AGV scheduling method and system for plate glass production line and storage medium

Abstract

The invention provides an AGV scheduling method and system for a plate glass production line and a storage medium, and the method comprises the following steps: obtaining task data based on stacking machine equipment on the plate glass production line, the task data at least comprising order parameters, glass parameters and transportation parameters; task creation and vehicle distribution are performed based on the task data, and task creation is performed based on the order parameters; vehicle distribution is carried out based on the glass parameters in combination with a preset matching algorithm to obtain a target vehicle; and performing vehicle scheduling on the target vehicle, obtaining a target path based on the transportation parameters in combination with a preset path planning algorithm, controlling the vehicle to perform scheduling based on the target path, and controlling the departure time of the target vehicle in combination with the glass parameters in the vehicle scheduling process. According to the AGV scheduling method and system for the plate glass production line and the storage medium, the utilization rate of the AGV is remarkably improved, the cargo handling throughput is further enhanced, and the labor cost and the production cost are effectively reduced.

Description

Technical Field

[0001] The present invention belongs to the technical field of vehicle dispatching and data processing, and in particular relates to a dispatching method, system and storage medium of an AGV for a flat glass production line. Background Art

[0002] At present, the manufacturing industry is steadily moving towards a new stage of automation and intelligence. In this process, the automated material handling system has become the core element for factories to improve production efficiency and reduce labor costs. AGV (Automated Guided Vehicle), as the core component of the automated material handling system, has been widely and deeply applied in manufacturing fields such as flat glass production lines due to its excellent efficiency, flexibility and reliability. Among them, the production process of flat glass covers multiple key transportation links such as stacking and picking, warehousing, outbound, deep-processing glass loading, and deep-processing packaging machine unloading. Each link has extremely high requirements for the accuracy and efficiency of material handling.

[0003] Given the fragility and weight of glass products, vibration and impact control during transportation is crucial, and traditional manual forklift transportation methods can no longer meet these stringent requirements. At the same time, the efficient output of flat glass production lines can reach tens of thousands of pieces of glass per kiln per hour, which requires a huge number of AGVs, making scheduling work extremely complicated. In addition, the storage space is vast, the transportation paths between each link are long, and the production and transportation links are closely connected. Therefore, in order to meet production needs and ensure the smooth progress of the production process, new requirements for the control of AGV vehicles are needed. Summary of the invention

[0004] In view of the above-mentioned shortcomings of the prior art, the purpose of the present invention is to provide an AGV scheduling method, system and storage medium for a flat glass production line, so as to propose an AGV scheduling method with excellent performance and closely matching the production process to meet production needs.

[0005] In a first aspect, the present invention provides a method for scheduling an AGV for a flat glass production line, the method comprising the following steps:

[0006] Acquiring task data based on a stacker device on a flat glass production line, wherein the task data at least includes order parameters, glass parameters, and transportation parameters;

[0007] Creating tasks and allocating vehicles based on the task data, wherein the task is created based on order parameters, and the creation method includes automatic creation and manual creation; and allocating vehicles based on glass parameters combined with a preset matching algorithm to obtain a target vehicle;

[0008] The target vehicle is dispatched based on the task data, wherein a target path is obtained based on the transportation parameters combined with a preset path planning algorithm, and the vehicle is controlled for dispatch based on the target path, wherein the departure time of the target vehicle is controlled in combination with glass parameters during the vehicle dispatch process.

[0009] In a possible implementation of the present application, the method further includes, during the data transmission process, performing different transmission mechanisms based on the data type, specifically including:

[0010] The data in the transmission process is differentiated by type, and the data after type differentiation includes glass-related data and vehicle-related data, among which:

[0011] Responding to a first transmission mechanism based on the glass-related data, the first transmission mechanism comprising a TCP communication protocol;

[0012] A second transmission mechanism is responded to based on the vehicle related data, wherein the second transmission mechanism includes a UDP communication protocol.

[0013] In a possible implementation of the present application, the acquiring of task data based on a stacker device on a flat glass production line specifically includes:

[0014] Collecting the control signal of the stacker to obtain the order details, grade classification, size specifications and number of pieces corresponding to the current task;

[0015] The operation parameters of the stacker are obtained to obtain the number of pieces setting, cycle planning, size matching, grabbing setting and full stack and transfer signals corresponding to the current task; wherein,

[0016] Obtaining the order parameters based on the order details, the grade classification and the statistical number of pieces;

[0017] Obtaining the glass parameters based on the size specification, the number of pieces set and the size matching;

[0018] The transport parameters are obtained based on the cycle planning, the gripping data and the full pallet and pallet transfer signals.

[0019] In a possible implementation of the present application, the vehicle allocation based on the glass parameters combined with a preset matching algorithm to obtain the target vehicle specifically includes:

[0020] Extracting production scheduling data and stacker distance based on the glass parameters;

[0021] Scoring calculation and matching are performed based on the production scheduling data, the stacker distance, the AGV vehicle and the vehicle power parameters, and the target vehicle is obtained based on the calculation result.

[0022] In a possible implementation of the present application, obtaining the target path based on the transportation parameters in combination with a preset path planning algorithm specifically includes:

[0023] Extracting point information and landmark information based on the transportation parameters, wherein the point information includes at least a departure point and an arrival point, and the landmark information includes at least a priority passage landmark, an avoidance control landmark, and a de-control landmark;

[0024] The target path is obtained by using the path planning algorithm based on the point information and the landmark information, wherein the path planning algorithm at least includes an A-Star algorithm.

[0025] In a possible implementation of the present application, the controlling the vehicle to be dispatched based on the target path specifically includes:

[0026] Based on the target path, the vehicle is controlled to perform scheduling, specifically obstacle avoidance control scheduling, route reuse scheduling, and route navigation scheduling, wherein:

[0027] The local Euclidean distance and obstacle endpoint distance judgment are used to detect obstacles, and the dynamic window method is combined to perform obstacle avoidance control scheduling;

[0028] Extracting shared lines corresponding to multiple paths based on the target path, and introducing a shared reward and punishment mechanism to perform route reuse scheduling on the shared lines;

[0029] Route navigation scheduling is performed based on the current navigation mode of the target vehicle, wherein the navigation mode at least includes laser navigation, QR code navigation and magnetic navigation.

[0030] In a possible implementation of the present application, the vehicle dispatching process combines the glass parameters to control the departure time of the target vehicle, specifically including:

[0031] Based on the glass parameters, obtaining the production time corresponding to the glass to be produced on the stacker;

[0032] Identifying a distance parameter between the target vehicle and the stacker;

[0033] The current standard speed of the target vehicle is extracted, and the departure time corresponding to the target vehicle is calculated based on the standard speed, the distance parameter and the production time.

[0034] In a second aspect, the present invention provides a scheduling system for an AGV of a flat glass production line, the system comprising:

[0035] An acquisition module, used for acquiring task data based on a stacker device on a flat glass production line, wherein the task data at least includes order parameters, glass parameters and transportation parameters;

[0036] An allocation module, configured to create tasks and allocate vehicles based on the task data, wherein the task is created based on order parameters, and the creation method includes automatic creation and manual creation; and the vehicle is allocated based on glass parameters combined with a preset matching algorithm to obtain a target vehicle;

[0037] A scheduling module is used to schedule the target vehicle based on the task data, wherein a target path is obtained based on the transportation parameters combined with a preset path planning algorithm, and the vehicle is controlled for scheduling based on the target path, wherein the departure time of the target vehicle is controlled in combination with glass parameters during the vehicle scheduling process.

[0038] In a third aspect, the present invention provides an electronic device, the electronic device comprising: a processor and a memory;

[0039] The memory is used to store computer programs;

[0040] The processor is used to execute the computer program stored in the memory so that the electronic device executes the above-mentioned scheduling method for AGVs of a flat glass production line.

[0041] In a fourth aspect, the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by an electronic device, implements the above-mentioned method for scheduling AGVs for a flat glass production line.

[0042] As described above, the scheduling method, system and storage medium of the AGV for a flat glass production line according to the present invention have the following beneficial effects:

[0043] (1) The present invention is widely compatible with mainstream AGV navigation controllers on the current market, including but not limited to laser navigation, QR code navigation, magnetic navigation, and SLAM (simultaneous localization and mapping) laser navigation, etc., and can provide users with flexible driving route configuration, traffic control settings, and order type selection.

[0044] (2) The present invention can seamlessly connect with customers’ existing key business systems such as WMS (warehouse management system), WCS (warehouse control system), ERP (enterprise resource planning) and MES (manufacturing execution system), thereby effectively reducing labor costs and production costs and shortening the project implementation cycle.

[0045] (3) The present invention significantly improves the utilization rate of AGV vehicles by improving the scheduling efficiency, thereby enhancing the throughput of cargo handling. It not only reduces the number of AGV vehicles required, but also demonstrates excellent scheduling performance, providing strong support for the automation and intelligent upgrade of flat glass production lines. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 Shown is a schematic diagram of a scene of an electronic device in an embodiment of the present invention;

[0047] Figure 2 A flowchart showing the steps of an AGV scheduling method for a flat glass production line according to an embodiment of the present invention;

[0048] Figure 3 A schematic diagram showing a target path of an AGV scheduling method for a flat glass production line according to an embodiment of the present invention;

[0049] Figure 4 A schematic diagram showing the execution of the A-Star algorithm in an embodiment of the AGV scheduling method for a flat glass production line of the present invention;

[0050] Figure 5 A flowchart of an AGV scheduling method for a flat glass production line according to an embodiment of the present invention is shown;

[0051] Figure 6 Shown is a schematic structural diagram of an AGV scheduling system for a flat glass production line according to an embodiment of the present invention;

[0052] Figure 7 It is a schematic structural diagram of an electronic device of the present invention in one embodiment. DETAILED DESCRIPTION

[0053] The following describes the embodiments of the present invention by specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the following embodiments and features in the embodiments can be combined with each other without conflict.

[0054] It should be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present invention, and thus the drawings only show components related to the present invention rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0055] The following embodiments of the present invention provide a scheduling method for AGVs of a flat glass production line, which can be applied to Figure 1The electronic device shown. The electronic device described in the present invention may include a mobile phone 11 with a wireless charging function, a tablet computer 12, a laptop computer 13, a wearable device, a vehicle-mounted device, an augmented reality (AR) / virtual reality (VR) device, an ultra-mobile personal computer (UMPC), a netbook, a personal digital assistant (PDA), etc. The embodiment of the present invention does not impose any restrictions on the specific type of the electronic device.

[0056] For example, the electronic device may be a station (STAION, ST) in a WLAN with a wireless charging function, a cellular phone, a cordless phone, a Session Initiation Protocol (SIP) phone, a Wireless Local Loop (WLL) station, a Personal Digital Assistant (PDA) device, a handheld device with a wireless charging function, a computing device or other processing device, a computer, a laptop computer, a handheld communication device, a handheld computing device, and / or other devices for communicating on a wireless system and a next generation communication system, such as a mobile terminal in a 5G network, a mobile terminal in a future evolved Public Land Mobile Network (PLMN), or a mobile terminal in a future evolved Non-terrestrial Network (NTN).

[0057] The technical solutions in the embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0058] Specifically, see Figure 2 In one embodiment of the invention, the scheduling method of the AGV for a flat glass production line of the present invention comprises the following steps:

[0059] Step S202, acquiring task data based on a stacker device on a flat glass production line, wherein the task data at least includes order parameters, glass parameters, and transportation parameters;

[0060] Step S204, creating a task and allocating a vehicle based on the task data, wherein the task is created based on the order parameters, and the creation method includes automatic creation and manual creation; and the vehicle is allocated based on the glass parameters combined with a preset matching algorithm to obtain a target vehicle;

[0061] Step S206, scheduling the target vehicle based on the task data, wherein a target path is obtained based on the transportation parameters combined with a preset path planning algorithm, and the vehicle is controlled for scheduling based on the target path, wherein the departure time of the target vehicle is controlled in combination with glass parameters during the vehicle scheduling process.

[0062] It should be noted that, in this embodiment, the specific steps of the scheduling method of the AGV for a flat glass production line of the present invention are specifically described, which mainly include the establishment of a real-time communication channel, and how to establish it will be described in the subsequent specification, as well as production line analysis and information acquisition, specifically including obtaining task data, specifically based on the stacker equipment on the flat glass production line to obtain task data, and accordingly, the acquired task data at least includes order parameters, glass parameters and transportation parameters, and scheduling processing, specifically including task creation and vehicle allocation and vehicle scheduling, wherein, task creation is specifically based on order parameters, and the creation method includes automatic creation and manual creation, and vehicle allocation is performed based on glass parameters combined with a preset matching algorithm to obtain a target vehicle, and the specific method of obtaining the target vehicle will be described in detail in the subsequent specification. Further, when performing vehicle scheduling, the target vehicle is specifically scheduled based on the task data, wherein the target path is first obtained based on the transportation parameters combined with a preset path planning algorithm, and then the vehicle is controlled for scheduling based on the target path, wherein the departure time of the target vehicle is controlled in combination with the glass parameters during the vehicle scheduling process, and accordingly, the scheduling includes navigation, obstacle avoidance and other controls, which will also be described in detail in the subsequent specification.

[0063] Furthermore, in one embodiment of the invention, the method further includes, during the data transmission process, performing different transmission mechanisms based on the data type, specifically including:

[0064] The data in the transmission process is differentiated by type, and the data after type differentiation includes glass-related data and vehicle-related data, among which:

[0065] Responding to a first transmission mechanism based on the glass-related data, the first transmission mechanism comprising a TCP communication protocol;

[0066] A second transmission mechanism is responded to based on the vehicle related data, wherein the second transmission mechanism includes a UDP communication protocol.

[0067] It should be noted that, in this embodiment, the establishment and transmission details of the real-time communication channel are specifically described, wherein the described real-time communication channel includes two communication protocols, namely the TCP communication protocol of the first mechanism and the UDP communication protocol of the second mechanism, wherein the data in the transmission process are type-differentiated, and the data after type differentiation includes glass-related data and vehicle-related data, accordingly, based on the glass-related data responding to the first transmission mechanism, the TCP communication protocol can be used to ensure the accuracy of data transmission, and based on the vehicle-related data responding to the second transmission mechanism, the UDP communication protocol can be used to ensure the timeliness of data transmission, wherein the establishment of a real-time communication channel is a key link to ensure the efficient and orderly operation of the entire production process, and by utilizing the dual mechanism of TCP / UDP, an efficient communication protocol can be used to build a real-time communication bridge with the AGV (automatic guided vehicle) scheduling system, thereby ensuring that various key information on the production line can be smoothly and accurately transmitted to the scheduling service core to support intelligent decision-making and processing.

[0068] Furthermore, the real-time communication channel includes data encapsulation and parsing, error handling and retransmission mechanisms to verify data accuracy. Since the production line has multiple sources and the communication channel has high concurrent processing capabilities, information security measures such as encryption and signing are also used when constructing the real-time communication channel to ensure data security and ensure the confidentiality and integrity of data during transmission.

[0069] Specifically, for the transmission of glass-related data such as glass order details, grade classification, size specifications and number of pieces, the TCP protocol is selected for transmission because these data have high requirements for accuracy; and for the transportation parameters of AGV vehicles, such as location tracking, working status, power monitoring and other information with high real-time requirements, the UDP protocol is used for transmission to improve the real-time performance of data transmission while ensuring a certain degree of accuracy.

[0070] Furthermore, in one embodiment of the invention, the obtaining of task data based on the stacker equipment on the flat glass production line specifically includes:

[0071] Collecting the control signal of the stacker to obtain the order details, grade classification, size specifications and number of pieces corresponding to the current task;

[0072] The operation parameters of the stacker are obtained to obtain the number of pieces setting, cycle planning, size matching, grabbing setting and full stack and transfer signals corresponding to the current task; wherein,

[0073] Obtaining the order parameters based on the order details, the grade classification and the statistical number of pieces;

[0074] Obtaining the glass parameters based on the size specification, the number of pieces set and the size matching;

[0075] The transport parameters are obtained based on the cycle planning, the gripping data and the full pallet and pallet transfer signals.

[0076] It should be noted that, in this embodiment, obtaining task data based on the stacker specifically includes comprehensively collecting the PLC control signal of the stacker to obtain the order details, grade classification, size specifications and statistical number of pieces corresponding to the current task, which corresponds to the glass-related data, and obtaining the operating parameters of the stacker to obtain the number of pieces setting, cycle planning, size matching, grabbing setting and full stack and transfer signals corresponding to the current task, which can be used for data analysis and matching when matching vehicles. Among them, by in-depth analysis of the cold end control process of the flat glass production line to accurately capture the production line dynamics, the inventory situation of the flat glass can be fully grasped, including the warehouse layout, stacking rules and existing inventory data.

[0077] Furthermore, the task data includes at least order parameters, glass parameters and transportation parameters, wherein the order parameters are obtained based on the order details, the grade classification and the statistical number of pieces, and the glass parameters are obtained based on the size specifications, the number of pieces set and the size matching, and the transportation parameters are obtained based on the cycle planning, the grabbing data and the full stack and transfer signals.

[0078] Further, in one embodiment of the invention, the vehicle allocation based on the glass parameters combined with a preset matching algorithm to obtain the target vehicle specifically includes:

[0079] Extracting production scheduling data and stacker distance based on the glass parameters;

[0080] Scoring calculation and matching are performed based on the production scheduling data, the stacker distance, the AGV vehicle and the vehicle power parameters, and the target vehicle is obtained based on the calculation result.

[0081] It should be noted that, in this embodiment, the content of how to obtain the target vehicle is specifically described, wherein the production scheduling data and the stacker distance are first extracted based on the glass parameters, and then a scoring calculation and matching is performed based on the production scheduling data, the stacker distance, the AGV vehicle and the vehicle power parameters, and the target vehicle is obtained based on the calculation results.

[0082] Specifically, take the example that stacker A and stacker B send out full stack signals at the same time. At this time, AGV scheduling requires task creation and vehicle allocation.

[0083] The task creation includes the following steps:

[0084] 1) Receive full stack signals from stacker A and stacker B.

[0085] 2) Analyze the current production situation and find that there are two orders that need to be processed, and Order 1 has a higher priority than Order 2.

[0086] 3) Two scheduling tasks are automatically created, namely Task 1 and Task 2, with a priority range of "0-100", that is, a maximum of 100 tasks are created and executed at the same time, among which Task 1 corresponds to Order 1 and Task 2 corresponds to Order 2. The priority of Task 1 is "80" and the priority of Task 2 is "70".

[0087] Furthermore, vehicle matching is performed, specifically including the following steps:

[0088] 1) Check the status of the current inventory AGVs and find that there are three idle AGVs (AGV1, AGV2, AGV3).

[0089] 2) Check the power status. The full score is "10" points. The power coefficient ratio is set to "0.3" (which can be modified according to actual conditions). According to the current distance of the AGV vehicle from the stacker and the destination distance of the allocated storage location, calculate whether the power status meets the requirements for completing the task. AGV1, AGV2, and AGV3 all meet the conditions, but AGV4 does not. AGV4 is scored "0" and is first excluded from the screening range. AGV1, AGV2, and AGV3 are estimated to have 31%, 42%, and 53% remaining power after completing the task, and are scored "3.1", "4.2", and "5.3" respectively. The higher the remaining power, the higher the score.

[0090] 3) Calculate the distance, and the proportion of the distance coefficient is set to "0.7" (which can be modified according to actual conditions). Among them, AGV1 is closest to stacker A and A is located in the waiting area, which is "400" meters; AGV2 is in the state of completing the task and returning to the waiting area, and is closer to stacker B, which is "500" meters. AGV3 is "600" meters away from stacker B, but is already in the vehicle waiting area. By calculating the common route of "60" meters between AGV2 and AGV1 on the way to the stacker, the estimated common route congestion coefficient is set to "5", then the route of AGV2 is set to "500+5*60=880" meters, and the route of AGV3 is "600" meters. Then, the score of AGV1 is "10", the score of AGV2 is "880 / (880+600)*10=5.945", and the score of AGV3 is "600 / (880+600)=4.054".

[0091] 4) According to the order priority, the order priority has the highest priority, among which Task 1 is assigned first. Since Task 1 has a higher priority than Task 2, and AGV1 is closest to stacker A, has sufficient power, and is located in the waiting area, AGV1 is selected to perform Task 1.

[0092] 5) For Task 2, it is necessary to comprehensively consider the distance to the stacker, the vehicle power parameters and the path congestion. Among them, the score of AGV2 is "4.2*0.3+5.945*0.7=5.4215" points, and the score of AGV3 is "5.3*0.3+4.054*0.7=4.4278" points. Therefore, AGV2 is selected to perform this task. Although AGV2 is not the AGV closest to stacker B, it is the best choice after comprehensive consideration.

[0093] Further, in one embodiment of the invention, the target path is obtained based on the transportation parameters combined with a preset path planning algorithm, specifically including:

[0094] Extracting point information and landmark information based on the transportation parameters, wherein the point information includes at least a departure point and an arrival point, and the landmark information includes at least a priority passage landmark, an avoidance control landmark, and a de-control landmark;

[0095] The target path is obtained by using the path planning algorithm based on the point information and the landmark information, wherein the path planning algorithm at least includes an A-Star algorithm.

[0096] It should be noted that, in this embodiment, how to obtain the target path is specifically described, such as Figure 3 As shown, a schematic diagram of the target path is displayed, wherein, in AGV scheduling, by continuously calculating the path iteration from the starting point to the surrounding areas, the path with the least cost is determined, that is, the optimal path, wherein advanced scheduling algorithms, including the A-Star algorithm, are used to plan the optimal path for the AGV, thereby breaking down the complex mobile task into a series of single-segment instructions for the AGV to execute to obtain the target path, wherein, specifically, point information and landmark information are extracted based on transportation parameters, wherein the point information at least includes a starting point and an arrival point, and the landmark information at least includes a priority passage landmark, an avoidance control landmark, and a de-control landmark, thereby obtaining the target path based on the point information and the landmark information using the path planning algorithm.

[0097] Specifically, the main core of the path planning scheduling algorithm adopts the A-Star algorithm, which is a heuristic search algorithm that combines the characteristics of the greedy algorithm and the Dijkstra algorithm. It uses a heuristic function to evaluate the optimal path from the starting point to the end point, calculates the route through different weights (shortest path, least turns, hot spot analysis), calculates whether the straight line angle is obtuse or acute, and determines whether the AGV turns the road by moving forward or backward or turning left or right to obtain the target path. Among them, the target path obtained by applying the A-Star algorithm considering multiple factors, such as road conditions, obstacle locations, and the operating status of other AGVs, can ensure that the AGV can reach the destination safely and efficiently. Figure 4 As shown, the core of the A-Star algorithm lies in its heuristic function f(n), which consists of two parts: g(n) and h(n), where g(n) represents the actual cost from the starting point (starting point) to the current node n, and h(n) is the heuristic cost estimate, that is, the estimated cost from node n to the target node. The calculation formula of the heuristic function f(n) is: f(n)=g(n)+h(n)f(n)=g(n)+h(n), where f(n) represents the total cost estimate from the starting point to the target node through node n. Since the A-Star algorithm is a specific application of the prior art in this embodiment, the specific details are not repeated here.

[0098] Furthermore, in one embodiment of the invention, the vehicle is dispatched based on the target path control, such as Figure 5 As shown, the specific steps include:

[0099] Step S502, controlling the vehicle to perform scheduling based on the target path, specifically obstacle avoidance control scheduling, route multiplexing scheduling and route navigation scheduling;

[0100] Step S504, using local Euclidean distance and obstacle endpoint distance judgment to detect obstacles, and combining dynamic window method to perform obstacle avoidance control scheduling;

[0101] Step S506, extracting shared lines corresponding to multiple paths based on the target path, introducing a shared reward and punishment mechanism to perform route multiplexing scheduling on the shared lines;

[0102] Step S508, performing route navigation scheduling based on the current navigation mode of the target vehicle, wherein the navigation mode at least includes laser navigation, QR code navigation and magnetic navigation.

[0103] It should be noted that in this embodiment, the content of vehicle scheduling based on the target path is specifically described, including obstacle avoidance control scheduling, route reuse scheduling and route navigation scheduling. Specifically, the local Euclidean distance and obstacle endpoint distance judgment are used to detect obstacles, and the dynamic window method is combined to perform obstacle avoidance control scheduling. When encountering obstacles, the target path uses the Euclidean distance to plan the path with the minimum cost to avoid detours. It should be noted that on the basis of the global use of the improved A-Star algorithm, the local use of the fusion A-Star algorithm and DWA (Dynamic WindowApproach, dynamic window method) two algorithms, can realize dynamic obstacle avoidance function, have significant improvements in reducing path length and time, and the path is smoother; and based on the target path, the common lines corresponding to multiple paths are extracted, and a common reward and punishment mechanism is introduced to perform route reuse scheduling on the common lines. Specifically, when performing map modeling, the grid map method is used for modeling, and the motion trajectory of the AGV is described by the grid map method to complete the common line reuse adjustment, wherein the reward and punishment value of the AGV common route is introduced, and the estimated overhead is optimized by reducing the path conflict. In actual application, different types of AGV conflicts are targeted at different path collision resolution rules, thereby improving the reliability and efficiency of path planning; and route navigation scheduling is performed based on the current navigation mode of the target vehicle, wherein the navigation mode includes at least laser navigation, two-dimensional code navigation and magnetic navigation, and the corresponding navigation technology is adapted according to the navigation mode of the AGV (such as laser, two-dimensional code, magnetic navigation or SLAM, etc.) to provide accurate navigation information for the AGV.

[0104] Furthermore, in one embodiment of the invention, the vehicle dispatching process combines the glass parameters to control the departure time of the target vehicle, specifically including:

[0105] Based on the glass parameters, obtaining the production time corresponding to the glass to be produced on the stacker;

[0106] Identifying a distance parameter between the target vehicle and the stacker;

[0107] The current standard speed of the target vehicle is extracted, and the departure time corresponding to the target vehicle is calculated based on the standard speed, the distance parameter and the production time.

[0108] It should be noted that, in this embodiment, the production time corresponding to the glass to be produced at the stacker is obtained based on the glass parameters, which specifically corresponds to the cycle time of the stacker to be grasped. By calculating the time when the stacker is full of glass, the production completion time and the time for the car to go from the waiting area to the destination stacker can be estimated. Under the premise of not causing road congestion and the minimum public route, the distance parameters between the target vehicle and the stacker are identified, and the AGV position is planned in advance to match the target vehicle. The departure time from the garage to the stacker is controlled to calculate the departure time corresponding to the current target vehicle, so as to provide the AGV with a work rhythm that matches the production and ensure orderly production.

[0109] Furthermore, the glass parameters also include the size specifications. Therefore, when the AGV vehicle transports the glass, the fork tines of the AGV vehicle need to be precisely controlled. For example, taking a piece of glass with a width of "1.2" meters to be transported, after receiving the transport task, the target vehicle (AGV forklift) calculates based on the size specifications that the fork tines need to be opened to "1.22" meters (the purpose is to take into account a certain safety margin) in order to stably clamp the glass. In the actual execution process, the AGV forklift identifies the position of the glass, and the vehicle's own adjustment mechanism drives the left and right tines to slide toward each other until the distance between them reaches "1.22" meters, and then inserts them under the glass at an appropriate depth and angle, stably lifts it and transports it to the specified position (i.e., the arrival point). By adopting an AGV forklift with automatically adjustable tines and advanced sensor control, adaptive adjustment of the glass size can be achieved, thereby improving transportation efficiency and accuracy.

[0110] The embodiment of the present application also provides a scheduling system for an AGV for a flat glass production line. The scheduling system for an AGV for a flat glass production line can implement the scheduling method for an AGV for a flat glass production line described in the present application. However, the implementation device of the scheduling method for an AGV for a flat glass production line described in the present application includes but is not limited to the structure of the scheduling system for an AGV for a flat glass production line listed in the present embodiment. All structural deformations and replacements of the prior art made according to the principles of the present application are included in the protection scope of the present application.

[0111] See also Figure 6 In one embodiment, this embodiment provides a scheduling system 60 for an AGV of a flat glass production line, the system comprising:

[0112] An acquisition module 61 is used to acquire task data based on a stacker device on a flat glass production line, wherein the task data at least includes order parameters, glass parameters and transportation parameters;

[0113] An allocation module 62 is used to create tasks and allocate vehicles based on the task data, wherein the task is created based on order parameters, and the creation method includes automatic creation and manual creation; and the vehicle is allocated based on glass parameters combined with a preset matching algorithm to obtain a target vehicle;

[0114] The scheduling module 63 is used to schedule the target vehicle based on the task data, wherein the target path is obtained based on the transportation parameters combined with a preset path planning algorithm, and the vehicle is controlled for scheduling based on the target path, wherein the departure time of the target vehicle is controlled in combination with the glass parameters during the vehicle scheduling process.

[0115] Since the specific implementation of this embodiment corresponds to the aforementioned method embodiment, the same details will not be repeated here, and those skilled in the art should also understand that Figure 6 The division of the modules in the embodiment is merely a division of logical functions, and in actual implementation, all or part of them can be integrated into one or more physical entities, and these modules can be implemented entirely in the form of software called by processing elements, or entirely in the form of hardware, or some modules can be implemented in the form of software called by processing elements, and some modules can be implemented in the form of hardware.

[0116] In the several embodiments provided by the present invention, it should be understood that the disclosed system, device or method can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of modules / units is only a logical function division, and there may be other division methods in actual implementation, such as multiple modules or units can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or modules or units, which can be electrical, mechanical or other forms.

[0117] The modules / units described as separate components may or may not be physically separated, and the components displayed as modules / units may or may not be physical modules, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules / units may be selected according to actual needs to achieve the purpose of the embodiments of the present invention. For example, the functional modules / units in the various embodiments of the present invention may be integrated into one processing module, or each module / unit may exist physically separately, or two or more modules / units may be integrated into one module / unit.

[0118] Those of ordinary skill in the art should further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in terms of function in the above description. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0119] The embodiment of the present invention also provides a computer-readable storage medium. A person of ordinary skill in the art can understand that all or part of the steps in the method for implementing the above embodiment can be completed by instructing the processor through a program, and the program can be stored in a computer-readable storage medium, and the storage medium is a non-transitory medium, such as a random access memory, a read-only memory, a flash memory, a hard disk, a solid-state hard disk, a magnetic tape, a floppy disk, an optical disc, and any combination thereof. The above storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server or a data center that includes one or more available media integrated. The available medium can be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a digital video disc (DVD)), or a semiconductor medium (e.g., a solid-state disk (SSD)), etc.

[0120] An embodiment of the present invention further provides an electronic device, which includes a processor and a memory.

[0121] The memory is used to store computer programs.

[0122] The memory includes: ROM, RAM, disk, USB flash drive, memory card or CD and other media that can store program codes.

[0123] The processor is connected to the memory and is used to execute the computer program stored in the memory so that the electronic device executes the above-mentioned scheduling method for AGVs of flat glass production lines.

[0124] Preferably, the processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components.

[0125] like Figure 7 As shown, the electronic device of the present invention is in the form of a general computing device. The components of the electronic device may include but are not limited to: one or more processors or processing units 71, a memory 72, and a bus 73 connecting different system components (including the memory 72 and the processing unit 71).

[0126] Bus 73 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor or a local bus using any of a variety of bus architectures. By way of example, these architectures include, but are not limited to, an Industry Standard Architecture (ISA) bus, a Micro Channel Architecture (MAC) bus, an Enhanced ISA bus, a Video Electronics Standards Association (VESA) local bus, and a Peripheral Component Interconnect (PCI) bus.

[0127] Electronic devices typically include a variety of computer system readable media. These media can be any available media that can be accessed by the electronic device, including volatile and non-volatile media, removable and non-removable media.

[0128] The memory 72 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) 721 and / or cache memory 722. The electronic device may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, the storage system 723 may be used to read and write non-removable, non-volatile magnetic media ( Figure 7 not shown, usually called a "hard drive"). Although Figure 7Not shown, a disk drive for reading and writing to a removable non-volatile disk (e.g., a "floppy disk"), and an optical disk drive for reading and writing to a removable non-volatile optical disk (e.g., a CD-ROM, a DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to the bus 73 via one or more data medium interfaces. The memory 72 may include at least one program product having a set (e.g., at least one) of program modules that are configured to perform the functions of the various embodiments of the present invention.

[0129] A program / utility 724 having a set (at least one) of program modules 7241 may be stored, for example, in the memory 72, such program modules 7241 including but not limited to an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment. The program modules 7241 generally perform the functions and / or methods of the embodiments described herein.

[0130] The electronic device may also communicate with one or more external devices (e.g., keyboards, pointing devices, displays, etc.), one or more devices that enable a user to interact with the electronic device, and / or any device that enables the electronic device to communicate with one or more other computing devices (e.g., network cards, modems, etc.). Such communication may be performed via input / output (I / O) interface 74. Furthermore, the electronic device may also communicate with one or more networks (e.g., local area networks (LANs), wide area networks (WANs), and / or public networks, such as the Internet) via network adapter 75. Figure 7 As shown, the network adapter 75 communicates with other modules of the electronic device via the bus 73. It should be understood that, although not shown in the figure, other hardware and / or software modules can be used in conjunction with the electronic device, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0131] The above embodiments are merely illustrative of the principles and effects of the present invention, and are not intended to limit the present invention. Anyone familiar with the art may modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by a person of ordinary skill in the art without departing from the spirit and technical concept disclosed by the present invention shall still be covered by the claims of the present invention.

Claims

1. A method for dispatching AGVs for a flat glass production line, characterized in that: include: Acquiring task data based on a stacker device on a flat glass production line, wherein the task data at least includes order parameters, glass parameters, and transportation parameters; Creating tasks and allocating vehicles based on the task data, wherein the task is created based on order parameters, and the creation method includes automatic creation and manual creation; and allocating vehicles based on glass parameters combined with a preset matching algorithm to obtain a target vehicle; The target vehicle is dispatched based on the task data, wherein a target path is obtained based on the transportation parameters combined with a preset path planning algorithm, and the vehicle is controlled for dispatch based on the target path, wherein the departure time of the target vehicle is controlled in combination with glass parameters during the vehicle dispatch process.

2. The method for dispatching AGV for a flat glass production line according to claim 1, characterized in that: The method also includes, during the data transmission process, performing different transmission mechanisms based on the data type, specifically including: The data in the transmission process is differentiated by type, and the data after type differentiation includes glass-related data and vehicle-related data, among which: A first transmission mechanism is responded to based on the glass-related data, and the first transmission mechanism includes a TCP communication protocol; a second transmission mechanism is responded to based on the vehicle-related data, and the second transmission mechanism includes a UDP communication protocol.

3. The method for dispatching AGV for a flat glass production line according to claim 1, characterized in that: The step of obtaining task data based on the stacker equipment on the flat glass production line specifically includes: Collecting the control signal of the stacker to obtain the order details, grade classification, size specifications and number of pieces corresponding to the current task; The operation parameters of the stacker are obtained to obtain the number of pieces setting, cycle planning, size matching, grabbing setting and full stack and transfer signals corresponding to the current task; wherein, Obtaining the order parameters based on the order details, the grade classification and the statistical number of pieces; Obtaining the glass parameters based on the size specification, the number of pieces set and the size matching; The transport parameters are obtained based on the cycle planning, the gripping data and the full pallet and pallet transfer signals.

4. The method for dispatching AGV for a flat glass production line according to claim 3, characterized in that: The vehicle allocation based on the glass parameters combined with a preset matching algorithm to obtain a target vehicle specifically includes: Extracting production scheduling data and stacker distance based on the glass parameters; Scoring calculation and matching are performed based on the production scheduling data, the stacker distance, the AGV vehicle and the vehicle power parameters, and the target vehicle is obtained based on the calculation result.

5. The method for dispatching AGV for a flat glass production line according to claim 4, characterized in that: The step of obtaining a target path based on the transportation parameters and a preset path planning algorithm specifically includes: Extracting point information and landmark information based on the transportation parameters, wherein the point information includes at least a departure point and an arrival point, and the landmark information includes at least a priority passage landmark, an avoidance control landmark, and a de-control landmark; The target path is obtained by using the path planning algorithm based on the point information and the landmark information, wherein the path planning algorithm at least includes an A-Star algorithm.

6. The method for dispatching AGV for a flat glass production line according to claim 5, characterized in that: The controlling of the vehicle for scheduling based on the target path specifically includes: Based on the target path, the vehicle is controlled to perform scheduling, specifically obstacle avoidance control scheduling, route reuse scheduling, and route navigation scheduling, wherein: The local Euclidean distance and obstacle endpoint distance judgment are used to detect obstacles, and the dynamic window method is combined to perform obstacle avoidance control scheduling; Extracting shared lines corresponding to multiple paths based on the target path, and introducing a shared reward and punishment mechanism to perform route reuse scheduling on the shared lines; Route navigation scheduling is performed based on the current navigation mode of the target vehicle, wherein the navigation mode at least includes laser navigation, QR code navigation and magnetic navigation.

7. The method for dispatching AGVs for a flat glass production line according to claim 6, characterized in that: The vehicle dispatching process combines the glass parameters to control the departure time of the target vehicle, specifically including: Based on the glass parameters, obtaining the production time corresponding to the glass to be produced on the stacker; Identifying a distance parameter between the target vehicle and the stacker; The current standard speed of the target vehicle is extracted, and the departure time corresponding to the target vehicle is calculated based on the standard speed, the distance parameter and the production time.

8. An AGV scheduling system for a flat glass production line, characterized in that: include: An acquisition module, used for acquiring task data based on a stacker device on a flat glass production line, wherein the task data at least includes order parameters, glass parameters and transportation parameters; An allocation module, configured to create tasks and allocate vehicles based on the task data, wherein the task is created based on order parameters, and the creation method includes automatic creation and manual creation; and the vehicle is allocated based on glass parameters combined with a preset matching algorithm to obtain a target vehicle; A scheduling module is used to schedule the target vehicle based on the task data, wherein a target path is obtained based on the transportation parameters combined with a preset path planning algorithm, and the vehicle is controlled for scheduling based on the target path, wherein the departure time of the target vehicle is controlled in combination with glass parameters during the vehicle scheduling process.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the scheduling method of the AGV for a flat glass production line as described in any one of claims 1 to 7 is implemented.

10. An electronic device, characterized in that: The electronic device comprises: a processor and a memory; wherein the memory is used to store a computer program, and the processor is used to execute the computer program stored in the memory, so that the electronic device executes the scheduling method for AGV for a flat glass production line as described in any one of claims 1 to 7.

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