Intelligent factory AGV scheduling method and system

Abstract

The invention provides an intelligent factory AGV scheduling method and system, which are used for building an intelligent factory AGV scheduling system by factory equipment, a scheduling system, an AGV and an equipment site, and after automatic AGV scheduling processing is introduced, material loading and unloading work does not need to be carried out through manual operation by field personnel, so that the working efficiency is improved, and the working efficiency is improved. Therefore, the working efficiency in the aspect of material transportation is guaranteed, the error risk accompanied by manual operation can be avoided, the high efficiency and safety of production operation are guaranteed, the production field artificial intelligence system with better performance is used for assisting production and manufacturing, and the application requirement for intelligent manufacturing with higher quality is met.

Description

Technical Field

[0001] The present application relates to the field of intelligent manufacturing, and specifically to an AGV (Automated Guided Vehicle) scheduling method and system for an intelligent factory. Background Art

[0002] An Automated Guided Vehicle (AGV) is an industrial vehicle that loads materials automatically or manually, drives automatically to a designated location along a set path, and then loads and unloads goods automatically or manually.

[0003] Obviously, AGV carts can reduce manufacturing costs and contribute to intelligent manufacturing in factory applications.

[0004] However, the inventors of the present application found that the existing technology is more focused on how to plan a more intelligent and scientific path planning, while the AGV cart needs to be manually operated or controlled when loading and unloading materials, which is accompanied by the problem of limiting work efficiency and the risk of manual operation errors. Summary of the invention

[0005] The present application provides an intelligent factory AGV car scheduling method and system, which is used to create an intelligent factory AGV car scheduling system with factory equipment, scheduling system, AGV car and equipment site. After the introduction of automated AGV car scheduling processing, there is no need to rely on on-site personnel to perform material loading and unloading through manual operation. This not only ensures the work efficiency in material transportation, but also avoids the risk of errors associated with manual operation, ensures the efficiency and safety of production operations, and uses a better-performing production field artificial intelligence system to assist production and manufacturing, meeting higher-quality intelligent manufacturing application needs.

[0006] In a first aspect, the present application provides an intelligent factory AGV car scheduling method, the method comprising:

[0007] When the relevant equipment in the factory production area reports the AGV car dispatch notification to the dispatch system;

[0008] When triggered by the AGV car dispatch notification, the dispatch system creates the corresponding target AGV car dispatch task;

[0009] The dispatching system sends a first instruction to the target AGV vehicle, so that the target AGV vehicle goes to the first equipment site according to the first preset path, and monitors the location of the target AGV vehicle;

[0010] When the target AGV arrives at the first equipment site, a second instruction is issued to the first equipment site, so that the first equipment site loads the material corresponding to the AGV scheduling task on the target AGV;

[0011] When receiving the reported completion notification of loading, the dispatching system sends a third instruction to the target AGV vehicle, so that the target AGV vehicle goes to the second equipment site according to the second preset path, and monitors the location of the target AGV vehicle;

[0012] When the target AGV arrives at the second equipment site, a fourth instruction is issued to the target AGV and the second equipment site, so that the target AGV unloads the material corresponding to the target AGV scheduling task at the first equipment site;

[0013] When receiving the reported completion notification of unloading, the dispatching system sends a fifth instruction to the target AGV car, so that the target AGV car enters an idle state and completes the response to the AGV car dispatching notification.

[0014] In combination with the first aspect of the present application, in a first possible implementation method of the first aspect of the present application, the communication connection between the relevant equipment in the factory production area and the scheduling system is configured based on the TCP protocol, the communication connection between the target AGV car and the scheduling system is configured based on the HTTP protocol, and the communication connection between the first equipment site and the second equipment site and the scheduling system is configured based on the PLC protocol.

[0015] In combination with the first aspect of the present application, in a second possible implementation of the first aspect of the present application, the scheduling system creates a corresponding target AGV car scheduling task, including:

[0016] The scheduling system extracts a target idle task from at least one idle task in the task scheduling pool;

[0017] The scheduling system selects an idle AGV as the target AGV for the target idle task;

[0018] The dispatching system determines whether the conditions for creating the AGV dispatching task are met;

[0019] If the conditions for creating the AGV car scheduling task are met, the scheduling system creates the target AGV car scheduling task.

[0020] In combination with the second possible implementation of the first aspect of the present application, in a third possible implementation of the first aspect of the present application, before the scheduling system determines whether the AGV car scheduling task creation conditions are met, the method also includes:

[0021] The dispatching system determines whether a selected idle AGV has an existing AGV dispatching task with the same starting station, destination station and task type as the AGV dispatching notification;

[0022] The dispatching system determines whether at least one of the starting station and the destination station corresponding to the AGV car dispatch notification is locked by the task;

[0023] The dispatching system determines whether the material tray of at least one of the starting station and the destination station corresponding to the AGV car dispatching notification is no longer the material tray indicated by the AGV car dispatching notification;

[0024] If both are negative, the scheduling system triggers the target AGV to determine whether the conditions for creating the AGV scheduling task are met.

[0025] In combination with the third possible implementation of the first aspect of the present application, in a fourth possible implementation of the first aspect of the present application, the scheduling system determines whether the AGV car scheduling task creation conditions are met, including:

[0026] The scheduling system determines whether the starting site is locked by the task;

[0027] If the starting site is not locked by the task, the scheduling system determines whether the adjacent sites of the starting site are locked by the task;

[0028] If the adjacent sites of the starting site are locked by tasks, the scheduling system will check whether there is an idle destination site according to the material scheduling rules;

[0029] If there is an idle destination site, the scheduling system determines whether the adjacent sites of the idle destination site are locked by the task;

[0030] If the adjacent sites of the idle destination site are not locked by the task, the scheduling system determines that the conditions for creating the AGV car scheduling task are met.

[0031] In combination with the third possible implementation of the first aspect of the present application, in a fifth possible implementation of the first aspect of the present application, if the AGV trolley scheduling task creation condition is not met, the method further includes:

[0032] Extract a new target idle task from at least one idle task in the task scheduling pool, and re-judge and process;

[0033] If the conditions for creating the AGV car scheduling task are not met in three cycles, the creation of the target AGV car scheduling task will be abandoned, and the new AGV car scheduling notification will be waited for triggering processing.

[0034] In combination with the third possible implementation of the first aspect of the present application, in a sixth possible implementation of the first aspect of the present application, the starting site and the destination site are specifically two sites where selectable equipment sites are concentrated in the same area and are closest to each other.

[0035] In combination with the second possible implementation manner of the first aspect of the present application, in a seventh possible implementation manner of the first aspect of the present application, the scheduling system extracts a target idle task from at least one idle task in the task scheduling pool, including:

[0036] The scheduling system extracts a target idle task from at least one idle task in the task scheduling pool according to the preset ascending order of tasks or task priorities of different tasks in the task scheduling pool.

[0037] In a second aspect, the present application provides an intelligent factory AGV trolley scheduling system that executes the method provided by the first aspect of the present application or any possible implementation method of the first aspect of the present application.

[0038] In a third aspect, the present application provides a computer-readable storage medium, which stores multiple instructions, and the instructions are suitable for a processor to load to execute the method provided by the first aspect of the present application or any possible implementation of the first aspect of the present application.

[0039] From the above content, it can be concluded that the present application has the following beneficial effects:

[0040] Aiming at the goal of optimizing the AGV trolley scheduling scheme, this application uses factory equipment, scheduling systems, AGV trolleys and equipment sites to create an intelligent factory AGV trolley scheduling system. After the introduction of automated AGV trolley scheduling processing, there is no need to rely on on-site personnel to manually load and unload materials. This not only ensures the work efficiency in material transportation, but also avoids the risk of errors associated with manual operation, ensures the efficiency and safety of production operations, and uses a better-performing production field artificial intelligence system to assist production and manufacturing, meeting higher-quality smart manufacturing application needs. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0042] Figure 1 A flow chart of the AGV car scheduling method for the intelligent factory of this application;

[0043] Figure 2 A logical diagram of the target AGV car scheduling task is created for this application;

[0044] Figure 3 A logical schematic diagram for determining whether the conditions for creating an AGV car scheduling task are met for this application;

[0045] Figure 4 This is a structural schematic diagram of the processing equipment involved in the intelligent factory AGV trolley scheduling system of this application. DETAILED DESCRIPTION

[0046] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of this application.

[0047] The terms "first", "second", etc. in the specification and claims of this application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments described here can be implemented in an order other than that illustrated or described here. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or modules is not necessarily limited to those steps or modules clearly listed, but may include other steps or modules that are not clearly listed or inherent to these processes, methods, products or devices. The naming or numbering of steps in this application does not mean that the steps in the method flow must be executed in the time / logical sequence indicated by the naming or numbering. The process steps that have been named or numbered can change the execution order according to the technical purpose to be achieved, as long as the same or similar technical effects can be achieved.

[0048] The division of modules in this application is a logical division. There may be other division methods when it is implemented in actual applications. For example, multiple modules can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, and the indirect coupling or communication connection between modules can be electrical or other similar forms, which are not limited in this application. In addition, the modules or submodules described as separate components may or may not be physically separated, may or may not be physical modules, or may be distributed in multiple circuit modules, and some or all of the modules may be selected according to actual needs to achieve the purpose of the present application.

[0049] First, see Figure 1 , Figure 1A flow chart of the intelligent factory AGV trolley dispatching method of the present application is shown. The intelligent factory AGV trolley dispatching method provided by the present application may specifically include the following steps S101 to S107:

[0050] Step S101, when the relevant equipment in the factory production area reports the AGV car dispatch notification to the dispatch system;

[0051] It can be understood that in the factory application scenario where the intelligent factory AGV car dispatching system designed by this application is deployed, in the factory production area, this application deploys relevant equipment that can be used to initiate AGV car dispatching processing or report AGV car dispatching notifications.

[0052] These related devices deploy automatic trigger strategies, which use the monitored / supervised audio / video data or device background data as the basis to determine whether the AGV car dispatch notification reporting conditions are met. If so, the AGV car dispatch notification can be reported to trigger the dispatch system to execute the current / current AGV car dispatch processing.

[0053] It should be noted that, generally speaking, the relevant equipment that can report AGV car dispatch notifications here is fixed equipment deployed in the factory production area. Of course, it is not ruled out that it can be configured with a manual trigger function, so that in some special circumstances, on-site staff can manually report AGV car dispatch notifications through these devices, which can be understood as a bottom-up measure / setting.

[0054] Among them, for the relevant equipment in the factory production area that reports the AGV car dispatch notification, in some cases, it can also directly be the first equipment site or the second equipment site involved in the subsequent process, which can not only simplify the system architecture but also promote further improvement in processing efficiency.

[0055] Step S102, under the triggering of the AGV car scheduling notification, the scheduling system creates a corresponding target AGV car scheduling task;

[0056] It is understandable that after receiving the AGV car scheduling notification reported by the relevant equipment in the factory production area, the scheduling system can trigger the AGV car scheduling process according to the preset response strategy, and promote it by creating the corresponding AGV car scheduling task.

[0057] Among them, for the convenience of explanation, the AGV car scheduling task created here is recorded as the target AGV car scheduling task, and the target AGV car, the first instruction, the second instruction, etc. involved in the subsequent process are also distinguished in name.

[0058] Step S103, the dispatching system sends a first instruction to the target AGV vehicle, so that the target AGV vehicle goes to the first equipment site according to the first preset path, and monitors the location of the target AGV vehicle;

[0059] It can be understood that with the creation of the target AGV vehicle scheduling task, the scheduling system will promote the execution of the task. For this, the first instruction can be issued to the target AGV vehicle corresponding to the task. After the target AGV vehicle receives the first instruction from the scheduling system, it will execute the specific control content of the first instruction, and automatically go to the indicated first equipment site, i.e., the starting site, according to the first preset path. During the movement, the scheduling system can actively monitor / monitor the location of the target AGV vehicle through the positioning module on the target AGV vehicle.

[0060] Alternatively, the target AGV can actively report its location through its own positioning module, or the location of the target AGV can be monitored / monitored through on-site video or other AGV monitoring modules deployed on-site.

[0061] Among them, each AGV car can pre-set one or more paths that it can travel, or the path can also be allocated / determined in real time by the scheduling system (the path planning is not necessarily obtained in real time, it can also be a historical path).

[0062] Step S104, when the target AGV arrives at the first equipment site, a second instruction is issued to the first equipment site, so that the first equipment site loads the material corresponding to the AGV scheduling task on the target AGV;

[0063] When it is monitored / surveilled that the target AGV has reached the starting station indicated by this AGV scheduling task, a second instruction can be sent to the starting station to automatically start loading materials on the in-position target AGV.

[0064] It is understandable that the loading of materials may involve the use of a tray (industrial tray), which carries the materials for placement and transportation.

[0065] Specifically, the material loading and unloading operations can be carried out based on material handling methods such as transmission belts and robotic arms.

[0066] Step S105, when receiving the reported loading completion notification, the dispatching system sends a third instruction to the target AGV vehicle, so that the target AGV vehicle goes to the second equipment site according to the second preset path, and monitors the location of the target AGV vehicle;

[0067] When the loading of the materials is completed (the loading of the materials is deemed completed when the target AGV is fully loaded), the first equipment site and / or the target AGV may report a loading completion notification to the dispatching system.

[0068] At this time, the dispatching system can issue a third instruction to the target AGV car, so that it goes to the destination site (also called the terminal site) indicated by this AGV car dispatching task.

[0069] During this process, you can refer to the processing instructions of the first instruction above.

[0070] Step S106, when the target AGV arrives at the second equipment site, a fourth instruction is issued to the target AGV and the second equipment site, so that the target AGV unloads the material corresponding to the target AGV scheduling task at the first equipment site;

[0071] When the target AGV trolley carrying the materials involved in this AGV trolley scheduling task is monitored / monitored and arrives at the destination site, i.e., the second equipment site, the scheduling system can instruct the target AGV trolley and the second equipment site to unload the materials through the fourth instruction.

[0072] Step S107, when receiving the reported completion notification of unloading, the scheduling system sends a fifth instruction to the target AGV car, so that the target AGV car enters an idle state, completing the response to the AGV car scheduling notification.

[0073] After the unloading of the materials is completed, the second equipment site and / or the target AGV can report the completion of the unloading to the scheduling system, completing the task to be performed by the target AGV this time. At this time, the scheduling system can use the fifth instruction to switch the target AGV to an idle state, waiting for the next AGV scheduling process.

[0074] Among them, for making the target AGV car enter the idle state through the fifth instruction, it can be to let the target AGV car enter the sleep state on the spot, or to let the target AGV car return to the preset waiting place by itself / according to the indicated path, or to let the target AGV car return to the location when the first instruction was received by itself / according to the indicated path. All of these are possible.

[0075] In the above-mentioned AGV car dispatching process, the dispatching system can obviously continue to record / update the task processing progress / dynamics, at which time the task can be marked as completed, completing a response to the AGV car dispatching notification.

[0076] from Figure 1It can be seen from the shown embodiments that, in order to optimize the AGV trolley scheduling scheme, the present application uses factory equipment, scheduling systems, AGV trolleys and equipment sites to create an intelligent factory AGV trolley scheduling system. After the introduction of automated AGV trolley scheduling processing, there is no need to rely on on-site personnel to perform material loading and unloading through manual operations. This not only ensures the work efficiency in material transportation, but also avoids the risk of errors associated with manual operations, thereby ensuring the efficiency and safety of production operations, and using a better-performing production field artificial intelligence system to assist production and manufacturing, meeting higher-quality smart manufacturing application needs.

[0077] Continue to the above Figure 1 Each step of the illustrated embodiment and possible implementation methods thereof in practical applications are described in detail.

[0078] Specifically, in actual applications, the communication connection between the relevant equipment in the factory production area, the target AGV cart, the first equipment site and the second equipment site and the scheduling system may involve one or more communication protocols. That is to say, the communication connection type between the scheduling system and these devices can be consistent / same or different, and can be flexibly adjusted according to actual conditions.

[0079] In order to facilitate unified management, configuration, update and maintenance, the same communication protocol / communication connection type can be used.

[0080] As an exemplary embodiment, the communication connection between the relevant equipment in the factory production area and the scheduling system is configured based on the TCP protocol, the communication connection between the target AGV car and the scheduling system is configured based on the HTTP protocol, and the communication connection between the first equipment site and the second equipment site and the scheduling system is configured based on the PLC protocol.

[0081] It can be understood that TCP protocol / TCP communication connection, HTTP protocol and PLC protocol are all relatively mature communication technologies in actual situations. Because they are highly stable and easy to use, they can well meet the communication needs involved in the intelligent factory AGV car dispatching system of this application.

[0082] In addition, the present application provides a more practical and specific implementation solution for how the scheduling system creates the target AGV car scheduling task required for the current AGV car scheduling process.

[0083] Specifically, under the triggering of the AGV car scheduling notification, as an exemplary embodiment, the scheduling system creates a corresponding target AGV car scheduling task, which may specifically include:

[0084] 1) The scheduling system extracts a target idle task from at least one idle task in the task scheduling pool;

[0085] It can be understood that the setting of the task scheduling pool mechanism helps to complete the creation goal of the current target AGV car scheduling task more quickly, that is, to use the idle tasks that have been constructed in advance as the target AGV car scheduling tasks that need to be created currently.

[0086] Of course, in the task scheduling pool, there are usually tasks that have been extracted for use. These used tasks and idle tasks constitute the task scheduling pool.

[0087] When there are multiple idle tasks available for extraction / selection in the task scheduling pool, obviously, the target idle task suitable for the current situation can be selected according to the corresponding idle task selection strategy, and participate in the creation and processing of the subsequent target AGV car scheduling task.

[0088] 2) The scheduling system selects an idle AGV as the target AGV for the target idle task;

[0089] After selecting the target idle task for creating the current target AGV car scheduling task, you can continue to select one from the idle AGV cars that are currently idle according to the corresponding idle AGV car selection strategy as the target AGV car that needs to be created. In other words, when creating the target AGV car scheduling task, this application has already determined the target AGV car to perform the task.

[0090] 3) The dispatching system determines whether the conditions for creating the AGV dispatching task are met;

[0091] After determining the target AGV car for implementing this target AGV car scheduling task, this application may involve the judgment process of whether an AGV car scheduling task can be created, that is, whether the preset AGV car scheduling task creation conditions are met.

[0092] It can be understood that the judgment content of the creation conditions of the AGV car scheduling task involves the currently selected target AGV car. Therefore, it is processed after the target AGV car is selected, rather than simply judging according to the notification content of the previous AGV car scheduling notification. This is more accurate in judgment, and in actual situations, a more realistic and accurate judgment can be made on whether to create the target AGV car scheduling task.

[0093] 4) If the conditions for creating the AGV car scheduling task are met, the scheduling system creates the target AGV car scheduling task.

[0094] Obviously, if it is judged that the current situation can meet the preset AGV car scheduling task creation conditions, the target idle task selected previously can be processed and processed into the target AGV car scheduling task to be created to complete the creation of the currently required target AGV car scheduling task.

[0095] Further, as an exemplary embodiment, the above 1) the scheduling system extracts a target idle task from at least one idle task in the task scheduling pool. In specific operations, it may include:

[0096] The scheduling system extracts a target idle task from at least one idle task in the task scheduling pool according to the preset ascending order of tasks or task priorities of different tasks in the task scheduling pool.

[0097] The tasks may be sorted in ascending order according to factors such as the time point of switching from the used state to the idle state, the number of times the tasks are used, or the task number.

[0098] For factors with dynamically changing characteristics, such as the time point of switching from the used state to the idle state or the number of times a task is used, it is understandable that a more balanced effect can be achieved between different tasks in actual situations, that is, try to make the usage of each task similar, avoid individual tasks being rarely used as much as possible, and individual tasks being used uninterruptedly all the time, so as to fully guarantee the task resource utilization rate of the task scheduling pool.

[0099] Task priority refers to the situation where each task in the task scheduling pool has its own task priority in terms of use.

[0100] It can be understood that the task priority is similar to the task number and is relatively fixed. When selecting between different tasks, the selection result is relatively fixed, but it can maintain efficient processing effects. That is, when processing efficiency is prioritized, the task priority or task number can be used to select the target idle task. When processing accuracy is prioritized, factors with dynamic changing characteristics, such as the time point of switching from the used state to the idle state or the number of times the task is used, can be used to select the target idle task.

[0101] In addition, after 2) the scheduling system selects an idle AGV car as the target AGV car for the target idle task, and before 3) the scheduling system determines whether the AGV car scheduling task creation conditions are met, the present application method may also include: (the following processing can be understood by the 2.5) processing link)

[0102] The dispatching system determines whether there is an existing AGV dispatching task with the same starting station, destination station and task type as the AGV dispatching notification for the selected idle AGV (if so, it means there is a duplicate task);

[0103] The dispatching system determines whether at least one of the starting station and the destination station corresponding to the AGV car dispatch notification is locked by the task (if so, it means that the equipment is still working);

[0104] The dispatching system determines whether the material tray of at least one of the starting station and the destination station corresponding to the AGV car dispatching notification is no longer the material tray indicated by the AGV car dispatching notification (if so, it means that the material tray has changed);

[0105] If both are negative, the scheduling system triggers the target AGV to determine whether the conditions for creating the AGV scheduling task are met.

[0106] It can be understood that this processing link is matched with the AGV car scheduling task creation conditions in 3), and gives very specific three aspects of judgment content, so that a more complete pre-judgment can be made for the judgment link of whether the AGV car scheduling task creation conditions are met. If not all are no, the cancellation condition is met (all must be yes to continue normal processing), the task is set to the canceled state and no longer executed. Overall, it can improve processing efficiency and directly filter out situations where there is no need to enter the judgment link of whether the AGV car scheduling task creation conditions are met.

[0107] In addition, as for 3) the scheduling system determines whether the AGV scheduling task creation conditions are met, as an exemplary embodiment, it may specifically include:

[0108] The scheduling system determines whether the starting site is locked by a task (whether there is a task being executed);

[0109] If the starting site is not locked by the task, the scheduling system determines whether the adjacent sites of the starting site are locked by the task;

[0110] If the adjacent sites of the starting site are locked by tasks, the scheduling system will check whether there is an idle destination site according to the material scheduling rules;

[0111] If there is an idle destination site, the scheduling system determines whether the adjacent sites of the idle destination site are locked by the task;

[0112] If the adjacent sites of the idle destination site are not locked by the task, the scheduling system determines that the conditions for creating the AGV car scheduling task are met.

[0113] It can be understood that the implementation example here takes the specific site conditions as the starting point, and designs a very specific and practical processing architecture for the starting site, the destination site and its adjacent sites, so as to make a judgment on whether it is suitable to meet the conditions for creating an AGV car scheduling task and whether it is suitable for creating the current target AGV car scheduling task, with a processing effect that takes into account both high processing efficiency and better judgment accuracy.

[0114] In addition, there are still some unmet situations in the judgment of whether the conditions for creating the AGV car scheduling task are met. In this regard, this application believes that there may be fluctuations in actual situations. In some special cases, the conditions for creating the AGV car scheduling task may not be met at present, but in a short period of time, it may become possible to meet the conditions for creating the AGV car scheduling task.

[0115] In this regard, the present application can introduce a waiting mechanism and perform cyclic processing in the form of re-grabbing tasks from the task scheduling pool, supplemented by the number of cycles as a constraint, to capture situations in which the conditions for creating AGV car scheduling tasks can be met in actual situations within a short period of time.

[0116] Correspondingly, as an exemplary embodiment, if the AGV car scheduling task creation conditions are not met, the method of the present application may also include:

[0117] Extract a new target idle task from at least one idle task in the task scheduling pool, and re-perform the judgment process (i.e., the process from 2) to 3));

[0118] If the conditions for creating the AGV car scheduling task are not met in three cycles, the creation of the target AGV car scheduling task will be abandoned, and the new AGV car scheduling notification will be waited for triggering processing.

[0119] It can be understood that the present application can specifically limit the number of cycles to 3 times. If the target AGV car scheduling task cannot be created normally after 3 times, the creation and execution of the target AGV car scheduling task corresponding to this AGV car scheduling notification can be abandoned, and the relevant equipment in the factory production area can be waited for to initiate the next AGV car scheduling notification to trigger the processing.

[0120] In addition, if the target AGV car scheduling task is not created, the relevant equipment in the factory production area that reported the AGV car scheduling notification can also be notified.

[0121] To facilitate the understanding of the above solutions, you can also combine Figure 2 A logical diagram and a schematic diagram of the target AGV car scheduling task created by the present application are shown Figure 3A logical schematic diagram of the present application for judging whether the conditions for creating an AGV car scheduling task are met is shown for a more vivid understanding.

[0122] In addition, in actual situations, the application scheme may also involve other aspects of scheme design, such as:

[0123] 1) Support multi-material scheduling:

[0124] A variety of materials can be placed in the material tray. According to the material name and priority, the AGV can go to different destination sites in turn to perform different AGV scheduling tasks, or go to different destination sites to unload materials when performing the same AGV scheduling task.

[0125] After the material tray at the equipment site is dragged away, the system can also automatically create a task to replenish the empty tray to the corresponding process, which can prompt the equipment site to continue to work normally.

[0126] It can also be seen from here that the present application may involve the parallel processing of the creation and execution of multiple AGV trolley scheduling tasks at the same time, and taking into account the partial overlap of tasks, the AGV trolley can also execute part of other tasks while executing the current task. Overall, it plays a role in combining different AGV trolley scheduling tasks to further improve processing efficiency and resource utilization.

[0127] 2) Route optimization:

[0128] When formulating a starting site or a destination site, it is preferred to select two sites that are located in the same area and are closest to each other.

[0129] Among them, the starting site and the destination site can be directly indicated by the previous AGV car scheduling notification, or they can be determined in real time in the judgment link of 3) whether the conditions for creating the AGV car scheduling task are met or 2.5) whether the conditions for creating the AGV car scheduling task are met. Whether the site determination result of the (2.5) link can be used, that is, the final determination result, is determined by the 3) processing link).

[0130] 3) Transfer station:

[0131] If no idle destination site is found in the previous 3) judgment link of whether the conditions for creating the AGV car scheduling task are met, the scheduling system can also look for an idle or available transfer site (which is also a kind of equipment site) between the starting site and the destination site. At this time, the target AGV car can drag the material (tray) to the transfer site and wait, and then transport the material to the destination site after the destination site is available. The corresponding path is dynamically planned / adjusted, so that the tray full of materials at the starting site can be dragged away, ensuring that the starting site can work normally, thereby improving the processing efficiency and production efficiency as a whole.

[0132] 4) Avoid car collision:

[0133] When planning the path (travel route) of an AGV, if a task is being executed at the current starting point or destination point or a task is being executed at an adjacent point, an AGV scheduling task cannot be created.

[0134] The present application also provides an intelligent factory AGV car dispatching system from the perspective of hardware structure. The intelligent factory AGV car dispatching system includes relevant equipment, a dispatching system and an AGV car in the factory production area that can initiate AGV car dispatching notifications. For the convenience of explanation, these system parts or equipment can be referred to as a processing device, see Figure 4 , Figure 4 A structural schematic diagram of a processing device involved in the intelligent factory AGV car scheduling system of the present application is shown. Specifically, the processing device involved in the intelligent factory AGV car scheduling system of the present application may include a processor 401, a memory 402, and an input and output device 403. The processor 401 is used to execute the computer program stored in the memory 402 to implement the following Figure 1 The intelligent factory AGV trolley scheduling method in the corresponding embodiment corresponds to each step of the execution subject.

[0135] Exemplarily, the computer program may be divided into one or more modules / units, one or more modules / units are stored in the memory 402, and executed by the processor 401 to complete the present application. One or more modules / units may be a series of computer program instruction segments capable of completing specific functions, and the instruction segments are used to describe the execution process of the computer program in the computer device.

[0136] The processing equipment involved in the intelligent factory AGV car dispatching system may include, but is not limited to, a processor 401, a memory 402, and an input-output device 403. Those skilled in the art can understand that the illustration is only an example of the processing equipment involved in the intelligent factory AGV car dispatching system, and does not constitute a limitation on the processing equipment involved in the intelligent factory AGV car dispatching system, and may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the processing equipment involved in the intelligent factory AGV car dispatching system may also include network access equipment, buses, etc., and the processor 401, memory 402, input-output devices 403, etc. are connected through a bus.

[0137] The processor 401 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc. The processor is the control center of the processing equipment involved in the intelligent factory AGV car dispatching system, and uses various interfaces and lines to connect various parts of the entire device.

[0138] The memory 402 can be used to store computer programs and / or modules. The processor 401 implements various functions of the computer device by running or executing the computer programs and / or modules stored in the memory 402 and calling the data stored in the memory 402. The memory 402 can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, at least one application required for a function, etc.; the data storage area can store data created according to the use of processing equipment involved in the intelligent factory AGV car scheduling system, etc. In addition, the memory can include a high-speed random access memory, and can also include a non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0139] When the processor 401 is used to execute the computer program stored in the memory 402, it can specifically implement the following functions of the corresponding execution subject:

[0140] When the relevant equipment in the factory production area reports the AGV car dispatch notification to the dispatch system;

[0141] When triggered by the AGV car dispatch notification, the dispatch system creates the corresponding target AGV car dispatch task;

[0142] The dispatching system sends a first instruction to the target AGV vehicle, so that the target AGV vehicle goes to the first equipment site according to the first preset path, and monitors the location of the target AGV vehicle;

[0143] When the target AGV arrives at the first equipment site, a second instruction is issued to the first equipment site, so that the first equipment site loads the material corresponding to the AGV scheduling task on the target AGV;

[0144] When receiving the reported completion notification of loading, the dispatching system sends a third instruction to the target AGV vehicle, so that the target AGV vehicle goes to the second equipment site according to the second preset path, and monitors the location of the target AGV vehicle;

[0145] When the target AGV arrives at the second equipment site, a fourth instruction is issued to the target AGV and the second equipment site, so that the target AGV unloads the material corresponding to the target AGV scheduling task at the first equipment site;

[0146] When receiving the reported completion notification of unloading, the dispatching system sends a fifth instruction to the target AGV car, so that the target AGV car enters an idle state and completes the response to the AGV car dispatching notification.

[0147] In an exemplary embodiment, the communication connection between the relevant equipment in the factory production area and the scheduling system is configured based on the TCP protocol, the communication connection between the target AGV car and the scheduling system is configured based on the HTTP protocol, and the communication connection between the first equipment site and the second equipment site and the scheduling system is configured based on the PLC protocol.

[0148] In another exemplary embodiment, the scheduling system creates a corresponding target AGV scheduling task, including:

[0149] The scheduling system extracts a target idle task from at least one idle task in the task scheduling pool;

[0150] The scheduling system selects an idle AGV as the target AGV for the target idle task;

[0151] The dispatching system determines whether the conditions for creating the AGV dispatching task are met;

[0152] If the conditions for creating the AGV car scheduling task are met, the scheduling system creates the target AGV car scheduling task.

[0153] In another exemplary embodiment, before the scheduling system determines whether the AGV scheduling task creation conditions are met, the method further includes:

[0154] The dispatching system determines whether a selected idle AGV has an existing AGV dispatching task with the same starting station, destination station and task type as the AGV dispatching notification;

[0155] The dispatching system determines whether at least one of the starting station and the destination station corresponding to the AGV car dispatch notification is locked by the task;

[0156] The dispatching system determines whether the material tray of at least one of the starting station and the destination station corresponding to the AGV car dispatching notification is no longer the material tray indicated by the AGV car dispatching notification;

[0157] If both are negative, the scheduling system triggers the target AGV to determine whether the conditions for creating the AGV scheduling task are met.

[0158] In another exemplary embodiment, the scheduling system determines whether the AGV scheduling task creation conditions are met, including:

[0159] The scheduling system determines whether the starting site is locked by the task;

[0160] If the starting site is not locked by the task, the scheduling system determines whether the adjacent sites of the starting site are locked by the task;

[0161] If the adjacent sites of the starting site are locked by tasks, the scheduling system will check whether there is an idle destination site according to the material scheduling rules;

[0162] If there is an idle destination site, the scheduling system determines whether the adjacent sites of the idle destination site are locked by the task;

[0163] If the adjacent sites of the idle destination site are not locked by the task, the scheduling system determines that the conditions for creating the AGV car scheduling task are met.

[0164] In another exemplary embodiment, if the AGV scheduling task creation condition is not met, the method further includes:

[0165] Extract a new target idle task from at least one idle task in the task scheduling pool, and re-judge and process;

[0166] If the conditions for creating the AGV car scheduling task are not met in three cycles, the creation of the target AGV car scheduling task will be abandoned, and the new AGV car scheduling notification will be waited for triggering processing.

[0167] In another exemplary embodiment, the starting site and the destination site are specifically two sites that are located in the same area and are closest to each other and are selectable device sites.

[0168] In another exemplary embodiment, the scheduling system extracts a target idle task from at least one idle task in the task scheduling pool, including:

[0169] The scheduling system extracts a target idle task from at least one idle task in the task scheduling pool according to the preset ascending order of tasks or task priorities of different tasks in the task scheduling pool.

[0170] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, the specific working process of the intelligent factory AGV car dispatching system described above can refer to the following. Figure 1 The description of the intelligent factory AGV car scheduling method in the corresponding embodiment will not be repeated here.

[0171] A person of ordinary skill in the art will appreciate that all or part of the steps in the various methods of the above embodiments may be completed by instructions, or by controlling related hardware through instructions. The instructions may be stored in a computer-readable storage medium and loaded and executed by a processor.

[0172] To this end, the present application provides a computer-readable storage medium, in which a plurality of instructions are stored, and the instructions can be loaded by a processor to execute the present application as follows: Figure 1 The steps of the intelligent factory AGV car scheduling method in the corresponding embodiment, the specific operation can be referred to as follows Figure 1 The description of the intelligent factory AGV car scheduling method in the corresponding embodiment will not be repeated here.

[0173] The computer-readable storage medium may include: a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0174] Due to the instructions stored in the computer-readable storage medium, the present application can be executed. Figure 1 The steps of the intelligent factory AGV car scheduling method in the corresponding embodiment, therefore, the present application can be implemented as follows Figure 1 The beneficial effects that can be achieved by the intelligent factory AGV car scheduling method in the corresponding embodiment are detailed in the previous description and will not be repeated here.

[0175] The above is a detailed introduction to the intelligent factory AGV trolley scheduling method, system and computer-readable storage medium provided by the present application. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea; at the same time, for technical personnel in this field, according to the idea of ​​the present application, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A method for dispatching AGVs in intelligent factories, characterized in that: The method comprises: When the relevant equipment in the factory production area reports the AGV car dispatch notification to the dispatch system; Under the triggering of the AGV car scheduling notification, the scheduling system creates a corresponding target AGV car scheduling task; The dispatching system sends a first instruction to the target AGV vehicle, so that the target AGV vehicle goes to the first equipment site according to the first preset path, and monitors the location of the target AGV vehicle; When the target AGV arrives at the first equipment site, a second instruction is issued to the first equipment site, so that the first equipment site loads the material corresponding to the AGV scheduling task on the target AGV; When receiving the reported completion notification of loading, the dispatching system sends a third instruction to the target AGV vehicle, so that the target AGV vehicle goes to the second equipment site according to the second preset path, and monitors the location of the target AGV vehicle; When the target AGV trolley arrives at the second equipment site, a fourth instruction is issued to the target AGV trolley and the second equipment site, so that the target AGV trolley unloads the material corresponding to the target AGV trolley scheduling task at the first equipment site; When receiving the reported completion notification of unloading, the scheduling system sends a fifth instruction to the target AGV vehicle, so that the target AGV vehicle enters an idle state, completing the response to the scheduling notification of the AGV vehicle.

2. The method according to claim 1, characterized in that The communication connection between the relevant equipment in the factory production area and the scheduling system is configured based on the TCP protocol, the communication connection between the target AGV vehicle and the scheduling system is configured based on the HTTP protocol, and the communication connection between the first equipment site and the second equipment site and the scheduling system is configured based on the PLC protocol.

3. The method according to claim 1, characterized in that The scheduling system creates a corresponding target AGV car scheduling task, including: The scheduling system extracts a target idle task from at least one idle task in the task scheduling pool; The scheduling system selects an idle AGV as the target AGV for the target idle task; The scheduling system determines whether the conditions for creating the AGV car scheduling task are met; If the AGV car scheduling task creation condition is met, the scheduling system creates the target AGV car scheduling task.

4. The method according to claim 3, characterized in that Before the scheduling system determines whether the AGV scheduling task creation conditions are met, the method further includes: The scheduling system determines whether there is an existing AGV scheduling task with the same starting station, destination station and task type as the AGV scheduling notification for the selected idle AGV; The scheduling system determines whether at least one of the starting site and the destination site corresponding to the AGV car scheduling notification is locked by the task; The scheduling system determines whether the material tray of at least one of the starting station and the destination station corresponding to the AGV car scheduling notification is no longer the material tray indicated by the AGV car scheduling notification; If both are negative, the scheduling system triggers the target AGV to determine whether the AGV scheduling task creation conditions are met.

5. The method according to claim 4, characterized in that The scheduling system determines whether the AGV scheduling task creation conditions are met, including: The scheduling system determines whether the starting site is locked by the task; If the starting site is not locked by the task, the scheduling system determines whether an adjacent site of the starting site is locked by the task; If the adjacent sites of the starting site are locked by tasks, the scheduling system searches for an idle destination site according to the material scheduling rules; If there is an idle destination site, the scheduling system determines whether an adjacent site of the idle destination site is locked by a task; If the adjacent site of the idle destination site is not locked by a task, the scheduling system determines that the conditions for creating the AGV scheduling task are met.

6. The method according to claim 4, characterized in that If the AGV scheduling task creation condition is not met, the method further includes: Extracting a new target idle task from at least one idle task in the task scheduling pool, and re-judging and processing; If the creation condition of the AGV car scheduling task is not met in three cycles, the creation of the target AGV car scheduling task is abandoned, and the new AGV car scheduling notification is waited for triggering processing.

7. The method according to claim 4, characterized in that The starting site and the destination site are specifically two sites that are located in the same area and are closest to each other and are selectable equipment sites.

8. The method according to claim 3, characterized in that The scheduling system extracts a target idle task from at least one idle task in a task scheduling pool, including: The scheduling system extracts one of the target idle tasks from at least one idle task in the task scheduling pool according to the ascending order of tasks preset by different tasks in the task scheduling pool or the task priorities.

9. An intelligent factory AGV car dispatching system, characterized in that: The intelligent factory AGV trolley scheduling system is used to execute the method described in any one of claims 1 to 8.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a plurality of instructions, and the instructions are suitable for being loaded by a processor to execute the method according to any one of claims 1 to 8.

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