Agv scheduling control method, control terminal and storage medium

Abstract

The application provides an AGV scheduling control method, a control terminal and a storage medium. The method comprises the following steps: obtaining the number of feeding pieces of a feeding port, the number of empty tray pieces of a feeding empty tray port and a preset first early call piece number; and generating an AGV feeding early call task according to the number of feeding pieces, the number of empty tray pieces of the feeding empty tray port and the preset first early call piece number. According to the number of pieces of the feeding port, the number of empty trays of the feeding port and the like, the AGV feeding early call task can be generated, and the AGV can be called in advance, so that when the raw materials of the feeding port are insufficient, the AGV can timely deliver the raw materials to the feeding port, the generation stagnation caused by the lack of materials of the feeding port is avoided, the continuity of production is ensured, and the scheduling of the AGV is more reasonable.

Description

Technical Field

[0001] This invention relates to the field of workshop scheduling technology, and in particular to an AGV scheduling and control method, control terminal and storage medium. Background Technology

[0002] Automated Guided Vehicles (AGVs), also known as automated guided vehicles or automated guided transport vehicles, are widely used in logistics and distribution operations in automated factories. For example, when the loading port of automated equipment is empty and needs replenishment, an AGV generates a handling task and automatically performs the material handling.

[0003] In existing technologies, AGVs typically generate handling tasks only after the material inlet is empty. This results in inefficient AGV scheduling, which affects the continuous production of automated equipment. Summary of the Invention

[0004] This invention provides an AGV scheduling and control method, a control terminal, and a storage medium to solve the problem that the AGV scheduling in the prior art is not reasonable and affects the continuous production of automated equipment.

[0005] In a first aspect, embodiments of the present invention provide an AGV scheduling and control method, comprising:

[0006] Get the number of pieces fed at the feeding port, the number of empty pallet pieces at the empty pallet feeding port, and the preset number of pieces to be called in advance;

[0007] Based on the number of loading pieces, the number of empty pallet pieces at the loading empty pallet opening, and the preset first advance call number of pieces, an AGV loading advance call task is generated.

[0008] Optionally, the AGV loading advance call task includes: loading call task, pallet unloading call task, and continuous loading and unloading call task; based on the number of loading pieces, the number of empty pallet pieces at the loading empty pallet opening, and the preset first advance call number of pieces, the AGV loading advance call task is generated, including:

[0009] The difference between the number of pallets fed and the preset first advance call number is used as the first parameter; the sum between the number of empty pallet pallets at the feeding empty pallet opening and the preset first advance call number is used as the second parameter.

[0010] Based on the first parameter and the number of empty pallets at the loading empty pallet opening, generate a loading call task or a continuous loading and unloading pallet call task;

[0011] Based on the first and second parameters, generate the tray call task;

[0012] Among them, the loading call task is used to instruct the AGV to transport raw materials from the warehouse to the loading port;

[0013] The pallet drop call task is used to instruct the AGV to transport empty pallets from the empty pallet loading port to the warehouse;

[0014] The continuous pallet loading and unloading call task is used to instruct the AGV to transport raw materials from the warehouse to the loading port and empty pallets from the empty pallet loading port to the warehouse.

[0015] Optionally, based on the first parameter and the number of empty pallets at the loading empty pallet opening, a loading call task or a continuous loading / unloading pallet call task is generated, including:

[0016] If the first parameter is not greater than 0, and the number of empty pallet pieces at the empty pallet opening is equal to 0, then a loading call task is generated.

[0017] If the first parameter is not greater than 0, and the number of empty pallets at the loading empty pallet opening is greater than 0, then a continuous loading and unloading pallet call task will be generated.

[0018] Optionally, based on the first and second parameters, a tray call task is generated, including:

[0019] If the first parameter is greater than 0 and the second parameter is not less than the maximum capacity of the empty pallet opening, then a pallet drop call task will be generated.

[0020] Optionally, the above methods also include:

[0021] Get the number of pieces fed from the feeding port, the number of empty pallet pieces from the empty pallet port, and the preset number of pieces for the second advance call;

[0022] Based on the number of material pieces to be fed, the number of empty pallet pieces at the material feeding tray opening, and the preset second advance call number of material pieces, an AGV material feeding advance call task is generated.

[0023] Optionally, the AGV pre-discharge call task includes: pallet loading call task, unloading call task, and continuous pallet loading and unloading call task; based on the number of unloading pieces, the number of empty pallet pieces at the unloading empty pallet opening, and the preset second pre-call number of pieces, the AGV pre-discharge call task is generated, including:

[0024] The sum of the number of pieces to be cut and the preset second advance call number is used as the third parameter; the sum of the number of empty pallet pieces at the empty pallet opening and the number of pieces to be cut is used as the fourth parameter; the difference between the number of empty pallet pieces at the empty pallet opening and the preset second advance call number is used as the fifth parameter.

[0025] Based on the third, fourth, and fifth parameters, generate a material unloading call task;

[0026] Based on the fourth and fifth parameters, generate an upper pallet call task or an upper pallet unloading continuous call task;

[0027] The pallet loading call task is used to instruct the AGV to transport empty pallets from the warehouse to the unloading port;

[0028] The unloading call task is used to instruct the AGV to transport the finished product from the unloading port to the warehouse;

[0029] The continuous pallet loading and unloading call task is used to instruct the AGV to transport empty pallets from the warehouse to the unloading port, and to transport finished products from the unloading port to the warehouse.

[0030] Optionally, a material unloading call task is generated based on the third, fourth, and fifth parameters, including:

[0031] If the third parameter is not less than the maximum capacity of the discharge port and the fifth parameter is greater than 0, then a discharge call task will be generated.

[0032] If the fifth parameter is not greater than 0 and the fourth parameter is greater than the maximum capacity of the discharge port, then a discharge call task will be generated.

[0033] Optionally, based on the fourth and fifth parameters, a pallet loading / unloading continuous call task can be generated, including:

[0034] If the fifth parameter is not greater than 0 and the fourth parameter is less than the preset sixth parameter, an upper tray call task is generated.

[0035] If the fifth parameter is not greater than 0, and the fourth parameter is not less than the preset sixth parameter is not greater than the maximum capacity of the discharge port, a continuous call task for upper pallet unloading will be generated.

[0036] The preset sixth parameter is less than the maximum capacity of the feed port.

[0037] In a second aspect, embodiments of the present invention provide a control terminal, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the steps of the AGV scheduling and control method provided in the first aspect or any possible implementation of the first aspect.

[0038] Thirdly, embodiments of the present invention provide a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the AGV scheduling and control method provided in the first aspect or any possible implementation thereof.

[0039] This invention provides an AGV scheduling and control method, a control terminal, and a storage medium. The method includes: acquiring the number of feed pieces at the feeding port, the number of empty pallet pieces at the empty pallet feeding port, and a preset first advance call number of feed pieces; and generating an AGV feeding advance call task based on the number of feed pieces, the number of empty pallet pieces at the empty pallet feeding port, and the preset first advance call number of feed pieces. This invention can generate AGV feeding advance call tasks based on the number of feed pieces at the feeding port, the number of empty pallets at the feeding port, etc., and call the AGV in advance. This ensures that when there is insufficient raw material at the feeding port, the AGV can transport raw material to the feeding port in advance, avoiding production stoppages caused by material shortages at the feeding port, ensuring production continuity, and making AGV scheduling more rational. Attached Figure Description

[0040] To more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0041] Figure 1 This is a schematic diagram of the loading and unloading ends of an automated equipment.

[0042] Figure 2 This is a flowchart illustrating the implementation of an AGV scheduling and control method provided in an embodiment of the present invention.

[0043] Figure 3 This is a schematic diagram of the structure of the AGV scheduling and control device provided in an embodiment of the present invention;

[0044] Figure 4 This is a schematic diagram of the control terminal provided in an embodiment of the present invention. Detailed Implementation

[0045] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of the invention. However, those skilled in the art will understand that the invention can be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods are omitted so as not to obscure the description of the invention with unnecessary detail.

[0046] To make the objectives, technical solutions, and advantages of the present invention clearer, specific embodiments will be described below in conjunction with the accompanying drawings.

[0047] Figure 1 A schematic diagram of the loading and unloading ends of an automated device is shown. The automated device includes: a loading port, a loading empty pallet port, an unloading empty pallet port, and a unloading port.

[0048] In this process, the AGV transports pallets filled with raw materials to the loading port. Automated equipment picks up the raw materials from the pallets and then places the empty pallets at the empty pallet loading port, awaiting the AGV to transport them back to the warehouse. The AGV then transports the empty pallets to the empty pallet unloading port. Automated equipment picks up the empty pallets, places the finished products into the empty pallets, and then transports the pallets containing the finished products to the unloading port, awaiting the AGV to transport them back to the warehouse. (Reference) Figure 1 The feed port may also include: OK products and NG products.

[0049] In existing technologies, AGVs are typically dispatched to transport raw materials after the pallets containing raw materials at the loading port have been used up. Since it takes a certain amount of time for the AGV to transport raw materials from the warehouse to the loading port, the automated equipment cannot operate normally during this period due to the lack of raw materials, affecting the continuous production of the automated equipment and reducing production efficiency.

[0050] Based on the above, see Figure 2 The document illustrates a flowchart of the AGV scheduling and control method provided in an embodiment of the present invention, which is described in detail below:

[0051] The above-mentioned AGV scheduling and control methods include:

[0052] S101: Obtain the number of feed pieces at the feeding port, the number of empty pallet pieces at the empty pallet port, and the preset number of pieces for the first advance call;

[0053] S102: Generate an AGV loading advance call task based on the number of loading pieces, the number of empty pallet pieces at the loading empty pallet opening, and the preset first advance call number of pieces.

[0054] In this embodiment of the invention, based on the number of feeding pieces, the number of empty pallet pieces at the feeding empty pallet opening, and the preset first advance call number of pieces, the AGV is called in advance to transport raw materials when there are still raw materials at the feeding port. This ensures that when there are not enough raw materials at the feeding port, the AGV can transport raw materials to the feeding port in a timely manner, avoiding production stagnation caused by material shortage at the feeding port, ensuring the continuity of production, making the scheduling of AGVs more reasonable, effectively improving the transfer efficiency of AGVs, and improving the production efficiency of automated equipment.

[0055] In one possible implementation, the AGV loading advance call task may include: a loading call task, a pallet unloading call task, and a continuous loading and unloading call task; S102 may include:

[0056] S1021: Calculate the difference between the number of pallets fed and the preset first advance call number of pallets, as the first parameter; calculate the sum between the number of empty pallet pallets at the feeding empty pallet opening and the preset first advance call number of pallets, as the second parameter;

[0057] S1022: Generate a loading call task or a continuous loading and unloading call task based on the first parameter and the number of empty pallets at the loading empty pallet opening;

[0058] S1023: Generate a tray call task based on the first parameter and the second parameter;

[0059] Among them, the loading call task is used to instruct the AGV to transport raw materials from the warehouse to the loading port;

[0060] The pallet drop call task is used to instruct the AGV to transport empty pallets from the empty pallet loading port to the warehouse;

[0061] The continuous pallet loading and unloading call task is used to instruct the AGV to transport raw materials from the warehouse to the loading port and empty pallets from the empty pallet loading port to the warehouse.

[0062] In this embodiment of the invention, the first advance call quantity indicates that a call is made when there are still a first advance call quantity remaining at the feeding port. The AGV can then transport raw materials from the warehouse to the feeding port, ensuring normal production. Therefore, in this embodiment of the invention, it is necessary to ensure that the raw materials at the feeding port are not completely consumed, while also referring to... Figure 1 Furthermore, it is necessary to ensure that the empty pallets at the loading empty pallet opening do not accumulate excessively, exceeding the opening's capacity. Therefore, in this embodiment of the invention, the difference between the number of loading pieces and the preset first advance call number of pieces is calculated, and the sum between the number of empty pallet pieces at the loading empty pallet opening and the preset first advance call number of pieces is calculated, to jointly generate a loading call task, a unloading call task, or a continuous loading and unloading call task.

[0063] In one possible implementation, the formula for calculating the first advance call segment number Pcs1 can be:

[0064]

[0065] Where T1 is the time it takes for the AGV to travel from the warehouse to the loading port, and t1 is the time interval for feeding materials from the loading port.

[0066] In this embodiment of the invention, the first advance call number is calculated according to the above formula, which can ensure that the raw materials can be delivered in time when they are about to be consumed, without causing the raw materials to pile up.

[0067] In one possible implementation, S1022 may include:

[0068] 1. If the first parameter is not greater than 0, and the number of empty pallets at the empty pallet opening is equal to 0, then a loading call task is generated;

[0069] 2. If the first parameter is not greater than 0, and the number of empty pallets at the loading empty pallet opening is greater than 0, then a continuous loading and unloading pallet call task will be generated.

[0070] In this embodiment of the invention, if the first parameter (the difference between the number of feeding pieces and the preset first advance call piece number) is not greater than 0, it means that the raw materials at the feeding port are about to be used up. In order to ensure continuous production, it is necessary to schedule AGV feeding. If the number of empty pallet pieces at the empty pallet port is equal to 0 at this time, it means that there are no empty pallets to be transported back to the warehouse.

[0071] If the first parameter is not greater than 0, and the number of empty pallets at the empty pallet loading port is greater than 0, in order to ensure that empty pallets do not accumulate at the empty pallet loading port, since the empty pallet loading port and the loading port are close together, the AGV can be controlled to transport the empty pallets back to the warehouse after transporting the raw materials, which saves the working time of the AGV and improves the work efficiency.

[0072] In one possible implementation, S1023 may include:

[0073] If the first parameter is greater than 0 and the second parameter is not less than the maximum capacity of the empty pallet opening, then a pallet drop call task will be generated.

[0074] If the first parameter (the difference between the number of pallets loaded and the preset first advance call number) is greater than 0, it means that there is still enough raw material and no loading is needed. If the second parameter (the sum of the number of empty pallets at the loading empty pallet opening and the preset first advance call number) is not less than the maximum capacity of the loading empty pallet opening, it means that if a loading call task is generated at this time, the number of empty pallets at the empty pallet opening will be approximately equal to the sum of the current number of empty pallets at the loading empty pallet opening and the preset first advance call number when the loading call task is completed. If it is not less than the maximum capacity of the loading empty pallet opening, it means that empty pallets will accumulate at the loading empty pallet opening when the loading call task is completed, affecting the normal production of the automated equipment. Therefore, a pallet drop call task should be generated in advance to avoid the accumulation of empty pallets at the loading empty pallet opening.

[0075] In one possible implementation, the above method may further include:

[0076] S103: Obtain the number of pieces fed from the feeding port, the number of empty pallet pieces from the empty pallet feeding port, and the preset number of pieces for the second advance call;

[0077] S104: Generate an AGV pre-call task based on the number of material pieces to be fed, the number of empty pallet pieces at the material feeding empty pallet opening, and the preset second pre-call number of material pieces.

[0078] Based on the above analysis, for the unloading end, a call task can also be generated in advance according to the number of unloading pieces, the number of empty pallet pieces at the unloading empty pallet opening, and the preset second advance call number of pieces, so as to ensure the continuity of production of automated equipment and improve production efficiency.

[0079] In one possible implementation, the AGV unloading advance call task may include: pallet loading call task, unloading call task, and continuous pallet loading and unloading call task; S104 may include:

[0080] S1041: Calculate the sum of the number of pieces to be cut and the preset number of pieces to be called in advance, as the third parameter; calculate the sum of the number of empty pallet pieces at the empty pallet opening and the number of pieces to be cut, as the fourth parameter; calculate the difference between the number of empty pallet pieces at the empty pallet opening and the preset number of pieces to be called in advance, as the fifth parameter.

[0081] S1042: Generate a material unloading call task based on the third, fourth, and fifth parameters;

[0082] S1043: Generate an upper pallet call task or an upper pallet unloading continuous call task based on the fourth and fifth parameters;

[0083] The pallet loading call task is used to instruct the AGV to transport empty pallets from the warehouse to the unloading port;

[0084] The unloading call task is used to instruct the AGV to transport the finished product from the unloading port to the warehouse;

[0085] The continuous pallet loading and unloading call task is used to instruct the AGV to transport empty pallets from the warehouse to the unloading port, and to transport finished products from the unloading port to the warehouse.

[0086] In this embodiment of the invention, the second advance call number is used to indicate that a call is made when there are still two or more empty slots remaining at the unloading port, so as to promptly remove the finished products from the unloading port and avoid production stoppage caused by finished product accumulation. The second advance call number is also used to indicate that a call is made in advance when there are still two or more empty slots remaining at the unloading empty pallet port, so as to avoid insufficient empty pallets at the unloading empty pallet port and production stoppage. Based on this, in this embodiment of the invention, the third parameter, the fourth parameter, and the fifth parameter are calculated to generate an upper pallet call task, an unloading call task, or an upper pallet unloading continuous call task.

[0087] In one possible implementation, since the loading end and unloading end are close to each other, the second advance call number can be equal to the first advance call number.

[0088] In one possible implementation, S1042 may include:

[0089] 1. If the third parameter is not less than the maximum capacity of the discharge port and the fifth parameter is greater than 0, then a discharge call task will be generated;

[0090] 2. If the fifth parameter is not greater than 0 and the fourth parameter is greater than the maximum capacity of the discharge port, then a discharge call task will be generated.

[0091] If the fifth parameter (the difference between the number of empty pallets at the empty pallet outlet and the preset second advance call number of pallets) is greater than 0, it means that there are enough empty pallets at the empty pallet outlet and no need to replenish them; at the same time, if the third parameter (the sum of the number of pallets to be discharged and the preset second advance call number of pallets) is not less than the maximum capacity of the discharge outlet, it means that there may be a backlog at the discharge outlet before the AGV arrives; therefore, it is only necessary to generate a discharge call task.

[0092] If the fifth parameter is not greater than 0, it means that empty pallets are about to run out and need to be replenished. If the fourth parameter (the sum of the number of empty pallets at the discharge port and the number of finished products) is greater than the maximum capacity of the discharge port, it means that there may be accumulation at the discharge port during production. If the AGV replenishes empty pallets first and then moves the finished products at the discharge port, there will not be enough time, which will cause accumulation. Therefore, the AGV directly executes the discharge call task.

[0093] In one possible implementation, S1043 may include:

[0094] 1. If the fifth parameter is not greater than 0 and the fourth parameter is less than the preset sixth parameter, generate an upper tray call task;

[0095] 2. If the fifth parameter is not greater than 0, and the fourth parameter is not less than the preset sixth parameter is not greater than the maximum capacity of the discharge port, a continuous call task for upper pallet unloading will be generated.

[0096] The preset sixth parameter is less than the maximum capacity of the feed port.

[0097] If the fifth parameter (the difference between the number of empty pallets at the empty pallet outlet and the preset second advance call number) is not greater than 0, it indicates that there will soon be insufficient empty pallets, and additional empty pallets need to be added. If the fourth parameter (the sum of the number of empty pallets at the empty pallet outlet and the number of pallets to be delivered) is less than the preset sixth parameter (the sixth parameter is less than the maximum capacity of the discharge outlet), there will be no accumulation. Therefore, an upper pallet call task can be generated.

[0098] If the fifth parameter is not greater than 0, it means that there will not be enough empty pallets and empty pallets need to be replenished. If the fourth parameter is not less than the preset sixth parameter is not greater than the maximum capacity of the discharge port, the AGV will not cause the discharge port to accumulate after replenishing the empty pallets. In this way, the AGV can be controlled to transport the finished products back to the warehouse after transporting the empty pallets, saving the working time of the AGV and improving the work efficiency.

[0099] Regarding the above, it should be noted that the first and second advance call numbers can be set according to the actual application. For example, they can be adjusted in real time based on work orders.

[0100] It should be understood that the sequence number of each step in the above embodiments 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 the present invention.

[0101] The following are device embodiments of the present invention. For details not described in detail, please refer to the corresponding method embodiments described above.

[0102] Figure 3 A schematic diagram of the AGV scheduling and control device provided in an embodiment of the present invention is shown. For ease of explanation, only the parts related to the embodiment of the present invention are shown, and are described in detail below:

[0103] like Figure 3 As shown, the AGV scheduling and control device includes:

[0104] The first parameter acquisition module 21 is used to acquire the number of feeding pieces at the feeding port, the number of empty pallet pieces at the empty pallet feeding port, and the preset number of pieces to be called in advance.

[0105] The first advance call task generation module 22 is used to generate AGV loading advance call tasks based on the number of loading pieces, the number of empty pallet pieces at the loading empty pallet opening, and the preset number of first advance call pieces.

[0106] In one possible implementation, the AGV loading advance call task may include: a loading call task, a pallet unloading call task, and a continuous loading and unloading call task; the first advance call task generation module 22 may include:

[0107] The first calculation unit is used to calculate the difference between the number of feed pieces and the preset first advance call piece number as a first parameter; and to calculate the sum between the number of empty pallet pieces at the feed empty pallet opening and the preset first advance call piece number as a second parameter.

[0108] The first task issuing unit is used to generate a loading call task or a continuous loading and unloading call task based on the first parameter and the number of empty pallets at the loading empty pallet opening.

[0109] The second task issuing unit is used to generate a tray call task based on the first parameter and the second parameter.

[0110] Among them, the loading call task is used to instruct the AGV to transport raw materials from the warehouse to the loading port;

[0111] The pallet drop call task is used to instruct the AGV to transport empty pallets from the empty pallet loading port to the warehouse;

[0112] The continuous pallet loading and unloading call task is used to instruct the AGV to transport raw materials from the warehouse to the loading port and empty pallets from the empty pallet loading port to the warehouse.

[0113] In one possible implementation, the first task issuing unit may specifically be used for:

[0114] 1. If the first parameter is not greater than 0, and the number of empty pallets at the empty pallet opening is equal to 0, then a loading call task is generated;

[0115] 2. If the first parameter is not greater than 0, and the number of empty pallets at the loading empty pallet opening is greater than 0, then a continuous loading and unloading pallet call task will be generated.

[0116] In one possible implementation, the second task issuing unit may be specifically used to: generate a pallet lowering call task if the first parameter is greater than 0 and the second parameter is not less than the maximum capacity of the empty pallet opening.

[0117] In one possible implementation, the above-described apparatus may further include:

[0118] The second parameter acquisition module is used to acquire the number of pieces being fed from the feeding port, the number of empty pallet pieces from the empty pallet feeding port, and the preset number of pieces to be called in advance.

[0119] The second advance call task generation module is used to generate AGV advance call tasks based on the number of material feeding pieces, the number of empty pallet pieces at the material feeding empty pallet opening, and the preset number of second advance call pieces.

[0120] In one possible implementation, the AGV unloading advance call task may include: pallet loading call task, unloading call task, and continuous pallet loading and unloading call task; the second advance call task generation module may include:

[0121] The second calculation unit is used to calculate the sum of the number of pieces to be fed and the preset number of pieces to be called in advance, as the third parameter; to calculate the sum of the number of empty pallet pieces at the empty pallet opening and the number of pieces to be fed, as the fourth parameter; and to calculate the difference between the number of empty pallet pieces at the empty pallet opening and the preset number of pieces to be called in advance, as the fifth parameter.

[0122] The third task issuing unit is used to generate a material unloading call task based on the third, fourth and fifth parameters;

[0123] The fourth task issuing unit is used to generate an upper pallet call task or an upper pallet unloading continuous call task based on the fourth and fifth parameters.

[0124] The pallet loading call task is used to instruct the AGV to transport empty pallets from the warehouse to the unloading port;

[0125] The unloading call task is used to instruct the AGV to transport the finished product from the unloading port to the warehouse;

[0126] The continuous pallet loading and unloading call task is used to instruct the AGV to transport empty pallets from the warehouse to the unloading port, and to transport finished products from the unloading port to the warehouse.

[0127] In one possible implementation, the third task issuing unit can be specifically used for:

[0128] 1. If the third parameter is not less than the maximum capacity of the discharge port and the fifth parameter is greater than 0, then a discharge call task will be generated;

[0129] 2. If the fifth parameter is not greater than 0 and the fourth parameter is greater than the maximum capacity of the discharge port, then a discharge call task will be generated.

[0130] In one possible implementation, the fourth task issuing unit may specifically include:

[0131] 1. If the fifth parameter is not greater than 0 and the fourth parameter is less than the preset sixth parameter, generate an upper tray call task;

[0132] 2. If the fifth parameter is not greater than 0, and the fourth parameter is not less than the preset sixth parameter is not greater than the maximum capacity of the discharge port, a continuous call task for upper pallet unloading will be generated.

[0133] The preset sixth parameter is less than the maximum capacity of the feed port.

[0134] Figure 4 This is a schematic diagram of the control terminal 3 provided in an embodiment of the present invention. Figure 4 As shown, the control terminal 3 in this embodiment includes a processor 30 and a memory 31. The memory 31 is used to store a computer program 32, and the processor 30 is used to call and run the computer program 32 stored in the memory 31 to execute the steps in the various AGV scheduling and control method embodiments described above, for example... Figure 2 The steps S101 to S102 are shown. Alternatively, the processor 30 is used to call and run the computer program 32 stored in the memory 31 to implement the functions of each module / unit in the above-described device embodiments, for example... Figure 3 The functions of modules 21 and 22 shown.

[0135] For example, computer program 32 can be divided into one or more modules / units, one or more of which are stored in memory 31 and executed by processor 30 to complete the present invention. One or more modules / units can be a series of computer program instruction segments capable of performing a specific function, which describe the execution process of computer program 32 in control terminal 3. For example, computer program 32 can be divided into... Figure 3 Modules / units 21 to 22 are shown.

[0136] The control terminal 3 can be a desktop computer, laptop, handheld computer, or cloud server, etc. The control terminal 3 may include, but is not limited to, a processor 30 and a memory 31. Those skilled in the art will understand that... Figure 4 This is merely an example of control terminal 3 and does not constitute a limitation on control terminal 3. It may include more or fewer components than shown, or combine certain components, or different components. For example, the terminal may also include input / output devices, network access devices, buses, etc.

[0137] The processor 30 may be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor.

[0138] The memory 31 can be an internal storage unit of the control terminal 3, such as a hard disk or RAM of the control terminal 3. The memory 31 can also be an external storage device of the control terminal 3, such as a plug-in hard disk, Smart Media Card (SMC), Secure Digital (SD) card, or Flash Card equipped on the control terminal 3. Furthermore, the memory 31 can include both internal and external storage units of the control terminal 3. The memory 31 is used to store computer programs and other programs and data required by the terminal. The memory 31 can also be used to temporarily store data that has been output or will be output.

[0139] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this application. The specific working process of the units and modules in the above system can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0140] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0141] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

[0142] In the embodiments provided by this invention, it should be understood that the disclosed devices / terminals and methods can be implemented in other ways. For example, the device / terminal embodiments described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0143] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0144] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0145] If an integrated module / unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments of the present invention can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include: any entity or device capable of carrying computer program code, recording media, USB flash drives, portable hard drives, magnetic disks, optical disks, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc.

[0146] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included within the protection scope of the present invention.

Claims

1. An AGV scheduling and control method, characterized in that, include: Get the number of pieces fed at the feeding port, the number of empty pallet pieces at the empty pallet feeding port, and the preset number of pieces to be called in advance; Based on the number of feeding pieces, the number of empty pallet pieces at the feeding empty pallet opening, and the preset first advance call number of pieces, an AGV feeding advance call task is generated; The AGV loading advance call task includes: loading call task, pallet unloading call task, and continuous loading and unloading call task; the generation of the AGV loading advance call task based on the number of loading pieces, the number of empty pallet pieces at the loading empty pallet opening, and the preset first advance call number of pieces includes: Calculate the difference between the number of feeding pieces and the preset first advance call piece number, as a first parameter; calculate the sum between the number of empty pallet pieces at the feeding empty pallet opening and the preset first advance call piece number, as a second parameter; Based on the first parameter and the number of empty pallets at the loading empty pallet opening, generate the loading call task or the loading unloading continuous pallet call task; The lower tray call task is generated based on the first parameter and the second parameter; The loading call task is used to instruct the AGV to transport raw materials from the warehouse to the loading port; The pallet drop call task is used to instruct the AGV to transport empty pallets from the empty pallet loading port to the warehouse; The continuous pallet loading and unloading call task is used to instruct the AGV to transport raw materials from the warehouse to the loading port and empty pallets from the empty pallet loading port to the warehouse.

2. The AGV scheduling and control method according to claim 1, characterized in that, The step of generating the loading call task or the continuous loading / unloading call task based on the first parameter and the number of empty pallet pieces at the loading empty pallet opening includes: If the first parameter is not greater than 0, and the number of empty pallet pieces at the empty pallet opening is equal to 0, then the loading call task is generated. If the first parameter is not greater than 0, and the number of empty pallet pieces at the loading empty pallet opening is greater than 0, then the continuous loading and unloading pallet call task is generated.

3. The AGV scheduling and control method according to claim 1, characterized in that, The step of generating the lower tray call task based on the first parameter and the second parameter includes: If the first parameter is greater than 0 and the second parameter is not less than the maximum capacity of the empty pallet opening, then the pallet lowering call task is generated.

4. The AGV scheduling and control method according to any one of claims 1 to 3, characterized in that, The method further includes: Get the number of pieces fed from the feeding port, the number of empty pallet pieces from the empty pallet port, and the preset number of pieces for the second advance call; An AGV advance dispatching task is generated based on the number of material feed pieces, the number of empty pallet pieces at the material feed empty pallet opening, and the preset second advance dispatching number of material feed pieces.

5. The AGV scheduling and control method according to claim 4, characterized in that, The AGV pre-discharge call task includes: pallet loading call task, unloading call task, and continuous pallet loading and unloading call task; the generation of the AGV pre-discharge call task based on the number of unloading pieces, the number of empty pallet pieces at the unloading empty pallet opening, and the preset second pre-call piece count includes: The sum of the number of pieces to be fed and the preset second advance call number is used as the third parameter; the sum of the number of empty pallet pieces at the empty pallet opening and the number of pieces to be fed is used as the fourth parameter; the difference between the number of empty pallet pieces at the empty pallet opening and the preset second advance call number is used as the fifth parameter. The material unloading call task is generated based on the third parameter, the fourth parameter, and the fifth parameter; Based on the fourth parameter and the fifth parameter, generate the upper pallet calling task or the upper pallet unloading continuous calling task; The pallet call task is used to instruct the AGV to transport empty pallets from the warehouse to the unloading port; The unloading call task is used to instruct the AGV to transport the finished product from the unloading port to the warehouse; The continuous pallet unloading call task is used to instruct the AGV to transport empty pallets from the warehouse to the empty pallet unloading port, and to transport finished products from the unloading port to the warehouse.

6. The AGV scheduling and control method according to claim 5, characterized in that, The step of generating the material unloading call task based on the third parameter, the fourth parameter, and the fifth parameter includes: If the third parameter is not less than the maximum capacity of the discharge port and the fifth parameter is greater than 0, then the discharge call task is generated; If the fifth parameter is not greater than 0 and the fourth parameter is greater than the maximum capacity of the discharge port, then a discharge call task is generated.

7. The AGV scheduling and control method according to claim 5, characterized in that, The step of generating the upper pallet calling task and the upper pallet unloading continuous calling task based on the fourth parameter and the fifth parameter includes: If the fifth parameter is not greater than 0 and the fourth parameter is less than the preset sixth parameter, the upper tray call task is generated. If the fifth parameter is not greater than 0, and the fourth parameter is not less than the preset sixth parameter is not greater than the maximum capacity of the discharge port, then the upper pallet unloading continuous call task is generated. The preset sixth parameter is less than the maximum capacity of the discharge port.

8. A control terminal, characterized in that, It includes a processor and a memory, the memory being used to store a computer program, and the processor being used to call and run the computer program stored in the memory to perform the steps of the AGV scheduling and control method as described in any one of claims 1 to 7.

9. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the steps of the AGV scheduling and control method as described in any one of claims 1 to 7.

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