Sludge storage and transportation scheduling system and scheduling method

Abstract

The invention discloses a sludge storage and transportation dispatching system and method, the dispatching system comprises a control module and a detection module, the detection module comprises a station sensor and a transfer sensor, and storage and transportation stations comprise a material receiving station and a storage box station; the scheduling method comprises the steps that the control module receives monitoring data transmitted by the detection module; identifying working states one by one, and judging whether task flows are generated or not; and generating a transfer trolley storage and transportation path based on the transfer trolley working state and the boundary condition. According to the invention, the control module judges whether the current receiving station and the nearest storage box station meet the task flow generation condition or not, and then generates the task flow based on the working state, thereby achieving the scheduling and traffic control of a transfer trolley and other vehicles, simplifying the algorithm, effectively reducing the hardware configuration requirements of a software carrier, and reducing the cost. And the transfer path and the scheduling scheme are generated in real time through the control module, and a scheduling instruction can be automatically sent to a vehicle driver to carry out a follow-up transfer processing process on the spot.

Description

Technical Field

[0001] The invention relates to the technical field of sludge storage and transportation, and in particular to a sludge storage and transportation scheduling system and a scheduling method. Background Art

[0002] Sludge storage and transportation is the process of collecting, storing, and transporting sludge generated during sewage treatment to treatment or disposal sites. Sludge usually contains water and pollutants, and appropriate storage and transportation methods are required to avoid environmental pollution. During storage and transportation, it is necessary to ensure that the sludge does not leak, odor is controlled, and pathogenic microorganisms are protected. Closed equipment and special vehicles are often used to ensure a safe and efficient process, ultimately achieving the purpose of harmless treatment or resource utilization of sludge.

[0003] In conventional sludge transfer methods, the sludge is generally sent to the silo by conveying equipment such as screw conveyors from the equipment to storage, and then naturally falls into the loading and unloading bucket of the vehicle through the bottom mud outlet of the silo for external transportation. When the amount of sludge is large, it is necessary to set up many silos to unload at the same time. When loading sludge, it is necessary to pay attention to the capacity of the bucket at all times and close the silo outlet valve after a certain amount. The discharge speed of the silo is constant, so the transport vehicles need to wait in line or add a certain number of silos to unload the sludge at the same time; because the amount of sludge cannot be accurately sensed, it is impossible to send it to the relevant dispatching personnel in advance through the program to arrange the vehicle to enter the site. Since the entire process requires manual intervention to indicate the next action and coordinate each device to complete the relevant tasks in sequence, the measurement of materials, the operation of equipment, the management of the transfer process, and the scheduling of the transfer during the process cannot be fully intelligently processed. Summary of the invention

[0004] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0005] The purpose of the present invention is to solve the shortcomings of the prior art and to propose a sludge storage and transportation scheduling system and scheduling method.

[0006] In order to achieve the above objectives, in a first aspect, the present invention provides a sludge storage and transportation scheduling system, comprising:

[0007] A control module and a detection module, wherein the control module and the detection module are electrically connected, and the control module is used to monitor the signal data transmitted by the detection module, generate a task flow based on boundary adjustment, and send a control signal to control the transfer vehicle to transfer the sludge box;

[0008] The detection module includes a station sensor and a transfer sensor, wherein the station sensor is used to detect the working state of the storage and transportation station, and the transfer sensor is used to detect the operating state of the transfer vehicle;

[0009] The storage and transportation station includes a material receiving station and a tank storage station. The material receiving station is used to receive sludge into a sludge tank, and the tank storage station is used to store excess sludge.

[0010] In some embodiments, the station sensor is a weighing sensor, which is used to detect the weight of the material received in the sludge box and send a working status signal of the material receiving station;

[0011] The transfer sensor adopts a position sensor, and the transfer sensor is used to detect the running path of the transfer vehicle.

[0012] In a second aspect, the present invention further provides a sludge storage and transportation scheduling method, which is executed via the sludge storage and transportation scheduling system as described in the first aspect, and the scheduling method steps include:

[0013] S100, the control module detects the working status of the storage and transportation station and the operating status of the transfer vehicle transmitted by the detection module;

[0014] S200, the control module identifies the working status of different material receiving stations and tank storage stations one by one, and determines whether to generate a task flow;

[0015] S300, the control module generates a storage and transportation path for the transfer trolley based on the working status and boundary conditions of the transfer trolley.

[0016] In some of the embodiments, the working states of the material receiving station include full box, packed box and no box.

[0017] In some of the embodiments, the working state of the tank station includes having a tank and having no tank, and the having a tank state is divided into a full tank and an empty tank.

[0018] In some of the embodiments, the working status of the transfer vehicle is zero point, transport box, fault and low power.

[0019] In some embodiments, the step S200 includes:

[0020] S210, the control module identifies the working status of the material receiving station and the tank storage station one by one;

[0021] S220, the control module determines whether the current material receiving station and the nearest tank station meet the conditions for generating a task flow;

[0022] S230, the control module generates a task flow based on the working status.

[0023] In some embodiments, the step S220 includes:

[0024] S221, the control module determines the working state of the current material receiving station. If the working state of the material receiving station is boxing, the control module switches to read the working state of the next material receiving station. If the working state of the material receiving station is full box, the control module searches for the nearest storage station with no box. If the working state of the material receiving station is no box, the control module searches for the nearest storage station with empty box.

[0025] S222, the control module determines the working status of the nearest tank station. If the working status of the tank station is full, it switches to read the working status of the next farther tank station. If the working status of the tank station is empty, it can generate a transfer task flow from the material receiving station to the tank station. If the working status of the tank station is empty, it can generate a transfer task flow from the tank station to the material receiving station.

[0026] In some embodiments, the step S300 includes:

[0027] S310, the control module identifies the operating status of the transfer vehicles one by one;

[0028] S320, the control module determines whether the current transfer vehicle meets the dispatching status;

[0029] S330, the control module generates a storage and transportation path for the transfer trolley based on the boundary conditions and the working status of the transfer trolley.

[0030] In some embodiments, the step S320 includes:

[0031] S321, the control module determines the operating status of the current nearest transfer trolley. If the working status of the transfer trolley is transporting boxes, failure or low power, it switches to read the operating status of the next transfer trolley. If the working status of the transfer trolley is zero, it determines whether the current transfer trolley meets the set sequence of the transfer trolley;

[0032] S322, the control module judges in ascending order according to the duration of the transfer task flow. If it meets the set order, the current transfer cart is selected to send the transfer cart storage and transportation path. If it does not meet the set order, the next transfer cart is switched for judgment.

[0033] The present invention has the following beneficial effects:

[0034] The present invention identifies the working status of the material receiving station and the tank station one by one through the control module, determines whether the current material receiving station and the nearest tank station meet the conditions for generating a task flow, and then generates the task flow based on the working status, realizes the scheduling of the transfer vehicle and the traffic control of other vehicles, simplifies the algorithm and reduces the hardware configuration requirements of the software carrier. In this method, the transfer path and scheduling plan of the transfer vehicle are generated in real time by the control module. After the transfer is completed, the program can automatically send the scheduling instruction to the vehicle driver to perform the subsequent transfer processing process on the spot, which effectively improves the transfer efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 This is a schematic diagram of the sludge storage and transportation scheduling system proposed by the present invention;

[0036] Figure 2 The process of the sludge storage and transportation scheduling method proposed by the present invention is as follows: Figure 1 ;

[0037] Figure 3 The process of the sludge storage and transportation scheduling method proposed by the present invention is as follows: Figure 2 ;

[0038] Figure 4 The process of the sludge storage and transportation scheduling method proposed by the present invention is as follows: Figure 3 ;

[0039] Figure 5 The process of the sludge storage and transportation scheduling method proposed by the present invention is as follows: Figure 4 ;

[0040] Figure 6 The process of the sludge storage and transportation scheduling method proposed by the present invention is as follows: Figure 5 ;

[0041] Figure 7 A schematic diagram of the working state and operating state of the sludge storage and transportation scheduling system proposed by the present invention;

[0042] Figure 8 This is a schematic diagram of the output transfer task flow of the sludge storage and transportation scheduling method proposed in the present invention.

[0043] Legend:

[0044] 1. Control module; 2. Detection module; 21. Workstation sensor; 22. Transfer sensor; 3. Storage and transportation station; 31. Material receiving station; 32. Storage tank station; 4. Transfer trolley; 5. Sludge tank. DETAILED DESCRIPTION

[0045] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0046] The embodiment of the present application provides a sludge storage and transportation scheduling system and scheduling method, which solves the problem in the prior art that the entire process requires manual intervention to indicate the next action and coordinate various equipment to complete related tasks in sequence, and the measurement of materials, the operation of equipment, the management of the transfer process, and the scheduling of the transfer during the process cannot be fully intelligently processed. However, the present application uses a control module to identify the working status of the material receiving station and the storage tank station one by one, judge whether the current material receiving station and the nearest storage tank station meet the conditions for generating a task flow, and then generate a task flow based on the working status to realize the scheduling of the transfer vehicle and the traffic control of other vehicles, simplify the algorithm, and reduce the hardware configuration requirements of the software carrier. In this method, the transfer path and scheduling plan of the transfer vehicle are generated instantly by the control module. After the transfer is completed, the program can automatically send a scheduling instruction to the vehicle driver to carry out the subsequent transfer processing process on the spot.

[0047] Please refer to the following examples for details:

[0048] Reference Figure 1 The present invention provides an embodiment of a sludge storage and transportation scheduling system, and the specific structure includes: a control module 1 and a detection module 2. The control module 1 and the detection module 2 are electrically connected to realize the interactive transmission of data to monitor and schedule the storage, transportation and transfer of sludge.

[0049] Among them, the control module 1 is used to receive and process the signal data transmitted by the detection module 2, generate a task flow adjustment strategy based on the set boundary conditions, and then send the transfer path to the transfer vehicle 4 through a control signal to ensure the smooth transfer and reasonable scheduling of the sludge box 5. The control module 1 can judge and generate the transfer task flow in real time based on the working status of the storage and transportation station 3 and the operating status of the transfer vehicle 4. After the transfer is completed, the program can automatically send a scheduling instruction to the vehicle driver to carry out the subsequent transfer processing process on the spot, which effectively improves the transfer efficiency.

[0050] Specifically, the control module 1 can adopt a PLC controller, which has strong anti-interference ability and can adapt to harsh working environments (such as high temperature, humidity, electromagnetic interference, etc.). Its stability and reliability enable it to operate for a long time in industrial production and reduce system failures; it adopts programmable control, and the control logic can be flexibly modified according to production needs through software programming; and it supports modular design, and can flexibly expand input and output modules as needed to meet control systems of different scales and functional requirements. It can exchange data with other devices (such as sensors, actuators, other PLCs, etc.), supports distributed control, and is suitable for complex automation systems.

[0051] Furthermore, the detection module 2 includes a workstation sensor 21 and a transfer sensor 22. The workstation sensor 21 is used to monitor the working status of each storage and transportation station 3, and the transfer sensor 22 is used to monitor the operating status of the transfer vehicle 4. The detection module 2 can provide accurate data support and provide a basis for the intelligent decision-making of the scheduling system.

[0052] Specifically, the station sensor 21 uses a weighing sensor to detect the weight of the material received by the sludge box 5; when the material receiving station 31 is in different working states, the weighing sensor will measure the weight change of the sludge box 5 in real time, and send a working state signal of the material receiving station 31, which can be transmitted to the control module 1 to confirm whether the box is being packed, so as to determine the starting conditions of the transfer task; and the transfer sensor 22 uses a position sensor to monitor the specific position and running path of the transfer trolley 4. The position sensor tracks the moving trajectory of the transfer trolley 4 in real time, and feeds back the current position and running state of the trolley to the control module 1, ensuring that the transfer trolley 4 moves according to the predetermined path and working order, avoiding collision or deviation from the transfer route, thereby ensuring the stable operation of the equipment and smooth operation.

[0053] Furthermore, the storage and transportation station 3 is provided with multiple functional areas, including a material receiving station 31 and a tank storage station 32. The material receiving station 31 is mainly responsible for receiving the sludge and loading it into the sludge tank 5; the tank storage station 32 is used to store the sludge tank 5 and provide a reserve sludge tank 5 for subsequent transportation.

[0054] It should be explained in detail that the storage and transportation station 3 also includes a zero-point station, which is used to charge and repair the transfer cart 4, ensuring that the transfer cart 4 can obtain timely energy replenishment and equipment maintenance while operating efficiently, and preventing the transfer process from being interrupted due to insufficient power or equipment failure.

[0055] Specifically, the transfer cart 4 adopts AGV (Automated Guided Vehicle, AGV). The AGV transfer cart 4 can automatically perform transportation tasks without human intervention, reducing manual handling time. Its running speed is fast, which can effectively improve the material handling efficiency in the production and logistics process; and the AGV transfer cart 4 can navigate in complex industrial environments, avoid obstacles, and can adapt to different working environments (such as warehouses, production lines, etc.); through software scheduling, AGV can flexibly change the transportation path to meet dynamically changing needs.

[0056] Reference Figure 2 , Figure 7 and Figure 8 The present invention also provides an embodiment of a sludge storage and transportation scheduling method, which is executed by the sludge storage and transportation scheduling system in the above embodiment, and the scheduling method steps include:

[0057] S100, the control module 1 receives the working status of the storage and transportation station 3 and the operating status of the transfer vehicle 4 transmitted by the detection module 2;

[0058] S200, the control module 1 identifies the working status of different material receiving stations 31 and tank stations 32 one by one, and determines whether to generate a task flow;

[0059] S300, the control module 1 generates a storage and transportation path for the transfer vehicle 4 based on the working state and boundary conditions of the transfer vehicle 4.

[0060] What needs to be elaborated is:

[0061] (1) The working conditions of the material receiving station 31 are divided into the following types:

[0062] Full tank state "1": the sludge tank 5 of the receiving station 31 is full and is waiting for the transfer vehicle 4 to transfer to the tank station;

[0063] Packing state "2": the sludge box 5 of the receiving station 31 is continuously receiving sludge, and there is no need for the transfer vehicle 4 to transfer it to the storage box station;

[0064] No-box state “3”: There is no sludge box 5 at the receiving station 31 and it is waiting for the transfer trolley 4 to transfer a new sludge box 5 .

[0065] (2) The working conditions of the tank station 32 are divided into the following types:

[0066] There is a box state "a": the storage tank station 32 has a sludge box 5 stored, specifically including: full box state "a1": the sludge box 5 in the storage tank station 32 is full, waiting for the subsequent transfer process; empty box state "a2": the sludge box 5 in the storage tank station 32 is completely empty, waiting for the transfer vehicle 4 to transfer to the material receiving station 31;

[0067] No-tank state "b": the tank station 32 has no sludge tank 5 and is waiting for a new sludge tank 5 to be placed.

[0068] (3) The working states of the transfer vehicle 4 are divided into the following types:

[0069] Zero point status "1": transfer vehicle 4 is at the zero point position, waiting for the transfer task flow to be assigned or for charging;

[0070] Box transport status "2": the transfer vehicle 4 is performing the task of transferring the sludge box 5;

[0071] Fault state "3": the transfer vehicle 4 fails, making it unable to continue moving or perform the transfer task;

[0072] Low power status "4": The battery level of the transfer vehicle 4 is less than 30% and needs to be returned to the charging station for charging as soon as possible.

[0073] The control module 1 first receives the real-time working status signals of each storage and transportation station 3 and the transfer vehicle 4 from the detection module 2, including the working status of the storage and transportation station 3 and the operating status of the transfer vehicle 4; through the data information transmitted by the detection module 2, the control module 1 can fully understand the current working status of the system and ensure the accuracy of the scheduling decision. After receiving the working status information, the control module 1 analyzes the working status of each material receiving station 31 and the storage tank station 32 one by one, and determines whether a new transfer task flow needs to be generated based on the working status of the station, and then generates the storage and transportation path of the transfer vehicle 4 based on the working status of the transfer vehicle 4, the working status of each station and the boundary conditions of the system.

[0074] Please continue reading Figure 3 In this embodiment, step S200 includes:

[0075] S210, the control module 1 identifies the working status of the material receiving station 31 and the tank storage station 32 one by one;

[0076] S220, the control module 1 determines whether the current material receiving station 31 and the nearest tank station 32 meet the conditions for generating a task flow;

[0077] S230, the control module 1 generates a task flow based on the working status.

[0078] Exemplarily, the control module 1 receives and analyzes the real-time working status information of each material receiving station 31 and tank storage station 32, and confirms the operating status of each station one by one, including whether the material receiving station 31 has a full box or is being loaded, and whether the tank storage station 32 is full enough to accommodate the new sludge box 5; then the control module 1 determines the task flow generation conditions based on the acquired working status information: first, if the material receiving station 31 is in a full box or loading state, and there is an empty tank storage station 32, the control module 1 will determine whether the sludge box 5 can be transferred to the nearest tank storage station 32; if the material receiving station 31 is in a box-free state or the tank storage station 32 is not full to accommodate the new box, the generation of the task flow will not be matched. At this time, the control module 1 will comprehensively consider the status and priority of each workstation to determine whether the starting conditions of the transfer task are met; when the working status of the material receiving station 31 and the storage tank station 32 meets the conditions for generating a task flow, the control module 1 will generate a specific task flow based on the current workstation information, task priority and the working status of the trolley to ensure the efficient execution of the transfer task, avoid resource conflicts in the system, and optimize the transfer path to ensure the timely transfer and storage of the sludge tank 5.

[0079] Please continue reading Figure 4 In this embodiment, step S220 includes:

[0080] S221, the control module 1 determines the working state of the current material receiving station 31. If the working state of the material receiving station 31 is boxing, the control module 1 switches to read the working state of the next material receiving station 31. If the working state of the material receiving station 31 is full box, the control module 1 searches for the nearest storage tank station 32 with no box. If the working state of the material receiving station 31 is no box, the control module 1 searches for the nearest storage tank station 32 with empty box.

[0081] S222, the control module 1 determines the working status of the nearest tank station 32. If the working status of the tank station 32 is full, it switches to read the working status of the next farther tank station 32. If the working status of the tank station 32 is empty, it can generate a transfer task flow from the material receiving station 31 to the tank station 32. If the working status of the tank station 32 is empty, it can generate a transfer task flow from the tank station 32 to the material receiving station 31.

[0082] Exemplarily, the control module 1 receives and analyzes the real-time working status information of each material receiving station 31 and tank storage station 32, and confirms the operating status of each station one by one, including whether the material receiving station 31 has a full box or is being loaded, and whether the tank storage station 32 is full enough to accommodate a new sludge tank 5; by comparing with the signal feedback from the sensor, the control module 1 can accurately evaluate the idle state and load condition of the station, ensure that the status information of each station is the latest, and provide a basis for subsequent task generation; then the control module 1 determines whether the current material receiving station 31 and the nearest tank storage station 32 meet the conditions for generating a task flow: if the material receiving station 31 is in a full or loaded state, and there is an empty tank storage station 32, the control module 1 will determine whether the sludge tank 5 can be transferred to the target tank storage station 32; when the working status of the material receiving station 31 and the tank storage station 32 meets the conditions for generating a task flow, the control module 1 will generate a specific task flow based on the current station information, task priority and the working status of the trolley. This decision will ensure the efficient execution of the transfer task, avoid system resource conflicts, optimize the transfer route, and ensure the timely transfer and storage of sludge.

[0083] Please continue reading Figure 5 In this embodiment, step S300 includes:

[0084] S310, the control module 1 identifies the operating status of the transfer vehicle 4 one by one;

[0085] S320, the control module 1 determines whether the current transfer vehicle 4 meets the dispatching state;

[0086] S330, the control module 1 generates a storage and transportation path for the transfer vehicle 4 based on the boundary conditions and the working status of the transfer vehicle 4.

[0087] Exemplarily, the control module 1 monitors the working status of the transfer cart 4 in real time, and identifies the current operating status of each cart one by one, including whether the cart is in the zero state (standby / charging state), whether it is executing a transfer task (box transport state), whether there is a fault (fault state), and whether the battery is fully charged (low power state), to provide basic data for subsequent task scheduling and path planning; after analyzing the working status of each cart, the control module 1 determines which carts are in a dispatchable state. Only when the cart is in the zero state can it meet the conditions for being scheduled, and takes into account factors such as task priority and task timeliness based on the transfer time to ensure the smooth progress of task scheduling and efficient operation of the system.

[0088] Please continue reading Figure 6 In this embodiment, step S320 includes:

[0089] S321, the control module 1 determines the operating status of the current nearest transfer trolley 4. If the working status of the transfer trolley 4 is transporting boxes, failure or low power, it switches to read the operating status of the next transfer trolley 4. If the working status of the transfer trolley 4 is zero, it determines whether the current transfer trolley 4 meets the setting sequence of the current transfer trolley 4;

[0090] S322, the control module 1 makes a judgment in ascending order according to the duration of the transfer task flow. If it meets the set order, the current transfer cart 4 is selected to send the transfer cart 4 storage and transportation path. If it does not meet the set order, the next transfer cart 4 is switched for judgment.

[0091] Exemplarily, the control module 1 obtains the status information of each transfer trolley 4 one by one through the real-time monitoring system, including but not limited to the "box transport" state, "fault" state, "low power" state and "zero point" state. If the current working state of the transfer trolley 4 is "box transport state", "fault state" or "low power state", the trolley cannot participate in the current task, and the control module 1 will automatically skip the trolley and continue to check the operating state of the next transfer trolley 4. Only when the transfer trolley 4 is in the "zero point state" will the control module 1 further determine whether the requirements of the current transfer task are met. If the current transfer trolley 4 meets the conditions in the task sequence, that is, its scheduling priority, task sequence and time window and other parameters meet the set requirements, the system believes that the trolley can be scheduled to participate in the task; if it does not meet the set order, the control module 1 will continue to determine the working state of the next transfer trolley 4 to ensure the rationality of scheduling and system efficiency. Among them, transfer tasks with shorter task consumption usually need to be arranged in priority to improve the response speed and operation efficiency of the overall system. Therefore, the control module 1 will first evaluate the execution time of each task and arrange the task consumption in ascending order, and then allocate the transfer scheduling task flow in turn and send the storage and transportation path.

[0092] See also Figure 1-Figure 8 , as the working principle of this application:

[0093] Condition one:

[0094] The full box state and empty box state of the material receiving station 31 are the two highest priorities of the material receiving station 31: when the material receiving station 31 is full, the sludge box 5 needs to be transferred to the storage box station 32; when the material receiving station 31 is empty, the empty box of the storage box station 32 needs to be transferred to the material receiving station 31;

[0095] Condition two:

[0096] The necessary conditions for instant generation of the transfer task flow include: full box → empty box placed, empty box → transfer the empty box back.

[0097] Condition three:

[0098] AGV transfer vehicle 4 is in a dispatchable state: the transfer vehicle 4 must be in the zero state

[0099] Condition four:

[0100] There is no interference in the transfer path of the AGV transfer vehicle 4.

[0101] When the system is running, the program can first judge condition one and condition two:

[0102] When the receiving station 31(a) is in the "full box" state and the storage station 32(1) is in the "no box" state, the task flow given by the PLC controller to the AGV transfer cart 4 is recorded as "1a-1b": the AGV transfer cart 4 starts from the zero point station and transfers the sludge box 5 of the receiving station 31(a) to the storage station 32(1), and then the AGV transfer cart 4 returns to the zero point to wait for the next task flow; this is a task cycle, recorded as time t1;

[0103] When the material receiving station 31(a) is in the "no box" state and the storage station 32(1) is in the "empty box" state, the task flow given by the PLC controller to the AGV transfer trolley 4 is recorded as "3a-1a0": the AGV transfer trolley 4 starts from the zero point station and transfers the empty box of the storage station 32(1) to the material receiving station 31(a), and then the AGV transfer trolley 4 returns to the zero point to wait for the next task flow; this is a task cycle, which is also recorded as time t1;

[0104] When the material receiving station 31 (a) is set to the "loading" state, the PLC controller does not issue any instructions to the AGV transfer vehicle 4;

[0105] When there are N receiving stations 31, if multiple receiving stations 31 meet the full box or no box status at the same time, and the storage station 32 meets the empty box condition, the system will sort the tasks in ascending order and screen them in turn, and then issue task flow instructions to the target AGV transfer car 4 that meets the requirements: at this time, the station transfer box time is n*t1, and the upstream equipment can be linked to stop discharging time n*t1, or the cache time can be set to n*t1;

[0106] The program then adds condition three to the judgment logic:

[0107] There are four states of AGV transfer car 4. When PLC sends a task to AGV, it must be in the zero state and does not include the other three states;

[0108] When there are N receiving stations 31 and X carts that meet the zero state and do not include other states, if the receiving station 31 meets the full box or no box state at the same time, and the storage station 32 has an empty box condition, the system will sort the tasks in ascending order and screen them in turn and issue task flow instructions to the qualified target AGV transfer cart 4: at this time, the station transfer box time is (nx)*t1, and the upstream equipment stop discharge time (nx)*t1 can be considered in conjunction, or the cache time can be set to (nx)*t1 or (n / x)*t1 (the maximum value is taken after comparing the two to ensure that the transfer time of the transfer cart 4 is the shortest and the running path does not interfere).

[0109] Exemplarily, 10 material receiving stations 31 are set up, marked 1#, 2#...10# in sequence; 10 AGV transfer carts 4 are set up, also marked 1#, 2#...10# in sequence; when the 1# material receiving station 31 meets the full box or no box status, and the storage box station 32 has an empty box, the system determines the operating status of the AGV transfer cart 4. When multiple AGV transfer carts 4 meet the above conditions, 1#AGV is dispatched first. If 1#AGV does not meet the status, 2#AGV is dispatched, and the transfer task flow is assigned in real time in sequence.

[0110] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A sludge storage and transportation scheduling system, characterized in that: include: A control module (1) and a detection module (2), wherein the control module (1) and the detection module (2) are electrically connected, and the control module (1) is used to monitor the signal data transmitted by the detection module (2), generate a task flow based on boundary adjustment, and send a control signal to control the transfer vehicle (4) to transfer the sludge box (5); The detection module (2) comprises a station sensor (21) and a transfer sensor (22), wherein the station sensor (21) is used to detect the working state of the storage and transportation station (3), and the transfer sensor (22) is used to detect the operating state of the transfer vehicle (4); The storage and transportation station (3) comprises a material receiving station (31) and a tank storage station (32), wherein the material receiving station (31) is used to receive sludge into a sludge tank (5), and the tank storage station (32) is used to store excess sludge tank (5).

2. The sludge storage and transportation scheduling system according to claim 1 is characterized in that: The station sensor (21) is a weighing sensor, which is used to detect the weight of the material received by the sludge box (5) and send a working state signal of the material receiving station (31); The transfer sensor (22) is a position sensor, and the transfer sensor (22) is used to detect the running path of the transfer vehicle (4).

3. A sludge storage and transportation scheduling method, characterized in that: The scheduling method is executed via the sludge storage and transportation scheduling system according to any one of claims 1 to 2, and the scheduling method steps include: S100, the control module (1) receives the working status of the storage and transportation station (3) and the operating status of the transfer vehicle (4) transmitted by the detection module (2); S200, the control module (1) identifies the working status of different material receiving stations (31) and tank storage stations (32) one by one, and determines whether to generate a task flow; S300, the control module (1) generates a storage and transportation path for the transfer vehicle (4) based on the working state and boundary conditions of the transfer vehicle (4).

4. The sludge storage and transportation scheduling method according to claim 3 is characterized in that: The working states of the material receiving station (31) include full box, loaded box and no box.

5. The sludge storage and transportation scheduling method according to claim 3, characterized in that: The working states of the tank storage station (32) include having a tank and having no tank, and the having a tank state is divided into a full tank and an empty tank.

6. The sludge storage and transportation scheduling method according to claim 3 is characterized in that: The working states of the transfer trolley (4) are zero point, box transport, fault and low power.

7. The sludge storage and transportation scheduling method according to claim 3, characterized in that: The step S200 includes: S210, the control module (1) identifies the working status of the material receiving station (31) and the tank storage station (32) one by one; S220, the control module (1) determines whether the current material receiving station (31) and the nearest tank station (32) meet the conditions for generating a task flow; S230, the control module (1) generates a task flow based on the working status.

8. The sludge storage and transportation scheduling method according to claim 7, characterized in that: The step S220 includes: S221, the control module (1) determines the working state of the current material receiving station (31); if the working state of the material receiving station (31) is boxing, the control module (1) switches to read the working state of the next material receiving station (31); if the working state of the material receiving station (31) is full box, the control module (1) searches for the nearest storage station (32) whose working state is no box; if the working state of the material receiving station (31) is no box, the control module (1) searches for the nearest storage station (32) whose working state is empty box; S222, the control module (1) determines the working status of the nearest tank station (32). If the working status of the tank station (32) is full, it switches to read the working status of the next more distant tank station (32). If the working status of the tank station (32) is empty, it can generate a transfer task flow from the material receiving station (31) to the tank station (32). If the working status of the tank station (32) is empty, it can generate a transfer task flow from the tank station (32) to the material receiving station (31).

9. The sludge storage and transportation scheduling method according to claim 3, characterized in that: The step S300 includes: S310, the control module (1) identifies the operating status of the transfer vehicles (4) one by one; S320, the control module (1) determines whether the current transfer vehicle (4) meets the dispatching state; S330, the control module (1) generates a storage and transportation path for the transfer vehicle (4) based on the boundary conditions and the working state of the transfer vehicle (4).

10. The sludge storage and transportation scheduling method according to claim 9, characterized in that: The step S320 includes: S321, the control module (1) determines the operating status of the current nearest transfer trolley (4). If the working status of the transfer trolley (4) is transporting boxes, failure or low power, it switches to read the operating status of the next transfer trolley (4). If the working status of the transfer trolley (4) is zero, it determines whether the current transfer trolley (4) meets the set sequence of the current transfer trolley (4); S322, the control module (1) makes a judgment in ascending order according to the duration of the transfer task flow. If it meets the set order, the current transfer cart (4) is selected to send the transfer cart (4) storage and transportation path. If it does not meet the set order, the next transfer cart (4) is switched for judgment.

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