AGV management method and system based on intelligent industrial platform, and storage medium

Abstract

The invention discloses an AGV management method and system based on an intelligent industrial platform and a storage medium, and the method comprises the steps: enabling an AGV executing a conveying task to transmit the electric quantity information to a main control unit, enabling the AGV in a charging state to transmit the electric quantity information to the main control unit, and enabling the main control unit to transmit the electric quantity information to the main control unit after the information is obtained. The time tf when the electric quantity of the AGV is lower than a threshold value and the time t0 when the electric quantity is exhausted when the AGV executes a conveying task are calculated, the time tm needed for fully charging the AGV is compared with the tf, the t0 and the tm, the AGV corresponding to the requirement that tm is larger than or equal to tf and smaller than t0 is matched with the charging device, and after the AGV at the charging device is fully charged, the AGV is charged. And the AGV executing the conveying task is controlled to terminate the current conveying task and move to the charging device to be charged, and the fully-charged AGV is controlled to give way to the charging position and takes over the AGV terminating the conveying task to continue to complete the conveying task.

Description

Technical Field

[0001] The present application relates to the technical field of intelligent industrial platform management, and specifically to an AGV management method, system and storage medium based on an intelligent industrial platform. Background Art

[0002] As the requirements for intelligent production and manufacturing gradually increase, the automatic guided vehicle (AGV) plays a vital role as a key equipment for realizing efficient and automated product transportation. However, the battery power of the AGV is limited. However, in order to improve work efficiency, most intelligent unmanned production workshops adopt a 24-hour production mode. The production equipment in the workshop needs to perform production operations uninterruptedly, and the AGV used to transport products also needs to operate uninterruptedly. However, after a long period of operation, the AGV will be unable to operate due to insufficient power. At this stage, the solution of equipping the intelligent workshop with an AGV charging device is adopted, but there is no detailed charging management plan for the charging of the AGV. Since a large number of AGVs need to be equipped in the intelligent workshop for operation, when a certain AGV needs to be charged due to insufficient power, it will need to wait because there is an AGV charging at the charging device. When the number of waiting AGVs increases, it will affect the overall product transportation efficiency, and then affect the production process of the product. Summary of the invention

[0003] In order to overcome the above shortcomings, the purpose of this application is to provide an AGV management method, system and storage medium based on an intelligent industrial platform.

[0004] In order to achieve the above objectives, this application adopts the following technical solutions:

[0005] In the first aspect, the present application provides an AGV trolley management method based on an intelligent industrial platform, the management method is implemented by a management system, the management system includes a main control unit, a plurality of AGV trolleys and a plurality of charging devices for charging the AGV trolleys, the management method includes:

[0006] Based on the current transportation task of the intelligent industrial platform, the main control unit controls the AGV to perform the transportation task.

[0007] The AGV car that is performing the transportation task sends the power information to the main control unit, and the AGV car that is in the charging state sends the power information to the main control unit.

[0008] After obtaining the power information of the AGV that performs the transportation task, the main control unit calculates the time t when the power of the AGV is lower than the threshold when performing the transportation task. f and the time t0 when the battery is exhausted,

[0009] After obtaining the power information of the AGV in the charging state, the main control unit calculates the time t required for the charging device to fully charge the AGV m ,

[0010] The main control unit calculates t f , t0 and t m Compare the three values ​​and satisfy t f ≤t m <t0 requires that the corresponding AGV car be matched with the charging device. After the AGV car at the charging device is fully charged, the AGV car that is performing the transportation task is controlled to terminate the current transportation task and move to the charging device for charging. The fully charged AGV car is controlled to give up the charging position and take over the AGV car that terminated the transportation task to continue to complete the transportation task.

[0011] Furthermore, the main control unit calculates the time t1 when the power is lower than the threshold and the time t0 when the power is exhausted, including the following steps:

[0012] At time point T1, the AGV sends the real-time battery power Q1 to the main control unit.

[0013] At time point T2, the AGV sends the real-time battery power Q2 to the main control unit.

[0014] Among them, T1<T2, calculate the power consumption of the AGV car per unit time, the calculation formula includes:

[0015]

[0016] In the formula, Q J is the power consumption of the AGV per unit time, Q1 is the real-time power consumption of the AGV at time point T1, and Q2 is the real-time power consumption of the AGV at time point T2;

[0017] The calculation starts from time point T1, and the AGV car power drops below the threshold Q f The specific calculation formula includes:

[0018]

[0019] Calculate the time from time point T1 until the AGV battery runs out. The specific calculation formula includes:

[0020]

[0021] Where Q1 is the real-time power of the AGV at time point T1, Q f is the threshold power of the AGV, Q J It is the power consumption of the AGV per unit time.

[0022] Furthermore, the main control unit calculates the time t required for the AGV to be fully charged. m The steps include:

[0023] At time point T3, the AGV sends the real-time battery power Q3 to the main control unit.

[0024] At time point T4, the AGV sends the real-time battery power Q4 to the main control unit.

[0025] Among them, T3<T4, calculate the charging amount of the AGV car per unit time, the calculation formula includes:

[0026]

[0027] In the formula, Q i is the charging amount of the AGV car per unit time, Q3 is the real-time power of the AGV car at time point T3, and Q4 is the real-time power of the AGV car at time point T4;

[0028] The calculation starts from time point T3, and the AGV car is charged to full power Q m The specific calculation formula includes:

[0029]

[0030] In the formula, Q i Q is the charging amount of the AGV per unit time, m The AGV is fully charged.

[0031] Furthermore, the AGV trolley performing the transport task also sends movement status information to the main control unit, and the movement status information includes the real-time speed V of the AGV trolley. When V=0, the control unit marks the abnormal state and controls the fully charged AGV trolley to take over the AGV trolley marked with the abnormal state to perform the transport task.

[0032] Furthermore, the AGV vehicle performing the transport task also sends position status information to the main control unit. When the position of the AGV vehicle is not on the route corresponding to the transport task it performs, the control unit marks the abnormal status and controls the fully charged AGV vehicle to take over the AGV vehicle marked with the abnormal status to perform the transport task.

[0033] In the second aspect, the present application also provides an AGV trolley management system based on an intelligent industrial platform, including:

[0034] A control end, the control end comprising a main control unit and a main communication unit,

[0035] The AGV vehicle includes a power detection unit, a first GPS positioning unit and a first slave communication unit.

[0036] A charging device, the charging device comprising a second GPS positioning unit and a second slave communication unit,

[0037] in,

[0038] The master communication unit is connected to the first slave communication unit and the second slave communication unit respectively so that the control end establishes a communication network with the AGV vehicle and the charging device.

[0039] Furthermore, the power detection unit is used to detect the power of the AGV battery, the first GPS positioning unit is used to detect the position of the AGV battery, and the first slave communication unit sends the power information and position information of the AGV to the main control unit.

[0040] Furthermore, the AGV trolley also includes a speed detection unit, which is used to detect the speed of the AGV trolley, and the first slave communication unit sends the speed information of the AGV trolley to the main control unit.

[0041] Furthermore, the second GPS positioning unit is used to detect the location information of the charging device, and the charging device also includes an infrared detection unit, and the infrared detection unit is used to detect the AGV vehicle at the charging device.

[0042] In a third aspect, the present application provides a storage medium storing one or more programs, and the one or more programs can be executed by one or more processors to implement any of the AGV management methods described.

[0043] Beneficial Effects

[0044] The present application provides an AGV vehicle management method, system and storage medium based on an intelligent industrial platform. The AGV vehicle that performs a transportation task sends power information to a main control unit, and the AGV vehicle in a charging state sends power information to the main control unit. After obtaining the information, the main control unit analyzes and calculates the time when the power of the AGV vehicle that performs the transportation task is below a threshold and the time when the power is exhausted. At the same time, it calculates the time when the AGV vehicle in a charging state is fully charged, ensuring that the AGV vehicle that performs the transportation task is matched with a charging device that has fully charged the previous AGV vehicle in the time period from when the power of the AGV vehicle that performs the transportation task is below the threshold to before the power is exhausted, so that the charging device is vacated in time to charge the low-power AGV vehicle, effectively avoiding the situation where low-power AGV vehicles queue up to wait for charging due to the lack of charging devices. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] The accompanying drawings are used to provide an understanding of the technical solution of the present disclosure and constitute a part of the specification. Together with the embodiments of the present disclosure, they are used to explain the technical solution of the present disclosure and do not constitute a limitation on the technical solution of the present disclosure. The shapes and sizes of the components in the accompanying drawings do not reflect the actual proportions and are only intended to illustrate the content of the present application.

[0046] Figure 1 This is a flow chart of the AGV car management method for this application.

[0047] Figure 2 This is the block diagram of the AGV management system for this application.

[0048] Figure 3 This is a schematic diagram of a GV car management method provided in one embodiment of the present application. DETAILED DESCRIPTION

[0049] The above scheme is further described below in conjunction with specific examples. It should be understood that these examples are used to illustrate the present application and are not limited to the scope of the present application. The implementation conditions adopted in the examples can be further adjusted as the conditions of the specific manufacturer, and the unspecified implementation conditions are usually the conditions in conventional experiments.

[0050] Unless otherwise defined, the technical terms or scientific terms used in the embodiments of the present disclosure should be understood by people with ordinary skills in the field to which the present application belongs. The "first", "second" and similar words used in the embodiments of the present disclosure do not indicate any order, quantity or importance, but are only used to distinguish different components. "Including" or "comprising" and similar words mean that the elements or objects appearing in front of the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connecting" or "connected" and similar words are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. In this article, "electrical connection" includes the situation where the constituent elements are connected together through an element with some electrical function. "Elements with some electrical function" are not particularly limited as long as they can transfer electrical signals between the connected constituent elements. "Elements with some electrical function" can be, for example, electrodes or wiring, or switching elements such as transistors, or other functional elements such as resistors, inductors or capacitors. "Up", "down", "left", "right", etc. are only used to indicate relative position relationships. When the absolute position of the object being described changes, the relative position relationship may also change accordingly.

[0051] In this application, the directions or positional relationships indicated by the terms "upper", "lower", "inner", "middle", etc. are based on the directions or positional relationships shown in the drawings. These terms are mainly used to better describe the present application and its embodiments, and are not used to limit the indicated devices, elements or components to have a specific direction, or to be constructed and operated in a specific direction.

[0052] As described in the background technology, there is currently no detailed charging management plan for AGVs. Since a large number of AGVs are required to operate in intelligent workshops, when an AGV is low on power and needs to be charged, it will have to wait because there is an AGV charging at the charging device.

[0053] Therefore, in order to solve the above problems, the inventor provides an AGV trolley management method based on an intelligent industrial platform. The management method is implemented through a management system, which includes a main control unit, a plurality of AGV trolleys, and a plurality of charging devices for charging the AGV trolleys, such as Figure 1 As shown, the management method includes the following steps:

[0054] S1. Based on the current transportation task of the intelligent industrial platform, the main control unit controls the AGV car to perform the transportation task.

[0055] S2. The AGV that is performing the transport task sends power information to the main control unit, and the AGV that is in the charging state sends power information to the main control unit.

[0056] S3, after obtaining the power information of the AGV that performs the transportation task, the main control unit calculates the time t when the power of the AGV is lower than the threshold when performing the transportation task f After obtaining the power information of the AGV in the charging state, the main control unit calculates the time t0 required for the charging device to fully charge the AGV. m .

[0057] S4, the main control unit calculates t f , t0 and t m Compare the three values ​​and satisfy t f ≤t m <t0 requires that the corresponding AGV car be matched with the charging device. After the AGV car at the charging device is fully charged, the AGV car that is performing the transportation task is controlled to terminate the current transportation task and move to the charging device for charging. The fully charged AGV car is controlled to give up the charging position and take over the AGV car that terminated the transportation task to continue to complete the transportation task.

[0058] In the above scheme, the main control unit calculates the time t1 when the power is lower than the threshold and the time t0 when the power is exhausted, including the following steps:

[0059] At time point T1, the AGV sends the real-time battery power Q1 to the main control unit.

[0060] At time point T2, the AGV sends the real-time battery power Q2 to the main control unit.

[0061] Among them, T1<T2, calculate the power consumption of the AGV car per unit time, the calculation formula includes:

[0062]

[0063] In the formula, Q J is the power consumption of the AGV per unit time, Q1 is the real-time power consumption of the AGV at time point T1, and Q2 is the real-time power consumption of the AGV at time point T2;

[0064] The calculation starts from time point T1, and the AGV car power drops below the threshold Q f The specific calculation formula includes:

[0065]

[0066] Calculate the time from time point T1 until the AGV battery runs out. The specific calculation formula includes:

[0067]

[0068] Where Q1 is the real-time power of the AGV at time point T1, Q f is the threshold power of the AGV, Q J It is the power consumption of the AGV per unit time.

[0069] In the above scheme, the main control unit calculates the time t required for the AGV to be fully charged. m The steps include:

[0070] At time point T3, the AGV sends the real-time battery power Q3 to the main control unit.

[0071] At time point T4, the AGV sends the real-time battery power Q4 to the main control unit.

[0072] Among them, T3<T4, calculate the charging amount of the AGV car per unit time, the calculation formula includes:

[0073]

[0074] In the formula, Q iis the charging amount of the AGV car per unit time, Q3 is the real-time power of the AGV car at time point T3, and Q4 is the real-time power of the AGV car at time point T4;

[0075] The calculation starts from time point T3, and the AGV car is charged to full power Q m The specific calculation formula includes:

[0076]

[0077] In the formula, Q i Q is the charging amount of the AGV per unit time, m The AGV is fully charged.

[0078] In the above scheme, the AGV trolley that performs the transportation task also sends movement status information to the main control unit, and the movement status information includes the real-time speed V of the AGV trolley. When V=0, the control unit marks the abnormal status and controls the fully charged AGV trolley to take over the abnormal status marked AGV trolley to perform the transportation task. The real-time speed V=0 of the AGV trolley represents that the AGV trolley is in a stationary state. The system determines that the AGV trolley cannot work normally and marks it as abnormal. Then, it controls another AGV trolley that does not have a transportation task to take over the trolley and continue to complete the transportation task to avoid affecting the production process of the product. The AGV trolley marked as abnormal will be displayed on the PC side, so that subsequent operators can check it in time.

[0079] In the above scheme, the AGV car that performs the transportation task also sends position status information to the main control unit. When the position of the AGV car is not on the route of the corresponding transportation task, the control unit marks the abnormal status and controls the fully charged AGV car to replace the AGV car with the abnormal status mark to perform the transportation task. When the position of the AGV car is not on the route of the corresponding transportation task, the system determines that the AGV car cannot work normally and marks it as abnormal. Then, it controls another AGV car without a transportation task to take over the car and continue to complete the transportation task to avoid affecting the production process of the product. The AGV car marked as abnormal will be displayed on the PC side to facilitate subsequent operators to check it in time.

[0080] In addition, the inventor also provides an AGV management system based on an intelligent industrial platform, such as Figure 2As shown, the management system includes a control end, which includes a main control unit and a main communication unit, and also includes an AGV trolley. The AGV trolley includes a power detection unit, a first GPS positioning unit and a first slave communication unit, and also includes a charging device. The charging device includes a second GPS positioning unit and a second slave communication unit, wherein the main communication unit is respectively connected to the first slave communication unit and the second slave communication unit so that the control end establishes a communication network with the AGV trolley and the charging device. The power detection unit is used to detect the power of the AGV trolley battery, the first GPS positioning unit is used to detect the position of the AGV trolley, and the first slave communication unit sends the power information and position information of the AGV trolley to the main control unit. The AGV trolley also includes a speed detection unit, which is used to detect the speed of the AGV trolley. The first slave communication unit sends the speed information of the AGV trolley to the main control unit, and the second GPS positioning unit is used to detect the position information of the charging device. The charging device also includes an infrared detection unit, which is used to detect the AGV trolley at the charging device.

[0081] The inventor also provides a storage medium, which stores one or more programs. The one or more programs can be executed by one or more processors to implement any of the above-mentioned AGV management methods.

[0082] This solution adopts the method that the AGV trolley performing the transportation task sends power information to the main control unit, and the AGV trolley in the charging state sends power information to the main control unit. After obtaining the information, the main control unit analyzes and calculates the time when the power of the AGV trolley performing the transportation task is lower than the threshold and the time when the power is exhausted. At the same time, it calculates the time when the AGV trolley in the charging state is fully charged, ensuring that the AGV trolley performing the transportation task is matched with the charging device that has fully charged the previous AGV trolley in the time period after the power of the AGV trolley performing the transportation task is lower than the threshold and before the power is exhausted, so that the charging device is vacated in time to charge the low-power AGV trolley, effectively avoiding the situation where low-power AGV trolleys queue up to wait for charging due to the lack of charging device.

[0083] Next, the present application is described exemplarily.

[0084] An embodiment of the present application provides an AGV trolley management method based on an intelligent industrial platform. The management method is implemented through a management system. The management system includes a main control unit, four AGV trolleys, and two charging devices for charging the AGV trolleys, such as Figure 3 As shown, the specific implementation methods include the following:

[0085] The main control unit controls AGV 1 and 2 to perform two conveying tasks A and B. At the same time, AGV 3 and 4 are charging at the charging devices X and Y.

[0086] AGV 1 and 2 send their real-time power information to the main control unit at 7 and 8 respectively.

[0087] At the same time, AGV cars 3 and 4 send their real-time power information to the main control unit at time 7 and time 8 respectively.

[0088] According to the calculation formula: It is concluded that

[0089] The power consumption per unit time of AGV 1:

[0090] The power consumption per unit time of AGV 2:

[0091] Set the power threshold of the AGV to 10KW.

[0092] According to the calculation formula: It is concluded that

[0093] AGV 1 starts at 7:00 and the battery level drops below the threshold Q. f Time:

[0094] AGV 2 starts at 7:00 and the battery level drops below the threshold Q. f Time:

[0095] According to the calculation formula: It is concluded that

[0096] GV Car 1 starts at 7:00 and the battery runs out:

[0097] GV Car 2 starts at 7:00 and the battery runs out:

[0098] According to the calculation formula: It is concluded that

[0099] The charging amount per unit time of AGV car 3:

[0100] The charging amount of AGV car 4 per unit time:

[0101] Assume that the full power of the car is 100kw, according to the calculation formula: It is concluded that

[0102] AGV Car 3 starts at 7 o'clock and the time to fully charge is:

[0103] AGV car 4 starts at 7 o'clock, and the time to fully charge is:

[0104] Based on the above calculation results,

[0105] GV Car 1 starts working at 7:00 and the battery level drops below the threshold after 4.5 hours of continuous operation. The battery level runs out after 5 hours of continuous operation.

[0106] GV Car 2 starts at 7:00 and the battery level drops below the threshold after 1.6 hours of continuous operation. The battery level runs out after 2 hours of continuous operation.

[0107] At 7 o'clock, AGV 3 needs 1.8 hours to be fully charged through charging device X.

[0108] At 7 o'clock, AGV 4 needs 3.8 hours to be fully charged through charging device Y.

[0109] Therefore, the main control unit can control GV cart 2 to go to charging device X for charging after 1.8 hours from 7 o'clock, and control AGV cart 3 to take over GV cart 2 and continue to perform transportation task B after being fully charged. However, the calculation results of GV cart 1 and AGV cart 4 do not meet the requirements and are not matched.

[0110] The above embodiments are only for illustrating the technical concept and features of the present application, and their purpose is to enable people familiar with the technology to understand the content of the present application and implement it accordingly, and they cannot be used to limit the protection scope of the present application. Any equivalent transformation or modification made according to the spirit of the present application shall be included in the protection scope of the present application.

Claims

1. An AGV management method based on an intelligent industrial platform, characterized in that: The management method is implemented by a management system, which includes a main control unit, a plurality of AGVs and a plurality of charging devices for charging the AGVs. The management method includes: Based on the current transportation task of the intelligent industrial platform, the main control unit controls the AGV to perform the transportation task. The AGV trolley that is performing the transportation task sends the power information to the main control unit, and the AGV trolley that is in the charging state sends the power information to the main control unit. After obtaining the power information of the AGV that performs the transportation task, the main control unit calculates the time t when the power of the AGV is lower than the threshold when performing the transportation task. f and the time t0 when the battery runs out, After obtaining the power information of the AGV in the charging state, the main control unit calculates the time t required for the charging device to fully charge the AGV m , The main control unit calculates t f , t0 and t m Compare the three values ​​and satisfy t f ≤t m <t0 requires that the corresponding AGV car be matched with the charging device. After the AGV car at the charging device is fully charged, the AGV car that is performing the transportation task is controlled to terminate the current transportation task and move to the charging device for charging. The fully charged AGV car is controlled to give up the charging position and take over the AGV car that terminated the transportation task to continue to complete the transportation task.

2. The AGV management method based on the intelligent industrial platform according to claim 1 is characterized in that: The main control unit calculates the time t1 when the power is lower than the threshold and the time t0 when the power is exhausted, including the following steps: At time point T1, the AGV sends the real-time battery power Q1 to the main control unit. At time point T2, the AGV sends the real-time battery power Q2 to the main control unit. Among them, T1<T2, calculate the power consumption of the AGV car per unit time, the calculation formula includes: In the formula, Q J is the power consumption of the AGV per unit time, Q1 is the real-time power consumption of the AGV at time point T1, and Q2 is the real-time power consumption of the AGV at time point T2; The calculation starts from time point T1, and the AGV car power drops below the threshold Q f The specific calculation formula includes: Calculate the time from time point T1 until the AGV battery runs out. The specific calculation formula includes: Where Q1 is the real-time power of the AGV at time point T1, Q f is the threshold power of the AGV, Q J It is the power consumption of the AGV per unit time.

3. The AGV management method based on the intelligent industrial platform according to claim 1 is characterized in that: The main control unit calculates the time t required for the AGV to be fully charged m The steps include: At time point T3, the AGV sends the real-time battery power Q3 to the main control unit. At time point T4, the AGV sends the real-time battery power Q4 to the main control unit. Among them, T3<T4, calculate the charging amount of the AGV car per unit time, the calculation formula includes: In the formula, Q i is the charging amount of the AGV car per unit time, Q3 is the real-time power of the AGV car at time point T3, and Q4 is the real-time power of the AGV car at time point T4; The calculation starts from time point T3, and the AGV car is charged to full power Q m The specific calculation formula includes: In the formula, Q i Q is the charging amount of the AGV per unit time, m The AGV is fully charged.

4. The AGV management method based on the intelligent industrial platform according to claim 1 is characterized in that: The AGV trolley performing the transport task also sends movement status information to the main control unit, and the movement status information includes the real-time speed V of the AGV trolley. When V=0, the control unit marks the abnormal state and controls the fully charged AGV trolley to replace the AGV trolley marked with the abnormal state to perform the transport task.

5. The AGV management method based on the intelligent industrial platform according to claim 1 is characterized in that: The AGV vehicle performing the transportation task also sends position status information to the main control unit. When the position of the AGV vehicle is not on the route corresponding to the transportation task it performs, the control unit marks the abnormal status and controls the fully charged AGV vehicle to take over the AGV vehicle marked with the abnormal status to perform the transportation task.

6. An AGV management system based on an intelligent industrial platform, characterized by: include: A control end, the control end comprising a main control unit and a main communication unit, The AGV vehicle includes a power detection unit, a first GPS positioning unit and a first slave communication unit. A charging device, the charging device comprising a second GPS positioning unit and a second slave communication unit, in, The master communication unit is connected to the first slave communication unit and the second slave communication unit respectively so that the control end establishes a communication network with the AGV vehicle and the charging device.

7. The AGV management system based on the intelligent industrial platform as claimed in claim 6, characterized in that: The power detection unit is used to detect the power of the AGV battery, the first GPS positioning unit is used to detect the position of the AGV battery, and the first slave communication unit sends the power information and position information of the AGV to the main control unit.

8. The AGV management system based on the intelligent industrial platform as claimed in claim 7, characterized in that: The AGV trolley also includes a speed detection unit, which is used to detect the speed of the AGV trolley. The first slave communication unit sends the speed information of the AGV trolley to the main control unit.

9. The AGV management system based on the intelligent industrial platform as claimed in claim 6, characterized in that: The second GPS positioning unit is used to detect the location information of the charging device. The charging device also includes an infrared detection unit, and the infrared detection unit is used to detect the AGV vehicle at the charging device.

10. A storage medium, characterized in that: The storage medium stores one or more programs, and the one or more programs can be executed by one or more processors to implement the AGV management method according to any one of claims 1 to 5.

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