Path execution control method and device, automatic guided vehicle and storage medium

Abstract

The invention discloses a path execution control method and device, an automatic guided vehicle and a storage medium, and the method comprises the steps: obtaining a current task and a current step number, and determining a current execution path from a preset task path region according to the current task and the current step number; when the radio frequency identification card number changes, whether the changed radio frequency identification card number exists in the current execution route is judged, and if the changed radio frequency identification card number exists in the current execution route, the automatic guided vehicle is controlled according to the changed radio frequency identification card number; and when the execution of the current execution route is completed and the current execution route is not the last route in the current task, acquiring and executing the next execution route until the current task is completed. According to the invention, route execution control can be carried out according to different tasks, and the adaptability of the automatic guided vehicle and the working efficiency of logistics carrying can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic guided vehicles, and in particular to a path execution control method, device, automatic guided vehicle and storage medium. Background Art

[0002] With the rapid development of the logistics automation industry, autonomous unmanned handling automatic guided vehicles have emerged. According to different navigation methods, they can be divided into magnetic navigation control, QR code navigation control, laser navigation control, magnetic nail navigation control, etc. Among them, magnetic navigation is considered to be a very mature technology. It mainly obtains the position deviation between the vehicle itself and the target tracking path by measuring the magnetic field signal on the path, thereby realizing the control and navigation of the vehicle. Magnetic navigation has high measurement accuracy and good repeatability. Because it is not easily affected by light changes, it is stable and reliable during operation. Once the magnetic strip is laid, the maintenance cost is very low, the service life is long, and it is easy to add and change the path. The cost of magnetic navigation automatic guided vehicles is relatively low, the path is easy to lay, change or expand, and it saves management energy and has high safety. It is particularly suitable for scenarios where factory transportation routes are relatively fixed and budgets are limited, which enables more small and medium-sized enterprises to benefit.

[0003] When performing path execution control, existing magnetic navigation automatic guided vehicles can only navigate according to a preset fixed route and cannot execute the route according to a specific task, resulting in poor adaptability of the automatic guided vehicle and low efficiency in logistics handling. Summary of the invention

[0004] The embodiments of the present invention provide a path execution control method, device, automatic guided vehicle and storage medium, which can perform route execution control according to different tasks, improve the adaptability of the automatic guided vehicle and the work efficiency of logistics handling.

[0005] In a first aspect, an embodiment of the present invention provides a path execution control method, which includes:

[0006] Acquire the current task and the current step number, and confirm the current execution route from the preset task route area according to the current task and the current step number;

[0007] When the RFID card number changes, determining whether the changed RFID card number exists in the current execution route, and if so, controlling the automatic guided vehicle according to the changed RFID card number;

[0008] When the current execution route is completed and the current execution route is not the last route in the current task, the next execution route is acquired and executed until the current task is completed.

[0009] In a second aspect, an embodiment of the present invention provides a path execution control device, which includes:

[0010] A current execution route confirmation unit, used to obtain a current task and a current step number, and confirm a current execution route from a preset task route area according to the current task and the current step number;

[0011] a card number changing unit, configured to, when the RFID card number changes, determine whether the changed RFID card number exists in the current execution route, and if so, control the automatic guided vehicle according to the changed RFID card number;

[0012] The task completion unit is used to obtain and execute the next execution route when the current execution route is completed and the current execution route is not the last route in the current task, until the current task is completed.

[0013] In a third aspect, an embodiment of the present invention provides an automatic guided vehicle, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the path execution control method described in the first aspect when executing the computer program.

[0014] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor executes the path execution control method described in the first aspect above.

[0015] The embodiment of the present invention provides a path execution control method, device, automatic guided vehicle and storage medium, the method comprising: obtaining the current task and the current step number, confirming the current execution route from the preset task route area according to the current task and the current step number; when the radio frequency identification card number changes, judging whether the changed radio frequency identification card number exists in the current execution route, if so, controlling the automatic guided vehicle according to the changed radio frequency identification card number; when the current execution route is completed and the current execution route is not the last route in the current task, obtaining and executing the next execution route until the current task is completed. The embodiment of the present invention can generate a corresponding execution route according to the current task to control the automatic guided vehicle, and can timely adjust the automatic guided vehicle control when the radio frequency identification card number changes, so as to realize the ability to perform route execution control according to different tasks, which is conducive to improving the adaptability of the automatic guided vehicle and the work efficiency of logistics handling. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying any creative work.

[0017] Figure 1 A schematic diagram of a flow chart of a path execution control method provided by an embodiment of the present invention;

[0018] Figure 2 A schematic diagram of path planning and RFID card placement provided by an embodiment of the present invention;

[0019] Figure 3 A schematic diagram of a sub-process of a path execution control method provided by an embodiment of the present invention;

[0020] Figure 4 A schematic diagram of a sub-process of a path execution control method provided by an embodiment of the present invention;

[0021] Figure 5 A schematic diagram of a sub-process of a path execution control method provided by an embodiment of the present invention;

[0022] Figure 6 A schematic diagram of a sub-process of a path execution control method provided by an embodiment of the present invention;

[0023] Figure 7 A schematic diagram of a sub-process of a path execution control method provided by an embodiment of the present invention;

[0024] Figure 8 A schematic block diagram of a path execution control device provided by an embodiment of the present invention;

[0025] Fig. 9 A schematic block diagram of an automatic guided vehicle provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0026] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0027] It should be understood that when used in this specification and the appended claims, the terms "include" and "comprises" indicate the presence of described features, integers, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or combinations thereof.

[0028] It should also be understood that the terms used in this specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. As used in the specification of the present invention and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to include plural forms.

[0029] It should be further understood that the term "and / or" used in the present description and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0030] See also Figure 1 and Figure 2 , Figure 1 A schematic diagram of a flow chart of a path execution control method provided by an embodiment of the present invention, Figure 2 The schematic diagram of path planning and RFID card placement provided by the embodiment of the present invention. The path execution control method provided by the embodiment of the present invention is applied to an automatic guided vehicle.

[0031] S1. Obtain the current task and the current step number, and confirm the current execution route from the preset task route area according to the current task and the current step number.

[0032] Specifically, the current task and the current step number are obtained from the host computer system, and then the current execution route is confirmed from the preset task route area according to the current task and the current step number, and then the control instruction of the automatic guided vehicle is determined according to the current radio frequency identification card number in the current execution route, so as to realize the control of the automatic guided vehicle. Among them, the current task refers to the task number that the automatic guided vehicle (AGV) needs to execute, which is used to determine the execution route. The current step number indicates the number of the first execution route currently executed by the automatic guided vehicle. In the embodiment of the present application, the automatic guided vehicle is a magnetically navigated automatic guided vehicle.

[0033] Furthermore, before step S1, the embodiment of the present application needs to set the task route area, the RFID card number area and the action function area. Figure 2 As shown, Figure 2The black straight line in the middle represents a section of magnetic stripe, which is the sensing path of the magnetic guide vehicle. Card 1 to Card 4 represent the location and card number of the radio frequency identification (RFID) function card. After the automatic guided vehicle card reader scans the card, it determines the next action according to the set function and card number. The route is A to B as Route 1 and B to A as Route 2, which is used to distinguish the driving direction of the automatic guided vehicle. In a specific embodiment, the upper computer system issues Task 1, from A to B (Route 1), to achieve acceleration, deceleration, and pause switching for Route 2, and then to achieve acceleration, deceleration, and pause switching, so as to run back and forth in a circle. Landmark cards are set according to the purpose: Route 1: Card 1 is an empty card, Card 2 is an acceleration card, Card 3 is a deceleration card, and Card 4 is a pause switching card; Route 2: Card 4 is an empty card, Card 3 is an acceleration card, Card 2 is a deceleration card, and Card 1 is a pause switching card. Function storage area 1 includes address 1.1, address 1.2, address 1.3, etc. These addresses are defined as 0 invalid card, 1 acceleration, 2 deceleration, 3 pause switching, etc. Function execution area 2 includes address 2.1, address 2.2, address 2.3, etc. These addresses are defined as invalid, acceleration, deceleration, pause and reversing, etc.

[0034] In a specific embodiment, the task route area includes 3 tasks, each task has 10 routes, occupying 30 addresses. The RFID card number area includes 10 routes, each route stores 10 card numbers, occupying 100 addresses. The action function area includes 10 routes, each route stores 10 function numbers, occupying 100 addresses. The task route area is shown in Table 1:

[0035] Table 1 Mission route area

[0036]

[0037] The card number area of ​​the RFID is set as shown in Table 2:

[0038] Table 2 Card number area of ​​RFID

[0039]

[0040]

[0041] The action function areas to be set are shown in Table 3:

[0042] Table 3 Action function area

[0043]

[0044]

[0045] See also Figure 3 , Figure 3 A specific implementation of step S1 is shown, which is described in detail as follows:

[0046] S11: Obtain the current task and the current step number from the host computer system.

[0047] S12: Calculate the current route number based on the current task and the current step number using a preset formula.

[0048] S13: confirming the current execution route from the preset task route area based on the current route number.

[0049] Specifically, the current task and the current step number are obtained from the host computer system, and then the current route number is calculated based on the current task and the current step number using a preset formula. The preset formula is: C = 10*(a-1)+(b-1), C is the route number, a is the current task, and b is the step number. Then, the current route number is used to confirm the current execution route from the preset task route area. When no change in the RFID card number is detected, the automatic guided vehicle performs driving control according to the previous driving plan.

[0050] In a specific embodiment, when the current task number a issued is 1 and the current step number b is 1, the current route number is 0. Then, the current route number can be obtained from the task route area in Table 1 above, which is the value 1 stored in the task route [0] address, that is, the current task is task 1 and the current execution route is route 1.

[0051] S2. When the RFID card number changes, determine whether the changed RFID card number exists in the current execution route, and if so, control the automatic guided vehicle according to the changed RFID card number.

[0052] Specifically, the RFID card number in the current execution route is read by the card reader. If the read RFID changes, it is determined whether the changed RFID card number exists in the current execution route. If the changed RFID card number exists in the current execution route, the automatic guided vehicle is controlled according to the action function value corresponding to the changed RFID card number; if the changed RFID card number does not exist in the current execution route, the automatic guided vehicle travels according to the previous control instructions.

[0053] See also Figure 4 , Figure 4 A specific implementation of step S2 is shown, which is described in detail as follows:

[0054] S21: When the RFID card number changes, it is determined whether the changed RFID card number exists in the card number area corresponding to the current execution route, and a determination result is obtained.

[0055] S22: If the judgment result is that the changed RFID card number exists in the card number area corresponding to the current execution route, the storage address corresponding to the changed RFID card number is obtained to obtain the target storage address.

[0056] S23: Identify the function action value in the current address, obtain the target function action value, and control the automatic guided vehicle according to the target function action value.

[0057] Specifically, when the RFID card number changes, traverse the above Table 2 to determine whether the changed RFID card number exists in the card number area corresponding to the current execution route, and obtain a determination result; if the determination result is that the changed RFID card number exists in the card number area corresponding to the current execution route, obtain the storage address corresponding to the changed RFID card number from Table 2 to obtain the target storage address. Finally, identify the function action value in the current address from Table 3 to obtain the target function action value, and control the automated guided vehicle according to the target function action value.

[0058] See also Figure 5 , Figure 5 A specific implementation of step S23 is shown, which is described in detail as follows:

[0059] S231: Identify the function action value in the current address and obtain the target function action value.

[0060] S232: Generate a target control instruction according to the functional action value.

[0061] S233: replacing the control instruction in the function storage area with the target control instruction, and controlling the automatic guided vehicle according to the target control instruction.

[0062] Specifically, the value in the address in the action function area of ​​the above Table 3 corresponds to different control instructions of the automatic guided vehicle, and the value in the address is the function action value. A target control instruction is generated according to the function action value. The control instruction in the function storage area is replaced by the target control instruction, and the automatic guided vehicle is controlled according to the target control instruction.

[0063] For example, if the function action value is 0, the target control instruction is an invalid instruction, the automatic guided vehicle does not change the control instruction, and the automatic guided vehicle follows the previous driving plan, that is, the corresponding RFID card is an empty card. If the function action value is 1, the target control instruction is an acceleration instruction, the automatic guided vehicle performs acceleration control, that is, the corresponding RFID card is an acceleration card. If the function action value is 2, the target control instruction is a deceleration instruction, the automatic guided vehicle performs deceleration control, that is, the corresponding RFID card is an acceleration card. If the function action value is 3, the target control instruction is a pause and reversing instruction, the automatic guided vehicle performs pause and reversing control, that is, the corresponding RFID card is a pause and reversing card.

[0064] In a specific embodiment, if the current execution route is route 1, the RFID card number read from the card reader in the current execution route is 1, and the previous RFID card number is 0, so the RFID card number has changed. From the above Table 2, the RFID card number area can be identified, and it can be retrieved that there is an RFID card number of card number [1], and the value in the address of card number [1] is 2, that is, the target storage address is 2; then from Table 3, the target storage address 2 corresponds to the function number [2], and the value in the corresponding address is 2, that is, the function action value is 2, then the target control instruction is a deceleration instruction, and the control instruction in the function storage area is replaced by the target control instruction, and the automatic guided vehicle performs deceleration control.

[0065] S3. When the current execution route is completed and the current execution route is not the last route in the current task, obtain and execute the next execution route until the current task is completed.

[0066] Specifically, when all control instructions of the current execution path are executed, it is determined that the current execution route is executed, and the next execution route is re-acquired and executed until the current task is completed.

[0067] See also Figure 6 , Figure 6 A specific implementation of step S3 is shown, which is described in detail as follows:

[0068] S31: When all control instructions of the current execution path are executed, it is determined that the current execution path is executed.

[0069] S32: Determine whether the current execution route is the last route in the current task.

[0070] S33: If the current execution route is not the last route in the current task, acquiring the next execution route from the preset task route area.

[0071] S34: Execute the next execution route until the current task is completed.

[0072] Specifically, when all control instructions of the current execution path are executed, the current execution route is determined to be completed. It is determined whether the current execution route is the last route in the current task. If it is the last route, the current task has been completed and it is necessary to wait for the next task to be issued. If the current execution route is not the last route in the current task, the next execution route is obtained from the preset task route area and the next execution route is executed until the current task is completed.

[0073] See also Figure 7 , Figure 7 A specific implementation of step S33 is shown, which is described in detail as follows:

[0074] S331: If the current execution route is not the last route in the current task, the current step number is incremented to generate a target step number.

[0075] S332: Acquire the next execution route from the preset task route area according to the current task and the target step number.

[0076] Specifically, if the current execution route is not the last route in the current task, the current step number is incremented, that is, the current step number is added by 1 to obtain a new step number, that is, the target step number is generated. Then, the above preset formula is used to calculate the new route number based on the target step number and the current task, and the new execution route is determined from Table 1 according to the new route number, so as to obtain the next execution route.

[0077] In an embodiment of the present application, the current task and the current step number are obtained, and the current execution route is confirmed from the preset task route area according to the current task and the current step number; when the RFID card number changes, it is determined whether the changed RFID card number exists in the current execution route, and if so, the automatic guided vehicle is controlled according to the changed RFID card number; when the current execution route is completed and the current execution route is not the last route in the current task, the next execution route is obtained and executed until the current task is completed. The embodiment of the present invention can generate a corresponding execution route according to the current task to control the automatic guided vehicle, and can adjust the automatic guided vehicle control in time when the RFID card number changes, so as to realize the ability to perform route execution control according to different tasks, which is conducive to improving the adaptability of the automatic guided vehicle and the work efficiency of logistics handling.

[0078] The embodiment of the present invention further provides a path execution control device, which is used to execute any embodiment of the above-mentioned path execution control method. Figure 8 , Figure 8A schematic block diagram of a path execution control device provided in an embodiment of the present invention.

[0079] Among them, Figure 8 As shown, the path execution control device 4 includes a current execution route confirmation unit 41, a card number changing unit 42 and a task completion unit 43.

[0080] The current execution route confirmation unit 41 is used to obtain the current task and the current step number, and confirm the current execution route from the preset task route area according to the current task and the current step number;

[0081] a card number changing unit 42, configured to, when the RFID card number is changed, determine whether the changed RFID card number exists in the current execution route, and if so, control the automatic guided vehicle according to the changed RFID card number;

[0082] The task completion unit 43 is used to obtain and execute the next execution route when the current execution route is completed and the current execution route is not the last route in the current task, until the current task is completed.

[0083] Furthermore, the currently executed route confirmation unit 41 includes:

[0084] A current task acquisition unit, used to acquire the current task and the current step number from the host computer system;

[0085] a current route number calculation unit, configured to calculate a current route number based on the current task and the current step number using a preset formula;

[0086] The execution route confirmation unit is used to confirm the current execution route from the preset task route area based on the current route number.

[0087] Furthermore, the preset formula is:

[0088] C = 10*(a-1)+(b-1);

[0089] Among them, C is the current route number, a is the current task, and b is the current step number.

[0090] Further, the card number changing unit 42 includes:

[0091] A first judgment unit is used to judge whether the changed RFID card number exists in the card number area corresponding to the current execution route when the RFID card number changes, and obtain a judgment result;

[0092] a target storage address acquisition unit, configured to acquire a storage address corresponding to the changed RFID card number to obtain a target storage address if the judgment result is that the changed RFID card number exists in the card number area corresponding to the current execution route;

[0093] The first control unit is used to identify the function action value in the current address, obtain the target function action value, and control the automatic guided vehicle according to the target function action value.

[0094] Furthermore, the first control unit includes:

[0095] A target function action value identification unit, used to identify the function action value in the current address to obtain the target function action value;

[0096] A target control instruction generating unit, used for generating a target control instruction according to the functional action value;

[0097] The second control unit is used to replace the control instructions in the function storage area with the target control instructions, and control the automatic guided vehicle according to the target control instructions.

[0098] Furthermore, the task completion unit 43 includes:

[0099] An execution completion unit, used to determine that the current execution path is completed when all control instructions of the current execution path are executed;

[0100] A second judgment unit, used to judge whether the current execution route is the last route in the current task;

[0101] a next execution route acquisition unit, configured to acquire the next execution route from the preset task route area if the current execution route is not the last route in the current task;

[0102] The next execution route execution unit is used to execute the next execution route until the current task is completed.

[0103] Furthermore, the next execution route acquisition unit includes:

[0104] a target step number generating unit, configured to increment the current step number to generate a target step number if the current execution route is not the last route in the current task;

[0105] A route acquisition unit is used to acquire the next execution route from the preset task route area according to the current task and the target step number.

[0106] In an embodiment of the present application, the current task and the current step number are obtained, and the current execution route is confirmed from the preset task route area according to the current task and the current step number; when the RFID card number changes, it is determined whether the changed RFID card number exists in the current execution route, and if so, the automatic guided vehicle is controlled according to the changed RFID card number; when the current execution route is completed and the current execution route is not the last route in the current task, the next execution route is obtained and executed until the current task is completed. The embodiment of the present invention can generate a corresponding execution route according to the current task to control the automatic guided vehicle, and can adjust the automatic guided vehicle control in time when the RFID card number changes, so as to realize the ability to perform route execution control according to different tasks, which is conducive to improving the adaptability of the automatic guided vehicle and the work efficiency of logistics handling.

[0107] The above-mentioned path execution control device can be implemented in the form of a computer program. The computer program can be Fig. 9 The automated guided vehicle shown is running.

[0108] See also Fig. 9 , Fig. 9 5 is a schematic block diagram of an automatic guided vehicle provided by an embodiment of the present invention. The automatic guided vehicle 500 includes a processor 502 , a memory and a network interface 505 connected via a device bus 501 , wherein the memory may include a storage medium 503 and an internal memory 504 .

[0109] The storage medium 503 can store an operating device 5031 and a computer program 5032. When the computer program 5032 is executed, the processor 502 can execute the path execution control method.

[0110] The processor 502 is used to provide computing and control capabilities to support the operation of the entire automatic guided vehicle 500.

[0111] The internal memory 504 provides an environment for the operation of the computer program 5032 in the storage medium 503. When the computer program 5032 is executed by the processor 502, the processor 502 can execute the path execution control method.

[0112] The network interface 505 is used for network communication, such as providing data information transmission, etc. Those skilled in the art can understand that the structure shown in the embodiment of the present application is only a block diagram of a part of the structure related to the solution of the present invention, and does not constitute a limitation on the automatic guided vehicle 500 to which the solution of the present invention is applied. The specific automatic guided vehicle 500 may include more or less components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0113] The processor 502 is used to run the computer program 5032 stored in the memory to implement the path execution control method disclosed in the embodiment of the present invention.

[0114] Those skilled in the art will appreciate that the embodiments of the automated guided vehicle shown in the embodiments of the present application do not constitute a limitation on the specific configuration of the automated guided vehicle. In other embodiments, the automated guided vehicle may include more or fewer components than shown, or combine certain components, or arrange the components differently. For example, in some embodiments, the automated guided vehicle may include only a memory and a processor. In such embodiments, the structure and function of the memory and the processor are consistent with those in the embodiments shown above, and will not be described in detail herein.

[0115] It should be understood that in the embodiment of the present invention, the processor 502 may be a central processing unit (CPU), and the processor 502 may also be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. Among them, the general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0116] In another embodiment of the present invention, a computer-readable storage medium is provided. The computer-readable storage medium may be a non-volatile computer-readable storage medium or a volatile computer-readable storage medium. The computer-readable storage medium stores a computer program, wherein when the computer program is executed by a processor, the path execution control method disclosed in the embodiment of the present invention is implemented.

[0117] Those skilled in the art can clearly understand that, for the convenience and simplicity of description, the specific working process of the above-described equipment, devices and units can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here. Those of ordinary skill in the art can appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented with electronic hardware, computer software or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in the above description according to the function. Whether these functions are executed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present invention.

[0118] In the several embodiments provided by the present invention, it should be understood that the disclosed equipment, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of units is only a logical function division. There may be other division methods in actual implementation. Units with the same function may also be combined into one unit. For example, multiple units or components may be combined or integrated into another device, or some features may be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interfaces, devices or units, or may be an electrical, mechanical or other form of connection.

[0119] 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 embodiments of the present invention.

[0120] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0121] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a storage medium. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, a background server, or a network device, etc.) to perform all or part of the steps of the methods of various embodiments of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), disk or optical disk and other media that can store program codes.

[0122] The above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed by the present invention, and these modifications or replacements should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A path execution control method, applied to an automatic guided vehicle with magnetic navigation, characterized in that: include: Acquire the current task and the current step number, and confirm the current execution route from the preset task route area according to the current task and the current step number; When the RFID card number changes, determining whether the changed RFID card number exists in the current execution route, and if so, controlling the automatic guided vehicle according to the changed RFID card number; When the current execution route is completed and the current execution route is not the last route in the current task, the next execution route is acquired and executed until the current task is completed.

2. The path execution control method according to claim 1, characterized in that: When the RFID card number changes, determining whether the changed RFID card number exists in the current execution route, and if so, controlling the automatic guided vehicle according to the changed RFID card number, including: When the RFID card number changes, determining whether the changed RFID card number exists in the card number area corresponding to the current execution route, and obtaining a determination result; If the judgment result is that the changed RFID card number exists in the card number area corresponding to the current execution route, then obtaining the storage address corresponding to the changed RFID card number to obtain the target storage address; The function action value in the current address is identified, a target function action value is obtained, and the automatic guided vehicle is controlled according to the target function action value.

3. The path execution control method according to claim 2, characterized in that: The identifying the function action value in the current address, obtaining a target function action value, and controlling the automatic guided vehicle according to the target function action value includes: Identify the function action value in the current address and obtain the target function action value; generating a target control instruction according to the functional action value; The control instructions in the function storage area are replaced by the target control instructions, and the automatic guided vehicle is controlled according to the target control instructions.

4. The path execution control method according to claim 1, characterized in that: The obtaining of the current task and the current step number, and confirming the current execution route from a preset task route area according to the current task and the current step number, comprises: Obtain the current task and the current step number from the host computer system; Calculating a current route number based on the current task and the current step number using a preset formula; The current execution route is confirmed from the preset task route area based on the current route number.

5. The path execution control method according to claim 4, characterized in that: The preset formula is: C = 10*(a-1)+(b-1); Among them, C is the current route number, a is the current task, and b is the current step number.

6. The path execution control method according to any one of claims 1 to 5, characterized in that: When the current execution route is completed and the current execution route is not the last route in the current task, obtaining and executing the next execution route until the current task is completed includes: When all control instructions of the current execution path are executed, it is determined that the current execution path is executed; Determine whether the current execution route is the last route in the current task; If the current execution route is not the last route in the current task, acquiring the next execution route from the preset task route area; The next execution route is executed until the current task is completed.

7. The path execution control method according to claim 6, characterized in that: If the current execution route is not the last route in the current task, obtaining the next execution route from the preset task route area includes: If the current execution route is not the last route in the current task, the current step number is incremented to generate a target step number; The next execution route is obtained from the preset task route area according to the current task and the target step number.

8. A path execution control device, applied to a magnetic navigation automatic guided vehicle, characterized in that: include: A current execution route confirmation unit, used to obtain a current task and a current step number, and confirm a current execution route from a preset task route area according to the current task and the current step number; a card number changing unit, configured to, when the RFID card number changes, determine whether the changed RFID card number exists in the current execution route, and if so, control the automatic guided vehicle according to the changed RFID card number; The task completion unit is used to obtain and execute the next execution route when the current execution route is completed and the current execution route is not the last route in the current task, until the current task is completed.

9. An automatic guided vehicle, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the path execution control method according to any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, which, when executed by a processor, causes the processor to execute the path execution control method according to any one of claims 1 to 7.

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