MES-based intelligent production scheduling system, method and application

Abstract

The invention relates to the technical field of production workshop AGV driving position control, and discloses an MES-based intelligent production scheduling system, method and application, and the system comprises an MES production scheduling information acquisition module, an MES production scheduling analysis module, and an MES production scheduling control module. AGV material transfer speed parameters in different material transfer states are stored in a standard mode, an intelligent search algorithm, AGV material transfer obstacle recognition parameters and AGV and obstacle dangerous state evaluation parameters are combined for accurate analysis of the AGV material transfer speed parameters, and full-scene precision adjustment of the AGV material transfer speed in different material transfer states in MES production scheduling operation is achieved; the AGV material transfer speed parameters are timely fed back and accurately adjusted according to the AGV material transfer real-time adjustment speed parameters, and the efficiency and reliability of AGV material transfer in MES production scheduling operation are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of AGV driving position control in a production workshop, and specifically to an intelligent production scheduling system, method and application based on MES. Background Art

[0002] The MES system is a production information management system for the workshop execution layer of manufacturing enterprises. MES can provide enterprises with management modules including manufacturing data management, planning and scheduling management, production scheduling management, inventory management, quality management, human resource management, work center / equipment management, tool and fixture management, procurement management, cost management, project kanban management, production process control, underlying data integration analysis, and upper-level data integration decomposition, so as to create a solid, reliable, comprehensive and feasible manufacturing collaborative management platform for enterprises. The MES production scheduling system controls the AGV driving trajectory in the production workshop online to achieve efficient material transfer in the production workshop. The current AGV material transfer process is based on sensors to retrieve the state of objects in the surrounding environment in real time and then control its own driving speed and position, resulting in the AGV being unable to perceive the entire driving trajectory road conditions in the entire scene, reducing the AGV material transfer speed and position control accuracy; the existing MES production scheduling system cannot achieve precise control of the speed and position of the AGV material transfer process, reducing the efficiency and safety of AGV material transfer.

[0003] The Chinese invention patent application with publication number CN114995389A discloses an adaptive AGV scheduling system and scheduling method thereof, which adopts a task calling module, an AGV scheduling control module and an AGV module. The task calling module is used to issue material distribution task requirements to the AGV scheduling control module. The AGV scheduling control module receives the material distribution task issued by the task calling module, monitors the AGV equipment status, and issues full equipment replenishment instructions and empty equipment recovery instructions according to the AGV equipment status. After receiving the instructions from the AGV scheduling control module, the AGV module executes the distribution task according to a fixed route, and transmits the AGV position and equipment status information back to the AGV scheduling control module in real time. The whole process of task calling, task allocation, task reception and task execution is realized autonomously, without relying on the production plan and material requirement planning system, and can cope with material shortages caused by changes in the production plan. The above technical solutions cannot realize the centralized management of the driving speed and position of the AGV material transfer process in all scenarios, which reduces the efficiency and safety of AGV material transfer. Summary of the invention

[0004] 1. Technical issues to be resolved In order to solve the above-mentioned problem that the current AGV material transfer process relies on sensors to retrieve the status of objects in the surrounding environment in real time and then control its own driving speed and position, resulting in the AGV being unable to perceive the entire driving trajectory and road conditions in full scene, reducing the AGV material transfer speed and position control accuracy; the existing MES production scheduling system cannot achieve precise control of the speed and position of the AGV material transfer process, reducing the efficiency and safety of AGV material transfer, the above purpose is to achieve accurate collection of production scheduling information, scientific matching of AGV material transfer paths, dynamic establishment of real-time real-scene models of AGV material transfer paths, intelligent identification of obstacles on the AGV material transfer path, accurate analysis of the dangerous status of AGV and obstacles, and precise adjustment of AGV material transfer speed parameters, thereby improving the efficiency and safety of AGV material transfer.

[0005] (II) Technical solution The present invention is implemented by the following technical solution: an intelligent production scheduling method based on MES, the method comprising the following steps: S1. Collecting characteristic text data of MES production scheduling; S2, performing material transfer path identification processing of the AGV that performs the production scheduling operation based on the MES production scheduling feature text data and the AGV material transfer path data, generating target AGV material transfer path data and performing the material transfer operation; S3, based on the target AGV material transfer path data, perform online modeling of the real scene model of the production workshop AGV material transfer path to generate real-time real scene model data of the target AGV material transfer path; S4, collecting real-time image data of the target AGV material transfer path and performing obstacle identification processing during the AGV material transfer operation with the image data of obstacles on the AGV material transfer path, generating AGV material transfer obstacle identification data, and directly executing step S7 when there is no obstacle; S5. When there are obstacles, collect the real-time spatial coordinate data of AGV material transfer and the real-time spatial coordinate data of AGV material transfer obstacles, and perform numerical measurement processing of the distance between the AGV and the obstacles along the AGV material transfer path, generate the real-time material transfer path distance data between the AGV and the obstacles, perform distance numerical analysis, and construct the shortest distance data between the real-time material transfer path of the AGV and the obstacles; S6, performing analysis and processing of the dangerous state of the AGV and the obstacle based on the real-time shortest distance data of the material transfer path between the AGV and the obstacle and the safe distance data between the AGV and the obstacle, and generating dangerous state assessment data of the position of the AGV and the obstacle; S7. Perform AGV material transfer speed parameter evaluation and processing based on the AGV material transfer obstacle identification data, the AGV and obstacle position danger status evaluation data, and the AGV material transfer speed data in different material transfer states, generate AGV material transfer real-time adjustment speed data, and execute AGV material transfer speed control operations.

[0006] Preferably, the operation steps of collecting MES production scheduling feature text data are as follows: S11. The user collects the text information of the specific production scheduling characteristics of the production workshop through MES and generates MES production scheduling characteristic text data The MES production scheduling feature text data includes the type of processed product, the processing procedure, the material transfer start position, the material transfer end position and the material transfer AGV object.

[0007] Preferably, the material transfer path identification processing of the AGV that performs the production scheduling operation is performed based on the MES production scheduling feature text data and the AGV material transfer path data, and the operation steps of generating the target AGV material transfer path data and performing the material transfer operation are as follows: S21. Establish AGV material transfer path data set , ; The first AGV material transfer path data, Indicates the maximum number of AGV material transfer path types; S22, the MES production scheduling feature text data The AGV material transfer path data set AGV material transfer path data described in Perform text character matching of production scheduling features to search for the MES production scheduling feature text data The corresponding AGV material transfer path data And generate the target AGV material transfer path data through data identification , execute and generate target AGV material transfer path data The specific steps are as follows: S221, initialization, setting the maximum number of iterations T; S222, after initialization, execute path recognition moth in AGV material transfer path data collection Select AGV material transfer path data in the search space Flame , in the AGV material transfer path data collection Initially generate a Path identification moths and AGV material transfer path data flame ,and = , in the AGV material transfer path data collection Search for text data related to MES production scheduling characteristics in the search space Matching AGV material transfer path data , the path recognition moth will be around the selected AGV material transfer path data Flame flying, Path identification moths and AGV material transfer path data The flames are sorted by quality and the sorted AGV material transfer path data The flame moves to the front of the optimal position Each path recognition moth selects different AGV material transfer path data. Flame, as the number of iterations increases, AGV material transfer path data The number of flames decreases, AGV material transfer path data The flame quantity calculation formula is as follows: ,in Indicates The iteration is in the AGV material transfer path data set AGV material transfer path data in search space The number of flames, represents a random function with values ​​between 0 and 1, Represents the data set of AGV material transfer path AGV material transfer path data in search space The total number of flames initially generated, T represents the maximum number of iterations; S223, path recognition moth in AGV material transfer path data collection Select AGV material transfer path data in the search space Data of material transfer path around AGV after the flame Flame Flight, a collection of path data for moth recognition in AGV material transfer paths Searching for positions in space , path recognition moth-surrounded AGV material transfer path data Flame in AGV material transfer path data collection Searching for positions in space And path recognition moth around AGV material transfer path data Data collection of AGV material transfer path after flame flight New position in the search space , the new position calculation formula is as follows: ,in Representation path identification moth AGV material transfer path data flame In the AGV material transfer path data collection The distance value in the search space, represents the exponential function, is the current iteration number, where The coefficient is 2. Indicates angle value The corresponding cosine value, represents pi; S224, path recognition moth flight mobile AGV material transfer path data The flame reaches the corresponding position. Only path identification moths around AGV material transfer path data After the flame flight, update to new position, calculate this The fitness value of the new position is New locations and AGV material transfer path data Flame basis + The positions are sorted by quality and the ones with good quality are The location is used as the AGV material transfer path data in the next round The location of the flame, i.e. the data set of the AGV material transfer path Search for text data related to MES production scheduling characteristics in the search space The most suitable AGV material transfer path data ; S225: When the maximum number of iterations is reached, output the text data related to the MES production scheduling feature The most suitable AGV material transfer path data And generate the target AGV material transfer path data through data identification , otherwise, the steps S222 to S224 are executed in a loop; S23, MES according to the target AGV material transfer path data Control AGV to perform material transfer operations.

[0008] Preferably, based on the target AGV material transfer path data, the real-scene model of the production workshop AGV material transfer path is modeled online to generate the real-time real-scene model data of the target AGV material transfer path as follows: S31, using a three-dimensional laser scanner to perform three-dimensional real-scene model online scanning and modeling processing on the production workshop AGV material transfer path corresponding to the target AGV material transfer path data, and generate real-time real-scene model data of the target AGV material transfer path .

[0009] Preferably, the real-time real-scene image data of the target AGV material transfer path is collected and the image data of obstacles on the AGV material transfer path are used to identify obstacles during the AGV material transfer operation to generate AGV material transfer obstacle identification data. When there is no obstacle, the operation steps of directly executing step S7 are as follows: S41, using screenshot software to collect the real-time model data of the target AGV material transfer path online The corresponding real-time image of the material transfer path and the real-time image data set of the target AGV material transfer path are generated , ;in Indicates the collected Real-time image data of the target AGV material transfer path, Indicates the maximum value of the number of real-time images of the target AGV material transfer path, wherein the screenshot software includes any one of Screenshot Wizard, WinSnap, and Jinzhou Screenshot Software; S42. Establishing an image data set of obstacles on the AGV material transfer path , ;in Indicates AGV material transfer path obstacle image data corresponding to the AGV material transfer path obstacle, Indicates the maximum number of types of obstacles in the AGV material transfer path, including forklifts, other AGVs, operators and temporary equipment that appear in the AGV material transfer path; S43, using a breadth-first search algorithm to collect the real-time real-scene image data set of the target AGV material transfer path Real-time image data of the target AGV material transfer path Image data set of obstacles on the AGV material transfer path Image data of obstacles on the AGV material transfer path Perform image matching and generate AGV material transfer obstacle identification data based on the image matching results ; When the and If the image matching is successful, it means that there is an obstacle on the AGV material transfer path, and the AGV material transfer obstacle identification data is output. There are obstacles; When the and If the image matching is unsuccessful, it means that there is no obstacle on the AGV material transfer path, and the AGV material transfer obstacle identification data is output. If there is no obstacle, steps S71 to S73 are directly executed.

[0010] Preferably, when there is an obstacle, the real-time spatial coordinate data of AGV material transfer and the real-time spatial coordinate data of the AGV material transfer obstacle are collected, and the distance between the AGV and the obstacle along the AGV material transfer path is numerically measured, and the real-time material transfer path distance data between the AGV and the obstacle is generated and the distance numerical analysis is performed to construct the shortest distance data of the real-time material transfer path between the AGV and the obstacle. The operation steps are as follows: S51, when the AGV material transfer obstacle identification data When there are obstacles, the real-time model data of the target AGV material transfer path In the corresponding three-dimensional model, a spherical coordinate system is established with the earth as the base, and the spatial coordinates of the target AGV in the spherical coordinate system are collected to generate the real-time spatial coordinate data of AGV material transfer. ,in , Indicates the longitude corresponding to the real-time spatial coordinate data of AGV material transfer. Indicates the latitude corresponding to the real-time spatial coordinate data of AGV material transfer. Indicates the altitude corresponding to the real-time spatial coordinate data of AGV material transfer; At the same time, the spatial coordinates of obstacles appearing on the AGV material transfer path in the spherical coordinate system are collected and the real-time spatial coordinate data set of the AGV material transfer obstacles is generated. , ;in Indicates the collected Real-time spatial coordinate data of AGV material transfer obstacles, Indicates the maximum number of obstacles to AGV material transfer, where , Indicates The longitude corresponding to the real-time spatial coordinate data of each AGV material transfer obstacle, Indicates The latitude corresponding to the real-time spatial coordinate data of each AGV material transfer obstacle, Indicates The altitude corresponding to the real-time spatial coordinate data of each AGV material transfer obstacle; S52, respectively, the real-time spatial coordinate data of the AGV material transport Enter the departure point dialog box of the map software and collect the real-time spatial coordinate data of the AGV material transfer obstacle Real-time spatial coordinate data of AGV material transfer obstacles Enter the number of obstacles to AGV material transfer into the destination dialog box of the map software in order, and measure the data along the target AGV material transfer path. The distance data between the AGV and the obstacles on the corresponding AGV material transfer path and the real-time material transfer path distance data set between the AGV and the obstacles are generated ,in Represents the real-time spatial coordinate data of the AGV material transfer Real-time spatial coordinate data of obstacles for material transfer with the AGV Corresponding real-time material transfer path distance data between AGV and obstacles; S53: collecting real-time material transfer path distance data between the AGV and the obstacle Real-time material transfer path distance data between AGV and obstacles Perform distance value analysis to search for the real-time material transfer path distance data between the AGV and the obstacle with the smallest distance value And through data identification, the shortest distance data of the real-time material transfer path between AGV and obstacles is constructed The real-time shortest distance data of the material transfer path between the AGV and the obstacle represents the distance data between the obstacle closest to the AGV and the AGV that appears on the AGV material transfer path in real time.

[0011] Preferably, the operation steps of performing AGV and obstacle dangerous state analysis and processing based on the real-time material transfer path shortest distance data between the AGV and the obstacle and the AGV and obstacle safety distance data to generate AGV and obstacle position dangerous state assessment data are as follows: S61. Establish safe distance data between AGV and obstacles , the AGV and obstacle safety distance data represents the minimum safety distance data at which the AGV and the obstacle on the AGV material transfer path are at a non-collision; S62: The shortest distance data of the material transfer path between the AGV and the obstacle in real time Data on safe distance between the AGV and obstacles Perform distance value comparison and generate AGV and obstacle position danger status assessment data based on the distance value comparison results ; when ≥ , indicating that the real-time distance between the AGV and the obstacles on the AGV material transfer path is not less than the safety distance, then the AGV and the obstacle position danger status assessment data is output To be non-dangerous; when < , indicating that the real-time distance between the AGV and the obstacle on the AGV material transfer path is less than the safe distance, then the AGV and the obstacle position danger status assessment data is output For danger.

[0012] S71. Establish a data set of AGV material transfer speed in different material transfer states , It indicates that when the AGV material transfer obstacle identification data There is no obstacle or the AGV material transfer obstacle identification data There is an obstacle and the AGV and the obstacle are in a dangerous state assessment data The AGV material transfer speed data corresponding to the different material transfer states when it is not dangerous is: , Which represents the maximum speed data of AGV; Indicates when the AGV material transfer obstacle identification data There is an obstacle and the AGV and the obstacle are in a dangerous state assessment data The AGV material transfer speed data corresponding to the different material transfer states when it is dangerous is: , Indicates the minimum speed data of AGV. , The units are all kilometers per hour; S72, when the AGV material transfer obstacle identification data When there is no obstacle, a unified cost search algorithm is used to identify the AGV material transfer obstacle identification data. The AGV material transfer speed data set with different material transfer states The AGV material transfer speed data of different material transfer states is evaluated and processed according to the keywords of the obstacle identification results, and the AGV material transfer obstacle identification data is searched out. The corresponding AGV material transfer speed data of different material transfer states is used to generate the AGV material transfer real-time adjustment speed data through data identification. ; When the AGV material transfer obstacle identification data When there is an obstacle, a unified cost search algorithm is used to identify the AGV material transport obstacle identification data. and the AGV and obstacle position hazard status assessment data The AGV material transfer speed data set with different material transfer states The AGV material transfer speed data of different material transfer states is processed by evaluating the AGV material transfer speed parameters according to the obstacle identification result keywords and the obstacle danger state evaluation keywords, and the AGV material transfer obstacle identification data is searched out. and the AGV and obstacle position hazard status assessment data The corresponding AGV material transfer speed data of different material transfer states is used to generate the AGV material transfer real-time adjustment speed data through data identification. ; The unit is kilometers per hour. Values ​​include , Any one of; S73, MES adjusts speed data in real time according to the AGV material transfer The corresponding speed value executes the AGV material transfer speed control operation.

[0013] An intelligent production scheduling system based on MES, used to implement the intelligent production scheduling method based on MES, the system includes an MES production scheduling information acquisition module, an MES production scheduling analysis module, and an MES production scheduling control module; The MES production scheduling information acquisition module includes a production scheduling information acquisition unit, an AGV material transfer path storage unit, an AGV material transfer path identification execution unit, and an AGV material transfer path real-time reality model establishment unit; The production scheduling information collection unit collects MES production scheduling feature text data through MES; the AGV material transfer path storage unit is used to store AGV material transfer path data; the AGV material transfer path identification execution unit performs material transfer path identification processing of the AGV that executes the production scheduling operation based on the MES production scheduling feature text data and the AGV material transfer path data, generates the target AGV material transfer path data and executes the material transfer operation; the AGV material transfer path real-time real-scene model establishment unit performs online modeling processing of the real-scene model of the production workshop AGV material transfer path based on the target AGV material transfer path data, and generates the real-time real-scene model data of the target AGV material transfer path; The MES production scheduling and analysis module includes a real-time real-scene image acquisition unit for the AGV material transfer path, an image storage unit for obstacles on the AGV material transfer path, an obstacle recognition unit for the AGV material transfer path, a real-time position measurement unit for AGV material transfer, a real-time position measurement unit for obstacles on AGV material transfer, a real-time distance measurement unit between AGV and obstacles, a real-time shortest distance search unit between AGV and obstacles, a safe distance storage unit between AGV and obstacles, and a dangerous state analysis unit between AGV and obstacles; The AGV material transfer path real-time real-scene image acquisition unit collects the real-time real-scene image data of the target AGV material transfer path through screenshot software; the AGV material transfer path obstacle image storage unit is used to store the AGV material transfer path obstacle image data; the GV material transfer path obstacle identification unit performs obstacle identification processing on the target AGV material transfer path real-time real-scene image data and the AGV material transfer path obstacle image data during the AGV material transfer operation to generate AGV material transfer obstacle identification data; the AGV material transfer real-time position metering unit collects the AGV material transfer real-time spatial coordinate data; the AGV material transfer obstacle real-time position metering unit collects the AGV material transfer obstacle real-time spatial coordinate data; the AGV and obstacle real-time distance metering unit is based on the AGV material The real-time spatial coordinate data of the material transfer and the real-time spatial coordinate data of the AGV material transfer obstacle are used to perform numerical measurement processing of the distance between the AGV and the obstacle along the AGV material transfer path, and generate real-time material transfer path distance data between the AGV and the obstacle; the real-time shortest distance search unit of the AGV and the obstacle performs distance numerical analysis on the real-time material transfer path distance data between the AGV and the obstacle, and constructs the real-time material transfer path shortest distance data between the AGV and the obstacle; the AGV and obstacle safety distance storage unit is used to store the AGV and obstacle safety distance data; the AGV and obstacle dangerous state analysis unit performs AGV and obstacle dangerous state analysis processing based on the real-time material transfer path shortest distance data between the AGV and the obstacle and the AGV and obstacle safety distance data, and generates AGV and obstacle position dangerous state assessment data; The MES production scheduling control module includes an AGV material transfer speed storage unit in different material transfer states, an AGV material transfer speed evaluation unit, and an AGV material transfer speed control unit; The AGV material transfer speed storage unit in different material transfer states is used to store the AGV material transfer speed data in different material transfer states; the AGV material transfer speed evaluation unit performs AGV material transfer speed parameter evaluation processing based on the AGV material transfer obstacle identification data, the AGV and obstacle position danger state evaluation data and the AGV material transfer speed data in different material transfer states to generate the AGV material transfer real-time adjustment speed data; the AGV material transfer speed control unit performs the AGV material transfer speed control operation based on the AGV material transfer real-time adjustment speed data.

[0014] According to the application of the MES-based intelligent production scheduling method in AGV production scheduling.

[0015] (III) Beneficial effects The present invention provides an intelligent production scheduling system, method and application based on MES, which has the following beneficial effects: 1. Accurately obtain MES production scheduling information through MES to provide reliable data support for scientific matching of AGV material transfer paths; standard preset AGV material transfer path parameters are combined with intelligent recognition algorithms and MES production scheduling feature text parameters to perform intelligent screening of AGV material transfer path identification, so as to realize timely and efficient search of AGV material transfer paths in MES production scheduling operations, and online modeling and processing of the real-life model of the target AGV material transfer path parameters in the production workshop, so as to realize comprehensive dynamic modeling of the real-life model of obstacles on the AGV material transfer path, and improve the perception of the surrounding environment scene during the AGV material transfer process.

[0016] 2. Through the intelligent search algorithm, the real-time image parameters of the target AGV material transfer path are matched with the image parameters of the AGV material transfer path obstacles, so as to realize real-time and full-scene accurate perception of the AGV material transfer path obstacles; to realize the accurate and efficient measurement of the real-time material transfer path distance between the AGV and the nearest obstacle on the material transfer path; to scientifically preset the safe distance parameters between the AGV and the obstacles and the shortest distance parameters of the real-time material transfer path between the AGV and the obstacles to dynamically monitor the dangerous state of the spatial position of the AGV and the obstacles, so as to improve the safety of AGV material transfer in MES production scheduling operations.

[0017] 3. Through standard storage of AGV material transfer speed parameters in different material transfer states, combined with intelligent search algorithms, AGV material transfer obstacle identification parameters, and AGV and obstacle dangerous state assessment parameters, accurate analysis of AGV material transfer speed parameters is performed to achieve full-scene precision adjustment of AGV material transfer speed under different material transfer states in MES production scheduling operations; according to the real-time adjustment of speed parameters of AGV material transfer, timely feedback is provided to accurately adjust the AGV material transfer speed parameters, thereby improving the efficiency and reliability of AGV material transfer in MES production scheduling operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 A schematic diagram of a module of an intelligent production scheduling system based on MES provided by the present invention; Figure 2 A flow chart of the MES-based intelligent production scheduling method provided by the present invention. DETAILED DESCRIPTION

[0019] 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 only 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.

[0020] The embodiments of the MES-based intelligent production scheduling system, method and application are as follows:

[0021] Example 1: Please refer to Figure 1 - Figure 2 , an intelligent production scheduling method based on MES, the method comprises the following steps: S1. Collecting characteristic text data of MES production scheduling; S2, based on the MES production scheduling feature text data and the AGV material transfer path data, the material transfer path of the AGV performing the production scheduling operation is identified and processed, the target AGV material transfer path data is generated, and the material transfer operation is performed; S3, based on the target AGV material transfer path data, perform online modeling of the real scene model of the production workshop AGV material transfer path to generate real-time real scene model data of the target AGV material transfer path; S4, collecting real-time image data of the target AGV material transfer path and performing obstacle identification processing during the AGV material transfer operation with the image data of obstacles on the AGV material transfer path, generating AGV material transfer obstacle identification data, and directly executing step S7 when there is no obstacle; S5. When there are obstacles, collect the real-time spatial coordinate data of AGV material transfer and the real-time spatial coordinate data of AGV material transfer obstacles, and perform numerical measurement processing of the distance between the AGV and the obstacles along the AGV material transfer path, generate the real-time material transfer path distance data between the AGV and the obstacles, perform distance numerical analysis, and construct the shortest distance data between the real-time material transfer path of the AGV and the obstacles; S6. Analyze and process the dangerous state of the AGV and the obstacle based on the real-time shortest distance data of the material transfer path between the AGV and the obstacle and the safe distance data between the AGV and the obstacle, and generate the dangerous state assessment data of the position of the AGV and the obstacle; S7. Perform AGV material transfer speed parameter evaluation and processing based on the AGV material transfer obstacle identification data, the AGV and obstacle position danger status evaluation data, and the AGV material transfer speed data in different material transfer states, generate AGV material transfer real-time adjustment speed data, and execute AGV material transfer speed control operations.

[0022] For further information, see Figure 1 - Figure 2 The steps for collecting MES production scheduling feature text data are as follows: S11. The user collects the text information of the specific production scheduling characteristics of the production workshop through MES and generates MES production scheduling characteristic text data ,The characteristic text data of MES production scheduling includes the type of ,processing product, processing procedure, material transfer starting location, material transfer ending location and ,material transfer AGV object.

[0023] The steps for identifying the material transfer path of the AGV that performs the production scheduling operation based on the MES production scheduling feature text data and the AGV material transfer path data, generating the target AGV material transfer path data and performing the material transfer operation are as follows: S21. Establish AGV material transfer path data set , ; The first AGV material transfer path data, Indicates the maximum number of AGV material transfer path types; S22, the MES production scheduling feature text data The AGV material transfer path data set AGV material transfer path data described in Perform text character matching of production scheduling features to search for the MES production scheduling feature text data The corresponding AGV material transfer path data And generate the target AGV material transfer path data through data identification , execute and generate target AGV material transfer path data The specific steps are as follows: S221, initialization, setting the maximum number of iterations T; S222, after initialization, execute path recognition moth in AGV material transfer path data collection Select AGV material transfer path data in the search space Flame , in the AGV material transfer path data collection Initially generate a Path identification moths and AGV material transfer path data flame ,and = , in the AGV material transfer path data collection Search for text data related to MES production scheduling characteristics in the search space Matching AGV material transfer path data , the path recognition moth will be around the selected AGV material transfer path data Flame flying, Path identification moths and AGV material transfer path data The flames are sorted by quality and the sorted AGV material transfer path data The flame moves to the front of the optimal position Each path recognition moth selects different AGV material transfer path data. Flame, as the number of iterations increases, AGV material transfer path data The number of flames decreases, AGV material transfer path data The flame quantity calculation formula is as follows: ,in Indicates The iteration is in the AGV material transfer path data set AGV material transfer path data in search space The number of flames, represents a random function with values ​​between 0 and 1, Represents the data set of AGV material transfer path AGV material transfer path data in search space The total number of flames initially generated, T represents the maximum number of iterations; S223, path recognition moth in AGV material transfer path data collection Select AGV material transfer path data in the search space Data of material transfer path around AGV after the flame Flame Flight, a collection of path data for moth recognition in AGV material transfer paths Searching for positions in space , path recognition moth-surrounded AGV material transfer path data Flame in AGV material transfer path data collection Searching for positions in space And path recognition moth around AGV material transfer path data Data collection of AGV material transfer path after flame flight New position in the search space , the new position calculation formula is as follows: ,in Representation path identification moth AGV material transfer path data flame In the AGV material transfer path data collection The distance value in the search space, represents the exponential function, is the current iteration number, where The coefficient is 2. Indicates angle value The corresponding cosine value, represents pi; S224, path recognition moth flight mobile AGV material transfer path data The flame reaches the corresponding position. Only path identification moths around AGV material transfer path data After the flame flight, update to new position, calculate this The fitness value of the new position is New locations and AGV material transfer path data Flame basis + The positions are sorted by quality and the ones with good quality are The location is used as the AGV material transfer path data in the next round The location of the flame, i.e. the data set of the AGV material transfer path Search for text data related to MES production scheduling characteristics in the search space The most suitable AGV material transfer path data ; S225: When the maximum number of iterations is reached, output the text data related to the MES production scheduling feature The most suitable AGV material transfer path data And generate the target AGV material transfer path data through data identification , otherwise, the steps S222 to S224 are executed in a loop; S23, MES according to the target AGV material transfer path data Control AGV to perform material transfer operations.

[0024] Based on the target AGV material transfer path data, the real-scene model of the production workshop AGV material transfer path is modeled online, and the operation steps for generating the real-time real-scene model data of the target AGV material transfer path are as follows: S31. Use a 3D laser scanner to perform online scanning and modeling of the 3D real-life model of the production workshop AGV material transfer path corresponding to the target AGV material transfer path data, and generate real-time real-life model data of the target AGV material transfer path. .

[0025] Through the production scheduling information collection unit, MES is used to accurately obtain MES production scheduling information, providing reliable data support for the scientific matching of AGV material transfer paths; the AGV material transfer path storage unit and the AGV material transfer path identification execution unit cooperate with each other, and the standard preset AGV material transfer path parameters are combined with the intelligent recognition algorithm and the MES production scheduling feature text parameters to perform intelligent screening of AGV material transfer path identification, so as to realize timely and efficient search of AGV material transfer paths in MES production scheduling operations, and the AGV material transfer path real-time real-scene model establishment unit models the real-scene model of the target AGV material transfer path parameters in the production workshop online, so as to realize the real-scene model of obstacles on the AGV material transfer path. Comprehensive dynamic modeling improves the perception of the surrounding environment scene during the AGV material transfer process.

[0026] For further information, see Figure 1 - Figure 2 , collect the real-time image data of the target AGV material transfer path and perform obstacle recognition processing during the AGV material transfer operation with the image data of obstacles on the AGV material transfer path, and generate AGV material transfer obstacle recognition data. When there is no obstacle, directly execute the operation steps of step S7 as follows: S41, using screenshot software to collect the real-time model data of the target AGV material transfer path online The corresponding real-time image of the material transfer path and the real-time image data set of the target AGV material transfer path are generated , ;in Indicates the collected Real-time image data of the target AGV material transfer path, Indicates the maximum value of the number of real-time images of the target AGV material transfer path, wherein the screenshot software includes any one of Screenshot Wizard, WinSnap, and Jinzhou Screenshot Software; S42. Establishing an image data set of obstacles on the AGV material transfer path , ;in Indicates AGV material transfer path obstacle image data corresponding to the AGV material transfer path obstacle, Indicates the maximum number of types of obstacles in the AGV material transfer path, including forklifts, other AGVs, operators and temporary equipment that appear in the AGV material transfer path; S43, using a breadth-first search algorithm to collect the real-time real-scene image data set of the target AGV material transfer path Real-time image data of the target AGV material transfer path Image data set of obstacles on the AGV material transfer path Image data of obstacles on the AGV material transfer path Perform image matching and generate AGV material transfer obstacle identification data based on the image matching results ; When the and If the image matching is successful, it means that there is an obstacle on the AGV material transfer path, and the AGV material transfer obstacle identification data is output. There are obstacles; When the and If the image matching is unsuccessful, it means that there is no obstacle on the AGV material transfer path, and the AGV material transfer obstacle identification data is output. If there is no obstacle, steps S71 to S73 are directly executed.

[0027] When there are obstacles, collect the real-time spatial coordinate data of AGV material transfer and the real-time spatial coordinate data of AGV material transfer obstacles, and perform numerical measurement of the distance between the AGV and the obstacles along the AGV material transfer path, generate the real-time material transfer path distance data between the AGV and the obstacles, and perform distance numerical analysis. The operation steps to construct the shortest distance data of the real-time material transfer path between the AGV and the obstacles are as follows: S51, when the AGV material transfer obstacle identification data When there are obstacles, the real-time model data of the target AGV material transfer path In the corresponding three-dimensional model, a spherical coordinate system is established with the earth as the base, and the spatial coordinates of the target AGV in the spherical coordinate system are collected to generate the real-time spatial coordinate data of AGV material transfer. ,in , Indicates the longitude corresponding to the real-time spatial coordinate data of AGV material transfer. Indicates the latitude corresponding to the real-time spatial coordinate data of AGV material transfer. Indicates the altitude corresponding to the real-time spatial coordinate data of AGV material transfer; At the same time, the spatial coordinates of obstacles appearing on the AGV material transfer path in the spherical coordinate system are collected and the real-time spatial coordinate data set of the AGV material transfer obstacles is generated. , ;in Indicates the collected Real-time spatial coordinate data of AGV material transfer obstacles, Indicates the maximum number of obstacles to AGV material transfer, where , Indicates The longitude corresponding to the real-time spatial coordinate data of each AGV material transfer obstacle, Indicates The latitude corresponding to the real-time spatial coordinate data of each AGV material transfer obstacle, Indicates The altitude corresponding to the real-time spatial coordinate data of each AGV material transfer obstacle; S52, respectively, the real-time spatial coordinate data of the AGV material transport Enter the departure point dialog box of the map software and collect the real-time spatial coordinate data of the AGV material transfer obstacle Real-time spatial coordinate data of AGV material transfer obstacles Enter the number of obstacles to AGV material transfer into the destination dialog box of the map software in order, and measure the data along the target AGV material transfer path. The distance data between the AGV and the obstacles on the corresponding AGV material transfer path and the real-time material transfer path distance data set between the AGV and the obstacles are generated ,in Represents the real-time spatial coordinate data of the AGV material transfer Real-time spatial coordinate data of obstacles for material transfer with the AGV Corresponding real-time material transfer path distance data between AGV and obstacles; S53: collecting real-time material transfer path distance data between the AGV and the obstacle Real-time material transfer path distance data between AGV and obstacles Perform distance value analysis to search for the real-time material transfer path distance data between the AGV and the obstacle with the smallest distance value And through data identification, the shortest distance data of the real-time material transfer path between AGV and obstacles is constructed The real-time shortest distance data of the material transfer path between the AGV and the obstacle represents the distance data between the obstacle closest to the AGV and the AGV that appears on the AGV material transfer path in real time.

[0028] According to the shortest distance data of the real-time material transfer path between AGV and obstacles and the safe distance data between AGV and obstacles, the dangerous state analysis and processing of AGV and obstacles are carried out to generate the dangerous state assessment data of AGV and obstacle positions as follows: S61. Establish safe distance data between AGV and obstacles , the AGV and obstacle safety distance data represents the minimum safety distance data at which the AGV and the obstacle on the AGV material transfer path are at a non-collision; S62: The shortest distance data of the material transfer path between the AGV and the obstacle in real time Data on safe distance between the AGV and obstacles Perform distance value comparison and generate AGV and obstacle position danger status assessment data based on the distance value comparison results ; when ≥ , indicating that the real-time distance between the AGV and the obstacles on the AGV material transfer path is not less than the safety distance, then the AGV and the obstacle position danger status assessment data is output To be non-dangerous; when < , indicating that the real-time distance between the AGV and the obstacle on the AGV material transfer path is less than the safe distance, then the AGV and the obstacle position danger status assessment data is output For danger.

[0029] Through the AGV material transfer path obstacle identification unit, an intelligent search algorithm is used to match the real-time real-scene image parameters of the target AGV material transfer path with the image parameters of the AGV material transfer path obstacles, so as to realize real-time and full-scene accurate perception of AGV material transfer path obstacles; the AGV and obstacle real-time distance measurement unit and the AGV and obstacle real-time shortest distance search unit cooperate with each other to realize the accurate and efficient measurement of the real-time material transfer path distance between the AGV and the nearest obstacle on the material transfer path; the AGV and obstacle safety distance storage unit and the AGV and obstacle dangerous state analysis unit cooperate with each other, scientifically preset the AGV and obstacle safety distance parameters and the AGV and obstacle real-time material transfer path shortest distance parameters to dynamically monitor the spatial position dangerous state of the AGV and obstacles, thereby improving the safety of AGV material transfer in MES production scheduling operations.

[0030] For further information, see Figure 1 - Figure 2 , the AGV material transfer speed parameter evaluation and processing are performed based on the AGV material transfer obstacle identification data, the AGV and obstacle position danger status evaluation data and the AGV material transfer speed data in different material transfer states, the AGV material transfer real-time adjustment speed data is generated and the operation steps of the AGV material transfer speed control operation are performed as follows: S71. Establish a data set of AGV material transfer speed in different material transfer states , It indicates that when the AGV material transfer obstacle identification data There is no obstacle or the AGV material transfer obstacle identification data There is an obstacle and the AGV and the obstacle are in a dangerous state assessment data The AGV material transfer speed data corresponding to the different material transfer states when it is not dangerous is: , Which represents the maximum speed data of AGV; Indicates when the AGV material transfer obstacle identification data There is an obstacle and the AGV and the obstacle are in a dangerous state assessment data The AGV material transfer speed data corresponding to the different material transfer states when it is dangerous is: , Indicates the minimum speed data of AGV. , The units are all kilometers per hour; S72, when the AGV material transfer obstacle identification data When there is no obstacle, a unified cost search algorithm is used to identify the AGV material transfer obstacle identification data. The AGV material transfer speed data set with different material transfer states The AGV material transfer speed data of different material transfer states is evaluated and processed according to the keywords of the obstacle identification results, and the AGV material transfer obstacle identification data is searched out. The corresponding AGV material transfer speed data of different material transfer states is used to generate the AGV material transfer real-time adjustment speed data through data identification. ; When the AGV material transfer obstacle identification data When there is an obstacle, a unified cost search algorithm is used to identify the AGV material transport obstacle identification data. and the AGV and obstacle position hazard status assessment data The AGV material transfer speed data set with different material transfer states The AGV material transfer speed data of different material transfer states is processed by evaluating the AGV material transfer speed parameters according to the obstacle identification result keywords and the obstacle danger state evaluation keywords, and the AGV material transfer obstacle identification data is searched out. and the AGV and obstacle position hazard status assessment data The corresponding AGV material transfer speed data of different material transfer states is used to generate the AGV material transfer real-time adjustment speed data through data identification. ; The unit is kilometers per hour. Values ​​include , Any one of; S73, MES adjusts speed data in real time according to the AGV material transfer The corresponding speed value executes the AGV material transfer speed control operation.

[0031] Through the cooperation of the AGV material transfer speed storage unit and the AGV material transfer speed evaluation unit in different material transfer states, the AGV material transfer speed parameters in different material transfer states are stored in a standard manner. Combined with the intelligent search algorithm, the AGV material transfer obstacle identification parameters, and the AGV and obstacle dangerous state evaluation parameters, the AGV material transfer speed parameters are accurately analyzed to achieve full-scene precision adjustment of the AGV material transfer speed under different material transfer states in MES production scheduling operations; the AGV material transfer speed control unit adjusts the speed parameters in real time according to the AGV material transfer, and promptly feedbacks and accurately adjusts the AGV material transfer speed parameters, thereby improving the efficiency and reliability of AGV material transfer in MES production scheduling operations. Example

[0032] See also Figure 1 - Figure 2 , an intelligent production scheduling system based on MES, used to implement an intelligent production scheduling method based on MES, the system includes an MES production scheduling information acquisition module, an MES production scheduling analysis module, and an MES production scheduling control module; The MES production scheduling information acquisition module includes a production scheduling information acquisition unit, an AGV material transfer path storage unit, an AGV material transfer path identification execution unit, and an AGV material transfer path real-time scene model establishment unit; The production scheduling information collection unit collects the MES production scheduling feature text data through the MES; the AGV material transfer path storage unit is used to store the AGV material transfer path data; the AGV material transfer path identification execution unit performs the material transfer path identification processing of the AGV that executes the production scheduling operation based on the MES production scheduling feature text data and the AGV material transfer path data, generates the target AGV material transfer path data and executes the material transfer operation; the AGV material transfer path real-time real-scene model establishment unit performs the online modeling processing of the real-scene model of the production workshop AGV material transfer path based on the target AGV material transfer path data, and generates the real-time real-scene model data of the target AGV material transfer path; The MES production scheduling and analysis module includes a real-time image acquisition unit for the AGV material transfer path, an image storage unit for obstacles on the AGV material transfer path, an identification unit for obstacles on the AGV material transfer path, a real-time position measurement unit for AGV material transfer, a real-time position measurement unit for obstacles on AGV material transfer, a real-time distance measurement unit between AGV and obstacles, a real-time shortest distance search unit between AGV and obstacles, a safe distance storage unit between AGV and obstacles, and a dangerous state analysis unit between AGV and obstacles; The AGV material transfer path real-time real-scene image acquisition unit collects the real-time real-scene image data of the target AGV material transfer path through the screenshot software; the AGV material transfer path obstacle image storage unit is used to store the AGV material transfer path obstacle image data; the AGV material transfer path obstacle recognition unit performs obstacle recognition processing on the target AGV material transfer path real-time real-scene image data and the AGV material transfer path obstacle image data during the AGV material transfer operation to generate AGV material transfer obstacle recognition data; the AGV material transfer real-time position measurement unit collects the AGV material transfer real-time spatial coordinate data; the AGV material transfer obstacle real-time position measurement unit collects the AGV material transfer obstacle real-time spatial coordinate data; the AGV and obstacle real-time distance measurement unit calculates the distance between the AGV and the obstacle according to the AGV material transfer operation. The real-time spatial coordinate data and the real-time spatial coordinate data of the AGV material transfer obstacle are used to perform numerical measurement processing on the distance between the AGV and the obstacle along the AGV material transfer path, and generate the real-time material transfer path distance data between the AGV and the obstacle; the real-time shortest distance search unit between the AGV and the obstacle performs distance numerical analysis on the real-time material transfer path distance data between the AGV and the obstacle, and constructs the real-time material transfer path shortest distance data between the AGV and the obstacle; the AGV and obstacle safety distance storage unit is used to store the AGV and obstacle safety distance data; the AGV and obstacle dangerous state analysis unit performs AGV and obstacle dangerous state analysis processing based on the real-time material transfer path shortest distance data between the AGV and the obstacle and the AGV and obstacle safety distance data, and generates AGV and obstacle position dangerous state assessment data; The MES production scheduling control module includes an AGV material transfer speed storage unit for different material transfer states, an AGV material transfer speed evaluation unit, and an AGV material transfer speed control unit; The AGV material transfer speed storage unit in different material transfer states is used to store the AGV material transfer speed data in different material transfer states; the AGV material transfer speed evaluation unit performs AGV material transfer speed parameter evaluation processing based on the AGV material transfer obstacle identification data, the AGV and obstacle position danger state evaluation data and the AGV material transfer speed data in different material transfer states, and generates the AGV material transfer real-time adjustment speed data; the AGV material transfer speed control unit performs the AGV material transfer speed control operation based on the AGV material transfer real-time adjustment speed data.

[0033] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. The intelligent production scheduling method based on MES is characterized by: The method comprises the following steps: S1. Collecting characteristic text data of MES production scheduling; S2, performing material transfer path identification processing of the AGV that performs the production scheduling operation based on the MES production scheduling feature text data and the AGV material transfer path data, generating target AGV material transfer path data and performing the material transfer operation; S3, based on the target AGV material transfer path data, perform online modeling of the real scene model of the production workshop AGV material transfer path to generate real-time real scene model data of the target AGV material transfer path; S4, collecting real-time image data of the target AGV material transfer path and performing obstacle identification processing during the AGV material transfer operation with the image data of obstacles on the AGV material transfer path, generating AGV material transfer obstacle identification data, and directly executing step S7 when there is no obstacle; S5. When there are obstacles, collect the real-time spatial coordinate data of AGV material transfer and the real-time spatial coordinate data of AGV material transfer obstacles, and perform numerical measurement processing of the distance between the AGV and the obstacles along the AGV material transfer path, generate the real-time material transfer path distance data between the AGV and the obstacles, perform distance numerical analysis, and construct the shortest distance data between the real-time material transfer path of the AGV and the obstacles; S6, performing analysis and processing of the dangerous state of the AGV and the obstacle based on the real-time shortest distance data of the material transfer path between the AGV and the obstacle and the safe distance data between the AGV and the obstacle, and generating dangerous state assessment data of the position of the AGV and the obstacle; S7. Perform AGV material transfer speed parameter evaluation and processing based on the AGV material transfer obstacle identification data, the AGV and obstacle position danger status evaluation data, and the AGV material transfer speed data in different material transfer states, generate AGV material transfer real-time adjustment speed data, and execute AGV material transfer speed control operations.

2. The intelligent production scheduling method based on MES according to claim 1 is characterized by: The S1 comprises the following steps: S11. The user collects the text information of the specific production scheduling characteristics of the production workshop through MES and generates MES production scheduling characteristic text data .

3. The intelligent production scheduling method based on MES according to claim 2 is characterized in that: The S2 comprises the following steps: S21. Establish AGV material transfer path data set , ; The first AGV material transfer path data, Indicates the maximum number of AGV material transfer path types; S22, the MES production scheduling feature text data The AGV material transfer path data set AGV material transfer path data described in Perform text character matching of production scheduling features to search for the MES production scheduling feature text data The corresponding AGV material transfer path data And generate the target AGV material transfer path data through data identification , execute and generate target AGV material transfer path data The specific steps are as follows: S221, initialization, setting the maximum number of iterations T; S222, after initialization, execute path recognition moth in AGV material transfer path data collection Select AGV material transfer path data in the search space Flame , in the AGV material transfer path data collection Initially generate a Path identification moths and AGV material transfer path data flame ,and = , in the AGV material transfer path data collection Search for text data related to MES production scheduling characteristics in the search space Matching AGV material transfer path data , the path recognition moth will be around the selected AGV material transfer path data Flame flying, Path identification moths and AGV material transfer path data The flames are sorted by quality and the sorted AGV material transfer path data The flame moves to the front of the optimal position Each path recognition moth selects different AGV material transfer path data. Flame, as the number of iterations increases, AGV material transfer path data The number of flames decreases; S223, path recognition moth in AGV material transfer path data collection Select AGV material transfer path data in the search space Data of material transfer path around AGV after the flame Flame Flying, Path Data for Path Identification of Moths in AGV Material Transfer Position in the collection search space , path recognition moth-surrounded AGV material transfer path data Flame in AGV material transfer path data Position in the collection search space And path recognition moth around AGV material transfer path data AGV material transfer path data after flame flight New position in the collection search space ; S224, path recognition moth flight mobile AGV material transfer path data The flame reaches the corresponding position. Only the path identified moths around AGV material transfer path data After the flame flight, update to new position, calculate this The fitness value of the new position is New locations and AGV material transfer path data Flame basis + The positions are sorted by quality and the ones with good quality are The location is used as the AGV material transfer path data in the next round The location of the flame, i.e. the AGV material transfer path data Search for text data related to MES production scheduling characteristics in the collection search space The most suitable AGV material transfer path data ; S225: When the maximum number of iterations is reached, output the text data related to the MES production scheduling feature The most suitable AGV material transfer path data And generate the target AGV material transfer path data through data identification , otherwise, the steps S222 to S224 are executed in a loop; S23, MES according to the target AGV material transfer path data Control AGV to perform material transfer operations.

4. The intelligent production scheduling method based on MES according to claim 3 is characterized in that: The S3 comprises the following steps: S31, using a three-dimensional laser scanner to perform three-dimensional real-scene model online scanning and modeling processing on the production workshop AGV material transfer path corresponding to the target AGV material transfer path data, and generate real-time real-scene model data of the target AGV material transfer path .

5. The MES-based intelligent production scheduling method according to claim 4 is characterized in that: The S4 comprises the following steps: S41, using screenshot software to collect the real-time model data of the target AGV material transfer path online The corresponding real-time image of the material transfer path and the real-time image data set of the target AGV material transfer path are generated , ;in Indicates the collected Real-time image data of the target AGV material transfer path, Indicates the maximum number of real-time images of the target AGV material transfer path; S42. Establishing an image data set of obstacles on the AGV material transfer path , ; It indicates the AGV material transfer path obstacle image data corresponding to the AGV material transfer path obstacle, Indicates the maximum number of types of obstacles in the AGV material transfer path; S43, using a breadth-first search algorithm to collect the real-time real-scene image data set of the target AGV material transfer path Real-time image data of the target AGV material transfer path Image data set of obstacles on the AGV material transfer path Image data of obstacles on the AGV material transfer path Perform image matching and generate AGV material transfer obstacle identification data based on the image matching results ; When the and If the image matching is successful, the AGV material transfer obstacle identification data will be output There are obstacles; When the and If the image matching is not successful, the AGV material transfer obstacle identification data will be output If there is no obstacle, steps S71 to S73 are directly executed.

6. The intelligent production scheduling method based on MES according to claim 5 is characterized in that: The S5 comprises the following steps: S51, when the AGV material transfer obstacle identification data When there are obstacles, the real-time model data of the target AGV material transfer path In the corresponding three-dimensional model, a spherical coordinate system is established with the earth as the base, and the spatial coordinates of the target AGV in the spherical coordinate system are collected to generate the real-time spatial coordinate data of AGV material transfer. ; At the same time, the spatial coordinates of obstacles appearing on the AGV material transfer path in the spherical coordinate system are collected and the real-time spatial coordinate data set of the AGV material transfer obstacles is generated. , ; It indicates the collected Real-time spatial coordinate data of AGV material transfer obstacles, Indicates the maximum number of obstacles to AGV material transfer; S52, respectively, the real-time spatial coordinate data of the AGV material transport Enter the departure point dialog box of the map software and collect the real-time spatial coordinate data of the AGV material transfer obstacle Real-time spatial coordinate data of AGV material transfer obstacles Enter the number of obstacles to AGV material transfer into the destination dialog box of the map software in order, and measure the data along the target AGV material transfer path. The distance data between the AGV and the obstacles on the corresponding AGV material transfer path and the real-time material transfer path distance data set between the AGV and the obstacles are generated ,in Represents the real-time spatial coordinate data of the AGV material transfer Real-time spatial coordinate data of obstacles for material transfer with the AGV Corresponding real-time material transfer path distance data between AGV and obstacles; S53: collecting real-time material transfer path distance data between the AGV and the obstacle Real-time material transfer path distance data between AGV and obstacles Perform distance value analysis to search for the real-time material transfer path distance data between the AGV and the obstacle with the smallest distance value And through data identification, the shortest distance data of the real-time material transfer path between AGV and obstacles is constructed The real-time shortest distance data of the material transfer path between the AGV and the obstacle represents the distance data between the obstacle closest to the AGV and the AGV that appears on the AGV material transfer path in real time.

7. The MES-based intelligent production scheduling method according to claim 6 is characterized by: The S6 comprises the following steps: S61. Establish safe distance data between AGV and obstacles , the AGV and obstacle safety distance data represents the minimum safety distance data at which the AGV and the obstacle on the AGV material transfer path are at a non-collision; S62: The shortest distance data of the material transfer path between the AGV and the obstacle in real time The distance value is calculated from the safety distance data between the AGV and the obstacle. Compare and generate the AGV and obstacle position danger status assessment data based on the distance value comparison results ; when ≥ , then the AGV and obstacle position danger status assessment data is output To be non-dangerous; when < , then the AGV and obstacle position danger status assessment data is output For danger.

8. The MES-based intelligent production scheduling method according to claim 7 is characterized by: The S7 comprises the following steps: S71. Establish a data set of AGV material transfer speed in different material transfer states , It indicates that when the AGV material transfer obstacle identification data There is no obstacle or the AGV material transfer obstacle identification data There is an obstacle and the AGV and the obstacle are in a dangerous state assessment data The AGV material transfer speed data corresponding to the different material transfer states when it is not dangerous is: , Which represents the maximum speed data of AGV; Indicates when the AGV material transfer obstacle identification data There is an obstacle and the AGV and the obstacle are in a dangerous state assessment data The AGV material transfer speed data corresponding to the different material transfer states when it is dangerous is: , Indicates the minimum speed data of AGV. , The units are all kilometers per hour; S72, when the AGV material transfer obstacle identification data When there is no obstacle, a unified cost search algorithm is used to identify the AGV material transfer obstacle identification data. The AGV material transfer speed data set with different material transfer states The AGV material transfer speed data of different material transfer states is evaluated and processed according to the keywords of the obstacle identification results, and the AGV material transfer obstacle identification data is searched out. The corresponding AGV material transfer speed data of different material transfer states is used to generate the AGV material transfer real-time adjustment speed data through data identification. ; When the AGV material transfer obstacle identification data When there is an obstacle, a unified cost search algorithm is used to identify the AGV material transport obstacle identification data. and the AGV and obstacle position hazard status assessment data The AGV material transfer speed data set with different material transfer states The AGV material transfer speed data of different material transfer states is processed by evaluating the AGV material transfer speed parameters according to the obstacle identification result keywords and the obstacle danger state evaluation keywords, and the AGV material transfer obstacle identification data is searched out. and the AGV and obstacle position hazard status assessment data The corresponding AGV material transfer speed data of different material transfer states is used to generate the AGV material transfer real-time adjustment speed data through data identification. ; The unit is kilometers per hour. Values ​​include , Any one of; S73, MES adjusts speed data in real time according to the AGV material transfer The corresponding speed value executes the AGV material transfer speed control operation.

9. An intelligent production scheduling system based on MES, used to implement the intelligent production scheduling method based on MES according to any one of claims 1 to 8, characterized in that: The system includes an MES production scheduling information acquisition module, an MES production scheduling analysis module, and an MES production scheduling control module.

10. Application of the MES-based intelligent production scheduling method according to any one of claims 1 to 8 in AGV production scheduling.

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