Dispatching system for AGV complex transportation scene

Abstract

The invention discloses a scheduling system for an AGV (Automatic Guided Vehicle) complex transportation scene, which is characterized by comprising the following steps: deploying an operation system, importing a scene map, adding vehicle and task information, defining traffic management information and gating information, decomposing system tasks, and executing an AGV scheduling result by the scheduling system. Scheduling of multiple AGVs in a complex transportation scene is realized by adopting a front end and rear end separation mode, a Spring Boot framework of a Java language is adopted at the rear end, a user interface is constructed at the front end based on a Vue framework, and data storage is realized through an SQL database, so that the AGV scheduling efficiency is improved, the production cost is reduced, and the safety coefficient of a production field is improved.

Description

Technical Field

[0001] The present invention relates to the field of AGV application technology, and in particular to a scheduling system for AGV complex transportation scenarios, which is applicable to complex transportation scenarios with multiple AGVs. Background Art

[0002] AGV refers to a transport vehicle that uses electromagnetic or optical automatic guidance devices to travel along a specific guide path without human intervention and has safety protection and various transfer functions.

[0003] In common transportation scenarios, the basic process of handling operations can be roughly described as picking up goods from one point, delivering them to the destination, and unloading them. The operation form is relatively simple, especially for the transportation of certain dangerous goods, manual participation poses certain threats.

[0004] At present, when multiple AGVs work simultaneously in complex transportation scenarios, the vehicle information, task requirements, traffic control, etc. involved are relatively complex, and manual processing is difficult and inefficient. Summary of the invention

[0005] The purpose of the present invention is to overcome the deficiencies of the above-mentioned prior art and to provide a scheduling system for AGV complex transportation scenarios.

[0006] The technical solution provided by the present invention is: a scheduling system for AGV complex transportation scenarios, which is special in that it includes the following steps: a deploy the operating system, which refers to the scheduling system, including the front-end system page, back-end control system and database; The front-end page and the back-end control system share data through a database. The front-end page stores the user operation request in the database. The back-end control system implements the scheduling function by acquiring the database data and stores the scheduling result in the database for display by the front-end page. b. Import the scene map. First, import the scene map through the scheduling system. The map contains the site location information. The system automatically completes the job location conversion and path generation; c. Add vehicle and mission information; d. Define traffic control information and gate control information. Define the path intersection area of ​​the transportation site as the traffic control area, and the automatic door area as the gate control area. Define the traffic control site information and gate control site information before the system executes the task; e System task decomposition, the scheduling server loops through task decomposition and vehicle navigation tasks, and after each loop the results are fed back to the scheduling system; f executes the AGV scheduling result. The system starts to execute the task according to the task decomposition result. Taking the two-point task as an example, the specific execution process is: the vehicle navigates to the pickup point to pick up the goods, waits for the ground roller to load the goods after arriving at the pickup point, and navigates to the delivery point after the on-board limit sensor confirms that the pickup is completed. After arriving at the delivery point, the goods are delivered to the ground roller to complete a task.

[0007] Furthermore, the dispatching system described in step a adopts a front-end and back-end separation mode, where the front-end page provides a system operation interface with display and operation functions; the back-end control system provides control functions, mainly realizing vehicle dispatching and navigation functions.

[0008] Furthermore, the import scene map management function described in step b allows a .smap type map to be imported, and the system can automatically generate corresponding site information, and its site information parameters include: .

[0009] Furthermore, the adding of vehicle and task information in step c specifically includes the following steps: 1) Set up vehicle groups according to the vehicle working area. A group can only define one vehicle; 2) Add vehicles based on the vehicle information at the transportation site, including parking sites, charging sites, and vehicle IP; 3) Define work tasks according to transportation needs, allowing the issuance of two-point tasks or four-point tasks, setting the pickup point and delivery point respectively. After saving, the task is created and issued; 4) Change the vehicle status to a state where it can accept orders. By default, the vehicle is in a state where it cannot accept orders. After creating a task, you must change the vehicle status to a state where it can accept orders before you can execute the task.

[0010] Furthermore, the traffic control site information and gate control site information parameters described in step d are as follows: Traffic control station information: ; Gated Site Information: .

[0011] Furthermore, the e-step specifically processes the request of the scheduling system in the following steps: 1) Change the vehicle status to a state where it can accept orders and wait for tasks to be executed; 2) When the area to which the task execution path belongs matches the group to which the vehicle belongs, the vehicle automatically executes the task, and the on-board controller generates a navigation path for executing the task; 3) The system decomposes tasks according to task types and feeds the results back to the scheduling system.

[0012] Beneficial effects of the present invention: 1. The front-end and back-end separation mode is adopted to realize the scheduling of multiple AGV vehicles in complex transportation scenarios. The back-end adopts the Spring Boot framework of Java language, and the front-end builds the user interface based on the Vue framework. The SQL database is used to realize data storage, thereby improving the efficiency of AGV scheduling; 2. A scheduling method for AGVs in complex transportation scenarios is adopted to achieve job scheduling in multiple work areas, multiple cross paths, and multiple AGV environments, achieving the goals of unmanned loading and unloading and unmanned transportation, greatly improving the work efficiency of the production site and effectively ensuring the safety of the production site; 3. It can adapt to the control requirements of different vehicle models and different transportation environments, greatly improving productivity and reducing production costs without increasing development costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is the overall framework diagram of the present invention; Figure 2 It is a schematic diagram of a specific implementation map of the present invention; Figure 3 It is the traffic control site information of the specific implementation of the present invention; Figure 4 It is the gated site information of the specific implementation of the present invention; Figure 5 It is a specific implementation flow chart of the present invention. DETAILED DESCRIPTION

[0014] For better understanding and implementation, specific implementation modes are given below in conjunction with the accompanying drawings to illustrate the present invention in detail.

[0015] like Figure 1 As shown, a scheduling system for AGV complex transportation scenarios is shown. The user defines the vehicle and task information and the background on the front-end system page. The back-end control system receives data through the interface, and returns and controls the AGV to execute the scheduling result after tasks decomposition, traffic control area determination, gated area determination and path navigation.

[0016] Taking the test site as an example, the specific steps are as follows: 1. Deploy the operating system In order to realize the dispatching management of AGV vehicles on site, the operating system is deployed on the same computer at the test site. The operating system refers to the dispatching system, which includes the front-end system page, back-end control system and database; The front-end system page and the back-end control system share data through the database, and data storage is realized through the SQL database. The front-end system page stores the user operation request in the database, and the back-end control system realizes the scheduling function by obtaining the database data, and stores the scheduling results in the database, which are displayed by the front-end system page; The dispatching system adopts a front-end and back-end separation mode. The front-end user interface is built based on the Vue framework. The front-end page provides a system operation interface with display and operation functions. The back-end adopts the Spring Boot framework of the Java language. The back-end control system provides control functions, mainly realizing the functions of vehicle dispatching and navigation. Thereby improving AGV dispatching efficiency, reducing production costs, and increasing the safety factor of the production site; 2. Import scene map First, the scene map is imported through the scheduling system. The map contains the site location information, and the system automatically completes the job location conversion and path generation; like Figure 2 Shown is a map of the test site with site names and relative locations; When running the system for the first time, you must first import the environment map of the work site and check the following: 1) The map environment is consistent with the on-site environment; 2) The map contains the on-site sites and the sites are located correctly; The import scene map management function allows you to import a .smap type map, and the system can automatically generate the corresponding site information. The site information parameters include: ; 3Add vehicle and mission information According to the test site environment, add vehicles and tasks respectively, including the following steps: 1) According to the on-site work area, set up two vehicle groups, each of which defines an AGV; 2) Add vehicles based on the vehicle information at the transportation site, including parking sites, charging sites, and vehicle IP; 3) Define two types of tasks, two-point tasks and four-point tasks, respectively, set the pickup point and delivery point, and create and issue the task after saving; 4) The on-site vehicle is connected to the network and is in the same network segment as the system server; 4. Define traffic control information and gate control information like Figure 3 and Figure 4 As shown, the traffic control area and gated area site information of the test site; The path intersection area of ​​the transportation site is defined as the traffic control area, and the automatic door area is the gated area. Before the system executes the task, the traffic control site information and gated site information are defined first; the parameters of the traffic control site information and gated site information are as follows: Traffic control station information: ; Gated Site Information: ; 5 System Task Decomposition System task decomposition, the scheduling server performs task decomposition and vehicle navigation tasks in a loop, and the results are fed back to the scheduling system after each cycle; The dispatch system's request is processed in the following steps: 1) Change the vehicle status to a state where you can accept orders and wait for the task to be executed; by default, the vehicle is in a state where it cannot accept orders. After creating a task, you must change the vehicle status to a state where you can accept orders before you can execute the task; 2) When the area to which the task execution path belongs matches the group to which the vehicle belongs, the vehicle automatically executes the task, and the on-board controller generates a navigation path for executing the task; 3) The system decomposes tasks according to task types and feeds the results back to the scheduling system; The specific process of task execution is as follows: Figure 5 As shown; after receiving the task information, the background system first determines whether there is an idle vehicle. If there is no idle vehicle, it will wait; if the vehicle is idle, the task can be executed immediately. After task decomposition, navigation path generation, traffic control determination, and gate control determination, the vehicle enters the pre-execution state; at this time, it is necessary to determine whether the vehicle power meets the preset conditions. If so, the task is executed until the task is completed and wait for the next task; if the vehicle power does not meet the requirements, it needs to be charged before executing the task; 6. AGV scheduling results The system starts to execute the task according to the task decomposition results. Taking the two-point task as an example, the specific execution process is: the vehicle navigates to the pickup point to pick up the goods, waits for the ground roller conveyor to load the goods after arriving at the pickup point, navigates to the delivery point after the on-board limit sensor confirms that the pickup is completed, and delivers the goods to the ground roller conveyor after arriving at the delivery point to complete the task.

[0017] It should be understood that the technical features not elaborated in detail in this specification belong to the prior art. Although the implementation methods of the present invention are described above in conjunction with the accompanying drawings, the present invention is not limited to the above-mentioned specific implementation methods, which are merely illustrative and not restrictive. Ordinary technicians in this field can make more forms under the enlightenment of the present invention without departing from the scope of protection of the present invention and the claims, which are all within the protection scope of the present invention.

Claims

1. A scheduling system for AGV complex transportation scenarios, It is characterized in that The steps include: a deploy the operating system, which refers to the scheduling system, including the front-end system page, back-end control system and database; The front-end page and the back-end control system share data through a database. The front-end page stores the user operation request in the database. The back-end control system implements the scheduling function by acquiring the database data and stores the scheduling result in the database for display by the front-end page. b. Import the scene map. First, import the scene map through the scheduling system. The map contains the site location information. The system automatically completes the job location conversion and path generation; c. Add vehicle and mission information; d. Define traffic control information and gate control information. Define the path intersection area of ​​the transportation site as the traffic control area, and the automatic door area as the gate control area. Define the traffic control site information and gate control site information before the system executes the task; e System task decomposition: the dispatch server performs task decomposition and vehicle navigation tasks in a loop, and feeds the results back to the dispatch system after each loop. f executes the AGV scheduling result. The system starts to execute the task according to the task decomposition result. Taking the two-point task as an example, the specific execution process is: the vehicle navigates to the pickup point to pick up the goods, waits for the ground roller to load the goods after arriving at the pickup point, and navigates to the delivery point after the on-board limit sensor confirms that the pickup is completed. After arriving at the delivery point, the goods are delivered to the ground roller to complete a task.

2. According to claim 1, a scheduling system for AGV complex transportation scenarios, It is characterized in that The dispatching system described in step a adopts a front-end and back-end separation mode. The front-end page provides a system operation interface with display and operation functions; the back-end control system provides control functions, mainly realizing vehicle dispatching and navigation functions.

3. According to claim 1, a scheduling system for AGV complex transportation scenarios, It is characterized in that The import scene map management function described in step b allows you to import a .smap type map, and the system can automatically generate the corresponding site information. The site information parameters include: 。 4. According to claim 1, a scheduling system for AGV complex transportation scenarios, It is characterized in that Adding vehicle and task information as described in step c specifically includes the following steps: 1) Set up vehicle groups according to the vehicle working area. A group can only define one vehicle; 2) Add vehicles based on the vehicle information at the transportation site, including parking sites, charging sites, and vehicle IP; 3) Define work tasks according to transportation needs, allowing the issuance of two-point tasks or four-point tasks, setting the pickup point and delivery point respectively. After saving, the task is created and issued; 4) Change the vehicle status to a state where it can accept orders. By default, the vehicle is in a state where it cannot accept orders. After creating a task, you must change the vehicle status to a state where it can accept orders before you can execute the task.

5. According to claim 1, a scheduling system for AGV complex transportation scenarios, It is characterized in that The traffic control site information and gate control site information parameters described in step d are as follows: Traffic control station information: ； Gated Site Information: 。 6. According to claim 1, a scheduling system for AGV complex transportation scenarios, It is characterized in that The e step specifically processes the request of the scheduling system as follows: 1) Change the vehicle status to a state where it can accept orders and wait for tasks to be executed; 2) When the area to which the task execution path belongs matches the group to which the vehicle belongs, the vehicle automatically executes the task, and the on-board controller generates a navigation path for executing the task; 3) The system decomposes tasks according to task types and feeds the results back to the scheduling system.

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