AGV (Automatic Guided Vehicle) task dynamic adjustment method and system

Abstract

The invention relates to an AGV (automatic guided vehicle) task dynamic adjustment method, which comprises the following steps of: in a task execution process of an AGV, identifying a currently carried material and a production link where the AGV is located, and further obtaining a material importance level and an influence level on the production link; calling a corresponding task classification weight value according to the obtained material importance grade and the production link influence degree grade; and acquiring a real-time production plan, determining a real-time weight adjustment coefficient according to parameters of the real-time production plan and a preset production plan, calculating a real-time task weight value according to the called task classification weight value and the real-time weight adjustment coefficient, and automatically adjusting task parameters of the AGV by using the real-time task weight value. According to the method and the device, the AGV tasks can be automatically and dynamically adjusted, manual operation is not needed, the adjusted task parameters accord with the actual production condition change of a workshop, and the production efficiency and rhythm are not influenced.

Description

Technical Field

[0001] The present invention relates to the field of automation control technology, and in particular to a method and system for dynamically adjusting tasks of an AGV (Automated Guided Vehicle). Background Art

[0002] AGV is an automatic guided vehicle. As one of the core equipment of intelligent logistics, AGV has experienced explosive growth in recent years. AGV, which is mainly intelligent and can navigate autonomously, has also been widely used in the field of intelligent logistics and warehousing.

[0003] Common AGV vehicles generally include the following types:

[0004] Lurking and lifting AGV: This type of AGV is characterized by a low body that can lurk under the shelves. When picking up or putting down goods, the body can be lifted to a certain height to facilitate cargo operations. It is suitable for highly dense storage environments and can effectively improve the space utilization and operating efficiency of the warehouse.

[0005] Forklift AGV: This type of AGV imitates the functions of a traditional forklift and has the ability to lift and move goods. It is suitable for scenarios where heavy goods need to be moved, and the lifting and moving of goods is achieved through the built-in forklift mechanism.

[0006] Backpack AGV: This type of AGV places the cargo on the back of the vehicle for transportation, and is suitable for long-distance, large-capacity cargo transportation. The cargo is securely fixed by the cargo fixing device on the back of the vehicle, and then the cargo is transported through its own driving mechanism.

[0007] Traction AGV: This type of AGV is used to tow other vehicles or equipment, and is usually used in scenarios that require collaborative work. The built-in traction mechanism is used to tow other vehicles or equipment to ensure that the goods arrive at the destination safely and accurately.

[0008] Since multiple AGVs are usually used at the same time in a workshop, it is necessary to compile handling tasks for each AGV according to the workshop's production plan and the model of the AGV. After the handling tasks are formulated, each AGV works according to its default handling tasks in daily production. However, in actual daily production, the production plan may fluctuate a little, and some more urgent production tasks may also appear. If the AGV still works according to the default handling tasks, it is obviously unable to cope with changes in the production plan. This requires adjustments to the tasks of the AGV.

[0009] At present, the adjustment of AGV tasks is mainly achieved by manually adjusting system parameters, which requires scheduling managers to manually adjust relevant task data according to changes in production plans. This is time-consuming and labor-intensive and needs to be improved. Summary of the invention

[0010] Based on the above description, the present invention provides a method and system for dynamically adjusting the weight of an AGV task to solve the problem that the existing AGV cannot automatically and dynamically adjust tasks.

[0011] The technical solution of the present invention to solve the above technical problems is as follows:

[0012] A method for dynamically adjusting tasks of an AGV vehicle comprises the following steps: classifying the tasks of the AGV vehicle according to the material importance level and the influence level on the production link, and calibrating the task classification weight of the AGV vehicle according to the material importance level and the influence level on the production link; in the process of the AGV vehicle executing the task, identifying the currently transported material and the production link where the AGV vehicle is located, and then obtaining the material importance level and the influence level on the production link, and then retrieving the corresponding task classification weight value according to the obtained material importance level and the influence level on the production link; obtaining a real-time production plan, determining a real-time weight adjustment coefficient according to the parameters of the real-time production plan and the preset production plan, calculating a real-time task weight value according to the retrieved task classification weight value and the real-time weight adjustment coefficient, and automatically adjusting the task parameters of the AGV vehicle using the real-time task weight value.

[0013] As a preferred solution, the real-time task weight formula is: Wt=Wy×Wr, where Wt is the real-time task weight, Wy is the task classification weight, and Wr is the real-time weight adjustment coefficient.

[0014] As a preferred solution: calculate the urgency weight according to the task's execution window time and delay risk coefficient, using the formula Wu=1 / (Tw+Rd), where Wu is the urgency weight value, Tw is the value corresponding to the execution window time, and Rd is the delay risk coefficient; calculate the task execution weight using the urgency weight and real-time task weight, using the formula Wz=a×Wt+b×Wu, where Wz is the task execution weight, and a and b are preset calculation coefficients; and automatically adjust the task parameters of the AGV using the task execution weight value.

[0015] As a preferred solution: the state value of the AGV is calculated according to the current power and load conditions of the AGV, and the calculation formula is: Zv=1 / (Eb+Ld), where Wa is the state value of the AGV, Eb is the power state value of the AGV, and Ld is the load state value of the AGV; the values ​​of a and b are calibrated in advance according to different state values, and the corresponding values ​​of a and b are retrieved after the state value of the AGV is calculated, thereby realizing automatic correction of the calculation coefficient.

[0016] An AGV vehicle task dynamic adjustment system, comprising:

[0017] The data acquisition unit is used to collect the identification information, status information, current execution task information, and production progress information of the AGV; the identification information includes the vehicle number and vehicle model; the status information includes the current power, current load, and operating parameters; the task information includes the task type, the material being transported, and the production link; the production progress information includes the preset production plan and the real-time production plan;

[0018] A data processing unit, which is used to screen and pre-process the collected data. The data processing unit determines the importance level of the material according to the task type of the AGV and the type of material being transported, and determines the level of impact on the production link according to the task type of the AGV and the production link where the AGV is located;

[0019] A calculation unit is preset with weight parameters and weight adjustment coefficients. The calculation unit retrieves the task classification weight value according to the acquired material importance level and the influence level on the production link; the calculation unit retrieves the real-time weight adjustment coefficient according to the parameters of the real-time production plan and the preset production plan; and then calculates the real-time task weight value according to the obtained task classification weight value and the real-time weight adjustment coefficient and the formula Wt=Wy×Wr, where Wy is the task classification weight and Wr is the real-time weight adjustment coefficient, and then uses the real-time task weight value Wt to ​​adjust the task parameters of the AGV car;

[0020] The task adjustment unit is used to send the adjusted AGV task parameters to the AGV scheduling platform, and the AGV scheduling platform adjusts the real-time tasks of each AGV.

[0021] As a preferred solution: the data processing unit determines the execution window time and delay risk coefficient of the task according to the current task type of the AGV vehicle, and the calculation unit calculates the urgency weight according to the execution window time and the delay risk coefficient, and the calculation formula is Wu=1 / (Tw+Rd), where Wu is the urgency weight value, Tw is the assignment corresponding to the execution window time, and Rd is the delay risk coefficient; the calculation unit calculates the task execution weight using the urgency weight and the real-time task weight, and the calculation formula is Wz=a×Wt+b×Wu, where Wz is the task execution weight, and a and b are preset calculation coefficients; the task execution weight value is used to automatically adjust the task parameters of the AGV vehicle.

[0022] As a preferred solution: it also includes a parameter correction unit, which calculates the state value of the AGV according to the current power and load conditions of the AGV trolley. The calculation formula is: Zv=1 / (Eb+Ld), where Wa is the state value of the AGV trolley, Eb is the power state of the AGV trolley, and Ld is the load state value of the AGV trolley; the values ​​of a and b are calibrated in advance according to different state values, and the corresponding values ​​of a and b are called after the state value of the AGV trolley is calculated, thereby realizing automatic correction of the calculation coefficient.

[0023] Compared with the prior art, the technical solution of the present application has the following beneficial technical effects: the present application comprehensively considers the importance level of AGV trolley tasks in the production link and the variables of the production plan, extracts and calibrates the key considerations when adjusting the AGV trolley workload, and then combines the key factors and calibration values ​​to obtain the task classification weights and real-time weight adjustment coefficients of the AGV trolley, and calculates the real-time task weight values ​​based on this, and finally uses the real-time task weight values ​​to adjust the task parameters of the AGV trolley, which can realize automatic dynamic adjustment of the AGV trolley tasks without manual operation, and the adjusted task parameters are in line with the actual production situation changes in the workshop, and will not affect production efficiency and rhythm. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is a schematic diagram of the system in Example 1. DETAILED DESCRIPTION

[0025] Embodiment 1:

[0026] Reference Figure 1 , a dynamic adjustment system for AGV vehicle tasks. The system in this embodiment includes a data acquisition unit, a data processing unit, a calculation unit, a task adjustment unit and a parameter correction unit.

[0027] The data acquisition unit is used to collect the identification information, status information, current execution task information, and production progress information of the AGV; the identification information includes the vehicle number and vehicle model; the status information includes the current power, current load capacity, operating parameters (including operating speed, position coordinates, current execution action, etc.); the task information includes the task type (such as carrying, traction, lifting, etc.), the transported materials (material types are divided into main materials, auxiliary materials, etc.), and the production link; the production progress information includes the preset production plan and the real-time production plan (for example, the preset production plan is to produce X products on the day, and due to changes in the plan, the real-time production plan for the day is Y pieces).

[0028] The data processing unit is used to screen and pre-process the collected data.

[0029] The material importance levels for different task types and different material types are calibrated in advance. The importance levels include "very important", "important", "general", etc., and different importance levels are assigned values.

[0030] Similarly, different AGV task types and AGVs are pre-calibrated for their impact levels on production links at different production links. The impact levels include "urgent", "important", "routine", etc., and different impact levels are assigned values. The above importance levels and values, as well as the impact levels and values, are stored in the data processing unit.

[0031] After the data processing unit obtains the information collected by the data, it determines the importance level of the material and its value according to the task type of the AGV and the type of material it transports; and determines the impact level on the production link and its value according to the task type of the AGV and the production link where the AGV is located.

[0032] The calculation unit is preset with weight parameters and weight adjustment coefficients. The calculation unit retrieves the task classification weight value according to the acquired material importance level and the influence level on the production link (the task classification weight is calibrated in advance for different material importance levels and production link influence levels); the calculation unit retrieves the real-time weight adjustment coefficient according to the parameters of the real-time production plan and the preset production plan. In this embodiment, the weight adjustment coefficient is calibrated in advance, and the calibration basis is the difference XY between the real-time production plan and the preset production plan, and then the weight adjustment coefficient is calibrated for different differences. The larger the difference, the larger the weight adjustment coefficient.

[0033] The calculation unit then calculates the real-time task weight value based on the obtained task classification weight value and the real-time weight adjustment coefficient and uses the formula Wt=Wy×Wr, where Wy is the task classification weight and Wr is the real-time weight adjustment coefficient. The real-time task weight value Wt is then used to adjust the task parameters of the AGV car. Specifically, the preset task amount of the AGV car is multiplied by Wt to ​​obtain the adjusted task parameters.

[0034] The task adjustment unit is used to send the adjusted AGV task parameters to the AGV scheduling platform, and the AGV scheduling platform adjusts the real-time tasks of each AGV.

[0035] In this embodiment, the data processing unit determines the execution window time and delay risk coefficient of the task according to the current task type of the AGV vehicle (the execution window time and delay risk coefficient of different task types need to be calibrated in advance, and the execution window time and delay risk coefficient can be obtained after obtaining the task type of the AGV vehicle), and the calculation unit calculates the urgency weight according to the execution window time and delay risk coefficient, and the calculation formula is Wu=1 / (Tw+Rd), where Wu is the urgency weight value, Tw is the assigned value corresponding to the execution window time, and Rd is the delay risk coefficient; the calculation unit calculates the task execution weight using the urgency weight and the real-time task weight, and the calculation formula is Wz=a×Wt+b×Wu, where Wz is the task execution weight, and a and b are preset calculation coefficients; the task parameters of the AGV vehicle are automatically adjusted using the task execution weight value.

[0036] The system also includes a parameter correction unit. The parameter correction calculates the state value of the AGV according to the current power and load conditions of the AGV. The calculation formula is: Zv=1 / (Eb+Ld), where Zv is the state value of the AGV, Eb is the power state value of the AGV (the power state value is the percentage of power converted into a decimal), and Ld is the load state value of the AGV (the load state value is defined here as: current load weight divided by maximum load); the values ​​of a and b are calibrated in advance according to different state values, and the corresponding values ​​of a and b are retrieved after the state value of the AGV is calculated, thereby realizing automatic correction of the calculation coefficients.

[0037] Embodiment 2:

[0038] A method for dynamically adjusting an AGV task comprises the following steps:

[0039] The tasks of the AGV are classified according to the material importance level and the impact level on the production link, and the task classification weights of the AGV are calibrated according to the material importance level and the impact level on the production link; in the process of the AGV performing tasks, the currently transported materials and the production link where the AGV is located are identified, and then the material importance level and the impact level on the production link are obtained, and then the corresponding task classification weight value is retrieved according to the obtained material importance level and the impact level on the production link; the real-time production plan is obtained, and the real-time weight adjustment coefficient is determined according to the parameters of the real-time production plan and the preset production plan, and the real-time task weight value is calculated according to the retrieved task classification weight value and the real-time weight adjustment coefficient, and the task parameters of the AGV are automatically adjusted using the real-time task weight value.

[0040] In this embodiment, the real-time task weight formula is: Wt=Wy×Wr, where Wt is the real-time task weight, Wy is the task classification weight, and Wr is the real-time weight adjustment coefficient.

[0041] In this embodiment, the urgency weight is also calculated based on the execution window time and the delay risk coefficient of the task, and the calculation formula is Wu=1 / (Tw+Rd), where Wu is the urgency weight value, Tw is the value corresponding to the execution window time (different window time periods need to be assigned in advance), and Rd is the delay risk coefficient; the task execution weight is calculated using the urgency weight and the real-time task weight, and the calculation formula is Wz=a×Wt+b×Wu, where Wz is the task execution weight, and a and b are preset calculation coefficients; the task execution weight value is used to automatically adjust the task parameters of the AGV car.

[0042] In this embodiment, the state value of the AGV is calculated according to the current power and load conditions of the AGV, and the calculation formula is: Zv=1 / (Eb+Ld), where Wa is the state value of the AGV, Eb is the power state value of the AGV, and Ld is the load state value of the AGV; the values ​​of a and b are calibrated in advance according to different state values, and the corresponding values ​​of a and b are retrieved after the state value of the AGV is calculated, thereby realizing automatic correction of the calculation coefficient.

[0043] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for dynamically adjusting AGV tasks, characterized in that: The tasks of the AGV are classified according to the material importance level and the impact level on the production link, and the task classification weights of the AGV are calibrated according to the material importance level and the impact level on the production link; in the process of the AGV performing tasks, the currently transported materials and the production link where the AGV is located are identified, and then the material importance level and the impact level on the production link are obtained, and then the corresponding task classification weight value is retrieved according to the obtained material importance level and the impact level on the production link; Obtain the real-time production plan, determine the real-time weight adjustment coefficient based on the parameters of the real-time production plan and the preset production plan, calculate the real-time task weight value based on the retrieved task classification weight value and the real-time weight adjustment coefficient, and use the real-time task weight value to automatically adjust the task parameters of the AGV vehicle.

2. The method for dynamically adjusting the tasks of the AGV according to claim 1 is characterized in that: The real-time task weight formula is: Wt=Wy×Wr, where Wt is the real-time task weight, Wy is the task classification weight, and Wr is the real-time weight adjustment coefficient.

3. The method for dynamically adjusting the tasks of an AGV according to claim 2 is characterized in that: The urgency weight is calculated based on the task execution window time and the delay risk coefficient. The calculation formula is Wu = 1 / (Tw + Rd), where Wu is the urgency weight value, Tw is the value corresponding to the execution window time, and Rd is the delay risk coefficient. The task execution weight is calculated using the urgency weight and the real-time task weight. The calculation formula is Wz=a×Wt+b×Wu, where Wz is the task execution weight, and a and b are preset calculation coefficients. The task execution weight value is used to automatically adjust the task parameters of the AGV.

4. The method for dynamically adjusting the tasks of an AGV according to claim 3 is characterized in that: The state value of the AGV is calculated according to the current power and load conditions of the AGV. The calculation formula is: Zv=1 / (Eb+Ld), where Wa is the state value of the AGV, Eb is the power state value of the AGV, and Ld is the load state value of the AGV. The values ​​of a and b are calibrated in advance according to different state values, and the corresponding values ​​of a and b are retrieved after the state value of the AGV is calculated, thereby realizing automatic correction of the calculation coefficient.

5. An AGV task dynamic adjustment system, characterized in that it includes: Data collection unit, which is used to collect the identification information, status information, current execution task information, and production progress information of the AGV; Identification information includes vehicle number and vehicle model; status information includes current power, current load, and operating parameters; task information includes task type, materials being transported, and production stage; Production schedule information includes preset production plan and real-time production plan; A data processing unit, which is used to screen and pre-process the collected data. The data processing unit determines the importance level of the material according to the task type of the AGV and the type of material being transported, and determines the level of impact on the production link according to the task type of the AGV and the production link where the AGV is located; A calculation unit, which is preset with weight parameters and weight adjustment coefficients, and the calculation unit retrieves the task classification weight value according to the acquired material importance level and the impact level on the production link; The calculation unit retrieves the real-time weight adjustment coefficient according to the parameters of the real-time production plan and the preset production plan; then calculates the real-time task weight value according to the obtained task classification weight value and the real-time weight adjustment coefficient and uses the formula Wt=Wy×Wr, where Wy is the task classification weight and Wr is the real-time weight adjustment coefficient, and then uses the real-time task weight value Wt to ​​adjust the task parameters of the AGV; The task adjustment unit is used to send the adjusted AGV task parameters to the AGV scheduling platform, and the AGV scheduling platform adjusts the real-time tasks of each AGV.

6. The AGV task dynamic adjustment system according to claim 5 is characterized in that: The data processing unit determines the execution window time and delay risk coefficient of the task according to the current task type of the AGV, and the calculation unit calculates the urgency weight according to the execution window time and the delay risk coefficient, and the calculation formula is Wu=1 / (Tw+Rd), where Wu is the urgency weight value, Tw is the value corresponding to the execution window time, and Rd is the delay risk coefficient; The calculation unit calculates the task execution weight using the urgency weight and the real-time task weight. The calculation formula is Wz=a×Wt+b×Wu, where Wz is the task execution weight, and a and b are preset calculation coefficients. The task parameters of the AGV are automatically adjusted using the task execution weight value.

7. The AGV task dynamic adjustment system according to claim 5 is characterized by: It also includes a parameter correction unit. The parameter correction calculates the state value of the AGV according to the current power and load conditions of the AGV trolley. The calculation formula is: Zv=1 / (Eb+Ld), where Wa is the state value of the AGV trolley, Eb is the power state of the AGV trolley, and Ld is the load state value of the AGV trolley; the values ​​of a and b are calibrated in advance according to different state values, and the corresponding values ​​of a and b are retrieved after the state value of the AGV trolley is calculated, thereby realizing automatic correction of the calculation coefficient.

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