials. If the real-time positions of AGV-② and AGV-③ are both far away from the charging area and exceed the preset distance difference, AGV-② and AGV-③ are controlled to complete their own tasks first, and then return to the charging area to take over the tasks of the current AGV.

[0072] Further, step S5 includes:

[0073] S51: judging, based on the second power information, whether the remaining AGVs being transported between the charging area and the processing station can undertake the transportation task of the current AGV;

[0074] S52: when the remaining AGVs cannot undertake the transportation task of the current AGV, a second transportation route is generated according to the first power level and the identification code, so that the current AGV delivers the second material that can be transported to the corresponding workstation and then returns to the charging area;

[0075] S53: When the remaining AGVs are able to undertake the transportation task of the current AGV, the current AGV is controlled to transfer materials in the charging area according to the first transportation route.

[0076] Among them, it is evaluated whether the second power information of other AGVs is sufficient to undertake the transportation task that the current AGV cannot complete due to insufficient power. When other AGVs cannot undertake the transportation task of the current AGV, a second transportation route that can be completed is re-planned according to the first power information of the current AGV and the identification code of the material, allowing the current AGV to complete as many transportation tasks as possible within the power range allowed, and then safely return to the charging area for power replenishment. When other AGVs can undertake the transportation task of the current AGV, the current AGV is controlled to transfer the materials to the AGV with sufficient power in the charging area to complete the remaining transportation tasks, optimize resource allocation, ensure that the materials can be delivered to the destination in time by the AGV with sufficient power, and allow the AGV with insufficient power to charge in time to prepare for the next transportation task.

[0077] Among them, in actual applications, in an automated manufacturing workshop, AGV-① is transporting materials from the rework material warehouse to the processing station, but the first power information is not enough to complete the entire transportation task. The system queries the second power information of other AGVs between the charging area and the processing station to evaluate whether they can take over the remaining transportation tasks of AGV-①. When the system finds that the power of the remaining AGVs is not enough to undertake the transportation task of AGV-①. Based on the first power information of AGV-① and the identification code of the material, the system generates a new second transportation route, which only includes the stations that AGV-① can deliver. When the system finds that there are other AGVs such as AGV-② and AGV-③ that have sufficient power to undertake the transportation task of AGV-①, the materials that cannot be transported on AGV-① are transferred to AGV-② and / or AGV-③ according to the first transportation route.

[0078] Through the above methods, it can be seen that the power scheduling method effectively solves the problem of insufficient power of AGV, optimizes the transportation efficiency of AGV, and ensures that materials can be delivered to the destination safely and on time. At the same time, it also demonstrates the system's intelligent scheduling capabilities when facing power constraints.

[0079] Further, step S53 includes:

[0080] S531: when the remaining AGVs are able to undertake the transportation task of the current AGV, obtaining the farthest first workstation reached by the current AGV along the first transportation route according to the first power quantity;

[0081] S532: Obtain a second workstation that cannot be transported by the current AGV through the first workstation, where the second workstation includes one or more workstations;

[0082] S533: Control the current AGV to transfer the third material corresponding to the second station in the charging area.

[0083] Among them, according to the current power of the AGV, the farthest first station it can reach along the first transportation route is determined, and the first station is obtained to clarify which stations on the first transportation route correspond to materials that need to be reallocated to other AGVs, ensuring that these materials can be delivered in time and avoiding delays caused by power problems. Control the current AGV in the charging area to transfer the third materials that cannot be transported to the second station to other AGVs with sufficient power, ensuring that even in the case of insufficient power, the materials can be delivered to the destination in time through the AGV with sufficient power, while allowing the AGV with insufficient power to be charged in time to prepare for the next transportation task.

[0084] Among them, in practical applications, a power consumption model can be established, which predicts power consumption based on the operating parameters of the AGV (such as speed, load weight, etc.). Through this model, the maximum distance that the AGV can travel with the current power can be estimated. The first station actually refers to the station corresponding to the charging area that the current AGV can return to after arriving. The station that the AGV cannot reach along the first transportation route is the second station, and there may be one or more second stations. In the charging area, AGV-① transfers the third materials that cannot be delivered to the second station to AGV-② and / or AGV-③ with sufficient power.

[0085] Furthermore, after step S52, the following steps are further included:

[0086] S54: when the remaining AGVs are able to undertake the transportation task of the current AGV, obtain the weight information of each material according to the identification code;

[0087] S55: Control the current AGV to transfer materials in the charging area according to the weight information.

[0088] Among them, the weight information of each material is automatically obtained through the identification code to provide data support for the subsequent transportation task allocation and power management. The weight information helps to evaluate the transportation capacity and power consumption of the AGV, ensuring that the AGV will not quickly run out of power or fail to transport due to overloading, and then intelligently allocate transportation tasks according to the weight of the material to optimize the use efficiency of the AGV. The weight information of the material is used to determine which materials should be transferred from the current AGV to other AGVs with sufficient power in the charging area when the power is limited, ensuring that the AGV transports part of the materials within the range allowed by the power, and improving the transportation efficiency of the AGV.

[0089] Further, step S55 includes:

[0090] S551: Arrange the materials in descending order according to the weight information to obtain a material transfer priority table;

[0091] S552: Determine, according to the transfer priority table and the first power information, a fourth material that cannot be transported by the current AGV;

[0092] S553: ​​Control the current AGV to transfer the fourth material in the charging area.

[0093] Among them, according to the weight information of the materials, all materials are arranged in descending order by weight, and a material transfer priority table is created to ensure that when the power is limited, the heavier materials are transferred first. The transfer priority table and the first power information of the AGV are used to determine the fourth material that the current AGV does not have enough power to transport, and clarify which materials cannot be transported due to the AGV power limit, so that transfer decisions can be made in time to avoid affecting production efficiency. When the current AGV is low on power, the fourth material is transferred to other AGVs with sufficient power in the charging area, ensuring that even when the current AGV is low on power, the material can be delivered to the destination in time through the AGV with sufficient power, ensuring the continuity of the production process.

[0094] In actual application, the system creates a material transfer priority table based on the weight information of the materials, with heavier materials placed in front. The system analyzes the transfer priority table and the remaining power of AGV-①, and determines the fourth materials that AGV-① cannot transport. In the charging area, AGV-① transfers these fourth materials to AGV-② and / or AGV-③ with sufficient power so that they can continue to be transported to the production line. The fourth materials that cannot be transported can be confirmed by the power consumption model.

[0095] Furthermore, after step S52, the following steps are further included:

[0096] S56: when the remaining AGVs are able to undertake the transportation task of the current AGV, obtaining a fifth material from the materials carried by the current AGV that is the same as the target workstation to which the materials on the other AGVs are sent;

[0097] S57: Control the current AGV to transfer the fifth material in the charging area.

[0098] Among them, identifying the fifth material on the current AGV that has the same destination (target station) as the materials on other AGVs helps to select the fifth material that can be transported by an AGV with more sufficient power or a more suitable one. By concentrating materials with the same destination, it is possible to reduce the repeated transportation of materials with the same destination between different AGVs, improve overall transportation efficiency, and help to reasonably allocate transportation tasks when power is limited, ensuring that materials can be delivered to the destination in a timely and accurate manner. When the current AGV is low on power, control the transfer of the fifth material to other AGVs with sufficient power and heading to the same destination in the charging area to ensure that the material can be transported by the most suitable AGV. Even if the current AGV is low on power, it will not affect the timely delivery of the material, which optimizes the use efficiency of the AGV and reduces transportation delays caused by power issues.

[0099] In actual application, the system checks the materials on AGV-① and matches them with the materials on AGV-② and AGV-③ to find the fifth material with the same destination. The system finds that there is a batch of materials on AGV-① that need to be transported to station C, and there is also a batch of materials on AGV-② that are destined for station C, but there is no material on AGV-③ that needs to be sent to station C. In the charging area, the system controls AGV-① to transfer the batch of materials destined for station C to AGV-②. This avoids the situation of blindly transferring materials and wasting AGV power and transportation efficiency.

[0100] If the materials transported by the current AGV do not contain the fifth material that is the same as the target workstation that is transported by other AGVs, in order to improve the transportation efficiency, the sixth material that is on the same route as other AGVs can also be obtained from the materials carried by the current AGV.

[0101] S58: When the remaining AGVs are able to undertake the transportation task of the current AGV, obtain the sixth material on the transportation route of the other AGVs among the materials carried by the current AGV;

[0102] S59: Control the current AGV to transfer the sixth material in the charging area.

[0103] Among them, the sixth material on the transportation route of other AGVs can be identified among the materials currently carried by the AGV. The sixth material can be transported by other AGVs along the way, reducing repeated routes and improving transportation efficiency. By identifying and concentrating the materials along the way, the repeated driving of AGVs can be reduced, reducing transportation costs and time, and helping to reasonably allocate transportation tasks under limited power conditions to ensure that materials can be delivered to the destination in a timely and accurate manner. When the current AGV is low on power, the sixth material can be transferred to other AGVs that are along the way and have sufficient power in the charging area to ensure that the materials can be transported by the most suitable AGV. Even if the current AGV is low on power, it will not affect the timely delivery of materials.

[0104] As can be seen from the above, the AGV power scheduling method proposed in this application can determine the specific processing station to which the material needs to be sent by reading the identification code on the material through the identification device, thereby generating an optimal first transportation route to ensure that the material is accurately delivered to the destination and improve transportation efficiency. By monitoring the current first power information of the AGV, basic data is provided for subsequent power scheduling. According to the first power information and the first transportation route of the AGV, it is judged whether the AGV has enough power to complete the transportation task, avoid transportation interruption caused by insufficient power, and ensure the continuity and reliability of material transportation. When the current AGV power is insufficient to complete the task, the second power information of other AGVs being transported between the charging area and the processing station is collected to provide more options for power scheduling. It may be possible to assist in completing the transportation task through other AGVs with sufficient power. In the case of insufficient power, the AGV with sufficient power is used to take over the material transportation task in the charging area to achieve the smooth transfer of materials. Therefore, this application ensures that materials can be delivered in time through real-time power scheduling and dynamic adjustment of task requirements, while optimizing the use efficiency of AGVs and reducing transportation delays caused by power problems.

[0105] In a second aspect, the present application provides an AGV power dispatching device, the device comprising:

[0106] Identification module 201: used to generate a first transportation route by identifying the identification code on the material through the identification device when the AGV passes through the charging area;

[0107] The first acquisition module 202 is used to acquire the current first power information of the AGV;

[0108] Determination module 203: used to determine whether the AGV can transport all materials currently carried by the AGV along the first transportation route according to the first transportation route and the first power information;

[0109] The second acquisition module 204 is used to acquire the second power information of the remaining AGVs being transported between the charging area and the processing station when the AGV cannot transport all the materials currently carried by the AGV along the first transportation route;

[0110] Scheduling module 205: used to control the current AGV to transfer materials in the charging area according to the second power information.

[0111] Among them, the identification module 201 can be a bar scanner, an RFUID reader or a visual recognition system; the first acquisition module 202 can be a battery management system built into the AGV; the judgment module 203 can be a processor or control unit on a computer, and the second acquisition module 204 can be a wireless communication module; the scheduling module 205 can be a central control computer.

[0112] In practical applications, an RFUID reader (identification module 201) can be used to identify RFID tags attached to materials. In conjunction with the image recognition algorithm in the software, material information can be quickly read and parsed to generate a transportation route. The battery status is then monitored in real time through the power sensor or battery management system (first acquisition module 202) installed on the AGV, and the power information is transmitted to the central control computer through the data acquisition software. The processor inside the controller (judgment module 203) runs the power consumption model and decision algorithm to evaluate whether the AGV has enough power to complete the transportation task. The AGV exchanges information with the central control computer through the wireless communication module (second acquisition module). The database management system running on the central control computer collects and synchronizes the power information of all AGVs. The central control computer (scheduling module 205) automatically determines which materials need to be transferred based on the collected power information and scheduling algorithm, and generates scheduling instructions to send to the AGV on-board controller, which performs the material transfer operation.

[0113] Among them, the identification code on the material allows the system to quickly identify the destination and related information of the material, ensuring that the material can be accurately delivered to the correct processing station. The identification code can be a QR code or a barcode, which at least includes the processing station information to which the material is to be transported, the type information of the material, and the weight information of the material. The charging area on the necessary route ensures that the AGV has the opportunity to recharge during transportation to maintain its operating capacity. The identification device in the charging area can identify the identification code on the material and make scheduling decisions when necessary.

[0114] Among them, the identification device is used to read the identification code on the material to automatically obtain the processing station information to which the material is sent, without manual intervention. According to the processing station information to which all the materials carried on the AGV are sent, the system can automatically generate an optimal transportation route from the current location to the destination. Automatic identification and route generation reduce the need for manual operation and improve the operating efficiency of the entire logistics system. The system can dynamically adjust the transportation route according to the processing station information obtained in real time to ensure the optimality of transportation. Through the information obtained by the identification code, the system can better understand the priority and urgency of the material, thereby optimizing the resource allocation of the AGV. For example, the current AGV trolley carries materials from three stations A, B, and C. Among them, from the analysis of the workshop grid drawing, station A is closest to the charging area, station C is farthest from the charging area, and the material transportation priority of station C is the highest, then the system can dynamically adjust the transportation route. Among them, the priority and urgency of the material can be sorted according to the backlog of materials at each processing station. The station with less backlog of materials has a higher transportation priority. It is understandable that the priority determination method is set by the technical staff according to the actual situation of the workshop and is not limited to the sorting method of the backlog materials.

[0115] The current first power information in the AGV may be obtained through a vehicle-mounted sensor or a battery management system built into the AGV.

[0116] Among them, the system evaluates whether the AGV has enough power to complete the transportation task based on the current first power information of the AGV and the distance or consumption of the first transportation route, which can ensure that the AGV performs the transportation task within the power range allowed and reduce the task failure caused by insufficient power. And through power judgment, the reliability of the entire transportation system is improved, the transportation uncertainty caused by power problems is reduced, and it is convenient to provide intelligent scheduling decisions for insufficient power, such as material transfer or reallocation of transportation tasks. This method can be completed through the virtual simulation module on the system.

[0117] Among them, collecting the power information of other AGVs being transported between the charging area and the processing station can provide data support for subsequent power scheduling and material transfer, evaluate the currently available AGV resources, determine which AGVs can take over or assist in completing the transportation task, and reasonably allocate AGVs with sufficient power to take over the transportation task, improve the overall transportation efficiency, enable the system to flexibly respond to insufficient power, and ensure the timely delivery of materials by adjusting transportation resources. For example: When AGV-① is transporting materials from the rework material warehouse to the processing station, the power monitoring shows that the first power information is insufficient to complete the entire transportation task. The system automatically obtains the second power information of other AGVs (AGV-②, AGV-③, AGV-④, AGV-⑤) being transported between the charging area and the processing station, so that the system monitors and finds that AGV-② and AGV-③ have sufficient power, while AGV-④ and AGV-⑤ are also close to exhaustion. Further, the system can give priority to AGV-② and AGV-③ with sufficient second power information to take over the remaining transportation tasks of AGV-①.

[0118] Among them, it is evaluated whether the second power information of other AGVs is sufficient to undertake the transportation task that the current AGV cannot complete due to insufficient power. When other AGVs cannot undertake the transportation task of the current AGV, a second transportation route that can be completed is re-planned according to the first power information of the current AGV and the identification code of the material, allowing the current AGV to complete as many transportation tasks as possible within the power range allowed, and then safely return to the charging area for power replenishment. When other AGVs can undertake the transportation task of the current AGV, the current AGV is controlled to transfer the materials to the AGV with sufficient power in the charging area to complete the remaining transportation tasks, optimize resource allocation, ensure that the materials can be delivered to the destination in time by the AGV with sufficient power, and allow the AGV with insufficient power to charge in time to prepare for the next transportation task.

[0119] Among them, according to the current power of the AGV, the farthest first station it can reach along the first transportation route is determined, and the first station is obtained to clarify which stations on the first transportation route correspond to materials that need to be reallocated to other AGVs, ensuring that these materials can be delivered in time and avoiding delays caused by power problems. Control the current AGV in the charging area to transfer the third materials that cannot be transported to the second station to other AGVs with sufficient power, ensuring that even in the case of insufficient power, the materials can be delivered to the destination in time through the AGV with sufficient power, while allowing the AGV with insufficient power to be charged in time to prepare for the next transportation task.

[0120] Among them, the weight information of each material is automatically obtained through the identification code to provide data support for the subsequent transportation task allocation and power management. The weight information helps to evaluate the transportation capacity and power consumption of the AGV, ensuring that the AGV will not quickly run out of power or fail to transport due to overloading, and then intelligently allocate transportation tasks according to the weight of the material to optimize the use efficiency of the AGV. The weight information of the material is used to determine which materials should be transferred from the current AGV to other AGVs with sufficient power in the charging area when the power is limited, ensuring that the AGV transports part of the materials within the range allowed by the power, and improving the transportation efficiency of the AGV.

[0121] Among them, according to the weight information of the materials, all materials are arranged in descending order by weight, and a material transfer priority table is created to ensure that when the power is limited, the heavier materials are transferred first. The transfer priority table and the first power information of the AGV are used to determine the fourth material that the current AGV does not have enough power to transport, and clarify which materials cannot be transported due to the AGV power limit, so that transfer decisions can be made in time to avoid affecting production efficiency. When the current AGV is low on power, the fourth material is transferred to other AGVs with sufficient power in the charging area, ensuring that even when the current AGV is low on power, the material can be delivered to the destination in time through the AGV with sufficient power, ensuring the continuity of the production process.

[0122] Among them, identifying the fifth material on the current AGV that has the same destination (target station) as the materials on other AGVs helps to select the fifth material that can be transported by an AGV with more sufficient power or a more suitable one. By concentrating materials with the same destination, it is possible to reduce the repeated transportation of materials with the same destination between different AGVs, improve overall transportation efficiency, and help to reasonably allocate transportation tasks when power is limited, ensuring that materials can be delivered to the destination in a timely and accurate manner. When the current AGV is low on power, control the transfer of the fifth material to other AGVs with sufficient power and heading to the same destination in the charging area to ensure that the material can be transported by the most suitable AGV. Even if the current AGV is low on power, it will not affect the timely delivery of the material, which optimizes the use efficiency of the AGV and reduces transportation delays caused by power issues.

[0123] Among them, the sixth material on the transportation route of other AGVs can be identified among the materials currently carried by the AGV. The sixth material can be transported by other AGVs along the way, reducing repeated routes and improving transportation efficiency. By identifying and concentrating the materials along the way, the repeated driving of AGVs can be reduced, reducing transportation costs and time, and helping to reasonably allocate transportation tasks under limited power conditions to ensure that materials can be delivered to the destination in a timely and accurate manner. When the current AGV is low on power, the sixth material can be transferred to other AGVs that are along the way and have sufficient power in the charging area to ensure that the materials can be transported by the most suitable AGV. Even if the current AGV is low on power, it will not affect the timely delivery of materials.

[0124] As can be seen from the above, the AGV power dispatching device proposed in this application can determine the specific processing station to which the material needs to be sent by reading the identification code on the material through the identification device, thereby generating an optimal first transportation route to ensure that the material is accurately delivered to the destination and improve transportation efficiency. By monitoring the current first power information of the AGV, basic data is provided for subsequent power dispatching. According to the first power information and the first transportation route of the AGV, it is judged whether the AGV has enough power to complete the transportation task, avoid transportation interruption caused by insufficient power, and ensure the continuity and reliability of material transportation. When the current AGV power is insufficient to complete the task, the second power information of other AGVs being transported between the charging area and the processing station is collected to provide more options for power dispatching. It may be possible to assist in completing the transportation task through other AGVs with sufficient power. In the case of insufficient power, the AGV with sufficient power is used to take over the material transportation task in the charging area to achieve the smooth transfer of materials. Therefore, this application ensures that materials can be delivered in time through real-time power dispatching and dynamic adjustment of task requirements, while optimizing the use efficiency of AGVs and reducing transportation delays caused by power problems.

[0125] Please refer to Figure 3 , Figure 3 This is a structural schematic diagram of an electronic device provided in an embodiment of the present application. The present application provides an electronic device 3, including: a processor 301 and a memory 302. The processor 301 and the memory 302 are interconnected and communicate with each other through a communication bus 303 and / or other forms of connection mechanisms (not shown). The memory 302 stores computer-readable instructions executable by the processor 301. When the electronic device is running, the processor 301 executes the computer-readable instructions to execute the method in any optional implementation of the above embodiment to achieve the following functions: when the AGV passes through the charging area, the identification code on the material is identified by the identification device to generate a first transportation route; the current first power information of the AGV is obtained; according to the first transportation route and the first power information, it is determined whether the AGV can transport all the materials currently carried by the AGV along the first transportation route; when the AGV cannot transport all the materials currently carried by the AGV along the first transportation route, the second power information of the remaining AGVs being transported between the charging area and the processing station is obtained; according to the second power information, the current AGV is controlled to transfer materials in the charging area.

[0126] An embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the method in any optional implementation of the above embodiments is executed to achieve the following functions: when the AGV passes through the charging area, a first transportation route is generated by identifying an identification code on a material through an identification device; the current first power information of the AGV is obtained; based on the first transportation route and the first power information, it is determined whether the AGV can transport all the materials currently carried by the AGV along the first transportation route; when the AGV cannot transport all the materials currently carried by the AGV along the first transportation route, the second power information of the remaining AGVs being transported between the charging area and the processing station is obtained; and the current AGV is controlled to transfer materials in the charging area based on the second power information.

[0127] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, and the indirect coupling or communication connection of devices or units can be electrical, mechanical or other forms.

[0128] In addition, the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0129] Furthermore, the functional modules in the various embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.

[0130] In this document, relational terms such as first and second, etc. are used merely to distinguish one entity or operation from another entity or operation, but do not necessarily require or imply any such actual relationship or order between these entities or operations.

[0131] The above description is only an embodiment of the present application and is not intended to limit the scope of protection of the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the scope of protection of the present application.

Claims

1. An AGV power dispatching method, characterized in that: The method is applied to an AGV, the AGV runs back and forth between a rework material bin and a processing station, and is used to deliver randomly placed materials from the rework material bin to the corresponding processing station, the materials are provided with identification codes, a charging area is provided on the necessary path between the rework material bin and the processing station, and an identification device is provided in the charging area, the method comprises: S1: When the AGV passes through the charging area, the identification device identifies the identification code on the material to generate a first transportation route; S2: Obtaining the current first power information of the AGV; S3: determining, according to the first transportation route and the first power information, whether the AGV can transport all the materials currently carried by the AGV along the first transportation route; S4: when the AGV cannot transport all the materials currently carried by the AGV along the first transport route, obtaining second power information of the remaining AGVs being transported between the charging area and the processing station; S5: Controlling the current AGV to transfer the material in the charging area according to the second power information; Step S5 includes: S51: judging, according to the second power information, whether the remaining AGVs being transported between the charging area and the processing station can undertake the transportation task of the current AGV; S52: when the remaining AGVs cannot undertake the transportation task of the current AGV, generating a second transportation route according to the first power information and the identification code, so that the current AGV delivers the second material that can be transported to the corresponding workstation and then returns to the charging area; S53: When the remaining AGVs are able to undertake the transportation task of the current AGV, according to the first transportation route, control the current AGV to transfer the material in the charging area; Step S52 includes: S54: when the remaining AGVs are able to undertake the transportation task of the current AGV, obtaining weight information of each material according to the identification code; S55: Controlling the current AGV to transfer the material in the charging area according to the weight information; Step S55 includes: S551: Arrange the materials in descending order according to the weight information to obtain a transfer priority table of the materials; S552: Determine, according to the transfer priority table and the first power information, a fourth material that cannot be transported by the AGV at present; S553: ​​Control the current AGV to transfer the fourth material in the charging area.

2. The AGV power dispatching method according to claim 1, characterized in that: Step S53 includes: S531: when the remaining AGVs are able to undertake the transportation task of the current AGV, obtaining the farthest first workstation reached by the current AGV along the first transportation route according to the first power information; S532: Obtaining a second workstation that the AGV cannot currently transport through the first workstation, where the second workstation includes one or more; S533: Control the current AGV to transfer the third material corresponding to the second workstation in the charging area.

3. The AGV power dispatching method according to claim 1, characterized in that: After step S52, the following steps are also included: S56: when the remaining AGVs are able to undertake the transportation task of the current AGV, obtaining a fifth material from the materials carried on the current AGV that is the same as the target workstation to which the materials on the other AGVs are sent; S57: Control the current AGV to transfer the fifth material in the charging area.

4. The AGV power dispatching method according to claim 1, characterized in that: After step S52, the following steps are also included: S58: when the remaining AGVs are able to undertake the transportation task of the current AGV, obtaining the sixth material on the transportation route of the other AGVs among the materials carried by the current AGV; S59: Control the current AGV to transfer the sixth material in the charging area.

5. An AGV power dispatching device, characterized in that: The device is applied to the steps in any one of the methods according to claims 1 to 4, and the device comprises: Identification module: used to generate a first transportation route by identifying the identification code on the material through the identification device when the AGV passes through the charging area; A first acquisition module: used to acquire the current first power information of the AGV; A judgment module: used for judging whether the AGV can transport all the materials currently carried by the AGV along the first transportation route according to the first transportation route and the first power information; A second acquisition module: used for acquiring second power information of other AGVs being transported between the charging area and the processing station when the AGV cannot transport all the materials currently carried by the AGV along the first transportation route; Scheduling module: used to control the current AGV to transfer the material in the charging area according to the second power information.

6. An electronic device, characterized in that: The method comprises a processor and a memory, wherein the memory stores computer-readable instructions. When the computer-readable instructions are executed by the processor, the steps in the method according to any one of claims 1 to 4 are executed.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 4 are executed.

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