Material scheduling method, device and equipment based on AGV, and medium
Through AGV vehicles in the AGV system, efficient coordinated scheduling of materials and bearing equipment and optimized recycling management of bearing equipment are solved, and the problems of insufficient flexibility in distribution process, imbalance in material supply and low equipment recycling efficiency in the AGV system are solved, and the resource utilization and operation efficiency of the production system are improved.
Patent Information
- Application Number
- CN202510380071.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-03-28
- Publication Date
- 2025-05-30
AI Technical Summary
The existing AGV system has insufficient flexibility in the automated distribution process and cannot adapt to environmental changes in time, resulting in lag and delay in the distribution process; the delivery process lacks the ability to accurately deliver on demand, resulting in imbalance and waste of material supply; the recycling efficiency of logistics turnover equipment is low, resulting in equipment backlogs occupying space and hindering logistics flow.
Through AGV vehicles, efficient coordinated scheduling of materials and bearing equipment is achieved, and the recovery management of bearing equipment is optimized. It includes transporting the target material request signal from the idle production station through the AGV vehicle to the idle production station, and determining the target return production station based on the idle production station for recycling.
It realizes efficient coordinated scheduling of materials and bearing equipment, optimizes the recycling management of bearing equipment, improves the resource utilization and operation efficiency of the entire production system, and solves the problems of insufficient flexibility in the distribution process, imbalance in material supply and low equipment recycling efficiency.
Smart Images
Figure CN120065959A_ABST
Abstract
Description
Technical Field
[0001] The present application belongs to the general field of control or regulation system technology, and specifically relates to a material scheduling method, device, equipment and medium based on AGV vehicles. Background Art
[0002] With the rapid development of modern digital factory intelligent warehousing and logistics, the use of AGV (Automated Guided Vehicle) for material handling, transportation route planning and equipment collaborative control has developed particularly rapidly in recent years. In the entire process of workshop logistics management, the automation, intelligence and efficiency of logistics operations have become the core key path to improve production efficiency and achieve the goal of reducing costs and increasing efficiency.
[0003] However, at this stage, many factories have generally exposed a series of problems that need to be solved in actual operation. For example, the flexibility of the automated distribution link is seriously insufficient, and it is impossible to make timely and accurate adaptive adjustments based on the complex and changeable environmental conditions on site, resulting in frequent jams and delays in the distribution process; the material delivery link lacks the ability to closely and dynamically match the actual material demand, making it difficult to achieve on-demand and accurate distribution, resulting in an imbalance and waste of material supply; the recycling efficiency of logistics turnover equipment is low, and a large number of logistics turnover equipment are piled up in various places in the production workshop, which not only occupies valuable workshop space resources, but also hinders the smoothness of logistics circulation. Therefore, how to solve the above problems is imminent. Summary of the invention
[0004] The present application provides a material scheduling method, device, equipment and medium based on AGV vehicles, with the aim of achieving efficient coordinated scheduling of materials and carrying equipment, optimizing the recycling management of carrying equipment, and thus improving the resource utilization and operational efficiency of the entire production system.
[0005] In a first aspect, the present application provides a material scheduling method based on an AGV vehicle, the method comprising: When receiving a target material request signal from an idle production station, the target material is transported to the idle production station by an AGV vehicle; wherein the target material is carried by a carrying device; When it is identified that there is at least one production station to be emptied, a target production station to be emptied is determined among the production stations to be emptied according to the idle production stations; The AGV vehicle is used to recover the carrying equipment of the target empty production station.
[0006] In a second aspect, the present application provides a material scheduling device based on an AGV vehicle, the device comprising: A target material handling module, which is used to move the target material to the idle production station by an AGV vehicle when receiving a target material request signal from the idle production station; wherein, the target material is carried by a carrying device; A target station determination module, which is used to determine a target empty-return production station from the idle production stations when identifying that there is at least one production station to be emptied; A carrying device recovery module, which is used to recover the carrying device of the target empty-return production station by the AGV vehicle.
[0007] In a third aspect, the present application provides an electronic device, which includes a processor, a memory, and a program or instruction stored on the memory and executable on the processor. When the program or instruction is executed by the processor, the steps of the method described in the first aspect are implemented.
[0008] In a fourth aspect, the present application provides a readable storage medium, on which a program or instruction is stored. When the program or instruction is executed by a processor, the steps of the method described in the first aspect are implemented.
[0009] In a fifth aspect, the present application provides a chip, which includes a processor and a communication interface. The communication interface is coupled to the processor, and the processor is used to run a program or instruction to implement the steps of the method described in the first aspect.
[0010] In the present application, when receiving a target material request signal from an idle production station, the target material is moved to the idle production station by an AGV vehicle; wherein, the target material is carried by a carrying device; when identifying that there is at least one production station to be emptied, a target empty-return production station is determined from the idle production stations; the carrying device of the target empty-return production station is recovered by the AGV vehicle. The above material scheduling method based on an AGV vehicle can move the target material to the idle production station by the AGV vehicle and recover the carrying device of the target empty-return production station determined based on the idle production station, so as to realize the efficient collaborative scheduling of materials and carrying devices, optimize the recovery management of carrying devices, and thus improve the resource utilization rate and operation efficiency of the entire production system. Description of the Drawings
[0011] Figure 1 is a flowchart of the material scheduling method based on an AGV vehicle provided in Embodiment 1 of the present application; Figure 2 is a flowchart of the material scheduling method based on an AGV vehicle provided in Embodiment 2 of the present application; Figure 3It is the first exemplary diagram for generating the recycling partition area provided in the second embodiment of this application; Figure 4 It is the second exemplary diagram for generating the recycling partition area provided in the second embodiment of this application; Figure 5 It is the exemplary diagram for carrying the recycling result of the device provided in the second embodiment of this application; Figure 6 It is the schematic flow diagram of the material scheduling method based on AGV vehicles provided in the third embodiment of this application; Figure 7 It is the schematic structural diagram of the material scheduling device based on AGV vehicles provided in the fourth embodiment of this application; Figure 8 It is the schematic structural diagram of the electronic device provided in the fifth embodiment of this application. Detailed implementation manners
[0012] In order to make the purpose, technical solutions and advantages of this application clearer, the following further describes the specific embodiments of this application in detail with reference to the accompanying drawings. It can be understood that the specific embodiments described herein are only used to explain this application, rather than limiting this application. Additionally, it should be noted that for the sake of description, only parts related to this application are shown in the drawings rather than all the content. Before discussing the exemplary embodiments in more detail, it should be mentioned that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although the flowcharts describe the operations (or steps) as sequential processes, many of the operations can be implemented in parallel, concurrently, or simultaneously. In addition, the order of the operations can be rearranged. When the operations are completed, the process can be terminated, but there can also be additional steps not included in the drawings. The process can correspond to a method, function, procedure, subroutine, subprogram, etc.
[0013] Next, the technical solutions in the embodiments of this application will be clearly described with reference to the accompanying drawings in the embodiments of this application. Obviously, the described embodiments are part of the embodiments of this application, rather than all the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art belong to the scope of protection of this application.
[0014] The terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described here, and the objects distinguished by "first", "second", etc. are generally of one type, and the number of objects is not limited. For example, the first object can be one or more. In addition, "and / or" in the specification and claims represents at least one of the connected objects, and the character " / " generally indicates that the objects associated with each other are in an "or" relationship.
[0015] In the following, in conjunction with the accompanying drawings, the AGV vehicle-based material scheduling method, device, equipment and medium provided in the embodiments of the present application are described in detail through specific embodiments and their application scenarios.
[0016] Embodiment 1 Figure 1 Schematic diagram of the process of the material dispatching method based on AGV vehicle provided in the first embodiment of the present application. Figure 1 As shown, the specific steps include: S101, upon receiving a target material request signal from an idle production station, transporting the target material to the idle production station by an AGV vehicle; wherein the target material is carried by a carrying device; First of all, this application is applicable to scenarios based on material production. Based on the above usage scenarios, it can be understood that the executor of this application can be a production scheduling system. Specifically, the reception of target material request signals, the control of AGV vehicles, and the determination of target return empty production stations can be performed by the production scheduling system, thereby improving the recovery efficiency of material carrying equipment and thus improving production efficiency. Among them, the production scheduling system can be a system for managing and coordinating production processes.
[0017] A production station may refer to a work location on a production line or in a production workshop that is divided to complete a specific production task. An idle production station may refer to a production station that is not producing based on materials.
[0018] Materials may refer to raw materials, parts, semi-finished products, finished products, and auxiliary materials used to meet production needs. Target materials may refer to materials required by idle production stations. It can be understood that the target material request signal may refer to a signal sent by an idle production station to obtain the target material.
[0019] The loading device can refer to a device for loading materials, which can include a steel frame and / or a pallet. Among them, the steel frame can be a frame structure made of metal materials, and the pallet can be a horizontal platform device. Generally, the pallet is placed on the steel frame, and the materials are placed on the pallet.
[0020] An AGV (Automated Guided Vehicle) vehicle, that is, an automated guided vehicle, is a transport vehicle that can travel along a specified guiding path and has safety protection and various transfer functions. In this solution, the AGV vehicle can preferably adopt a latent AGV vehicle.
[0021] The target material can be placed on the loading device, and the AGV vehicle realizes the handling of the target material by transferring the loading device. By determining the driving end point of the AGV vehicle as the idle production station, the target material can be transported to the idle production station.
[0022] Optionally, after the target material is transported to the idle production station by the AGV vehicle, the idle production station can send a target material return signal in the case of sending a wrong target material request signal or the obtained target material being unqualified in verification.
[0023] S102, in the case of identifying that there is at least one production station to be emptied, determine the target production station to be emptied among the production stations to be emptied according to the idle production station; The production station to be emptied can refer to a production station where the target material is consumed and there is an idle loading device waiting to be recycled. After the idle production station receives the target material and passes the verification of the target material, it starts to consume the target material. At this time, the idle production station is marked as a production station that can be emptied. When the target material of the production station that can be emptied is consumed, a return request signal can be sent and the production station that can be emptied is marked as a production station to be emptied. By identifying the identifiers of each production station, the identification of whether there is a production station to be emptied can be realized.
[0024] The target production station to be emptied can refer to the next driving end point of the AGV vehicle after the target material is transported to the idle production station by the AGV vehicle, that is, for the AGV vehicle that is still staying at the idle production station currently. The AGV vehicle is responsible for recycling the loading device of the target production station to be emptied.
[0025] The method for determining the target production station to be emptied among the production stations to be emptied according to the idle production station can be to determine the recycling division area where the idle production station is located, and determine the area center production station of the recycling division area as the target production station to be emptied.
[0026] S103, recycle the loading device of the target production station to be emptied through the AGV vehicle; In the method of recycling the carrying equipment of the target empty-return production station by the AGV vehicle, the driving end of the AGV vehicle can be determined as the target empty-return production station first, so that the AGV vehicle travels to the target empty-return production station to obtain the carrying equipment of the target empty-return production station, and then the driving end of the AGV vehicle is determined as the centralized area of the carrying equipment, so that the carrying equipment of the target empty-return production station is recycled to the centralized area of the carrying equipment through the AGV vehicle.
[0027] In the embodiment of the present application, when receiving the target material request signal of the idle production station, the target material is transported to the idle production station by the AGV vehicle; wherein, the target material is carried by the carrying equipment; when it is recognized that there is at least one production station to be emptied, the target empty-return production station is determined from the production stations to be emptied according to the idle production station; the carrying equipment of the target empty-return production station is recycled by the AGV vehicle. The above material scheduling method based on the AGV vehicle can transport the target material to the idle production station by the AGV vehicle and recycle the carrying equipment of the target empty-return production station determined based on the idle production station, so as to realize the efficient collaborative scheduling of materials and carrying equipment, optimize the recycling management of the carrying equipment, and thus improve the resource utilization rate and operation efficiency of the entire production system.
[0028] Embodiment 2 Figure 2 It is a flowchart of the material scheduling method based on the AGV vehicle provided in Embodiment 2 of the present application. This solution makes a better improvement to the above embodiment. The specific improvement is: determining the target empty-return production station from the production stations to be emptied according to the idle production station includes: determining the recycling division area where the idle production station is located; determining the area center production station of the recycling division area as the target empty-return production station.
[0029] As Figure 2 shown, it specifically includes the following steps: S201, when receiving the target material request signal of the idle production station, the target material is transported to the idle production station by the AGV vehicle; wherein, the target material is carried by the carrying equipment; In this technical solution, optionally, after transporting the target material to the idle production station by the AGV vehicle, the method further includes: Marking the idle production station as an empty-returnable production station; In response to the empty-return request signal of the empty-returnable production station, marking the empty-returnable production station as a production station to be emptied; Generating a new recycling division area according to the production station to be emptied.
[0030] The returnable empty production station may refer to a production station that is consuming materials. The way to identify an idle production station as a returnable empty production station can be to set a status parameter for each production station to represent the status of the production station, and by changing the value of the status parameter of the idle production station, to identify the idle production station as a returnable empty production station. For example, the status parameter being 1 indicates that the production station is an idle production station, the status parameter being 2 indicates that the production station is a returnable empty production station, and the status parameter being 3 indicates that the production station is a to-be-returned empty production station; changing the value of the status parameter of the idle production station from 1 to 2 to identify the idle production station as a returnable empty production station.
[0031] The return empty request signal may refer to a signal sent by a returnable empty production station requesting the recycling of its carrying equipment. Optionally, each production station can be equipped with a button box, and multiple buttons are configured in the button box. By pressing different buttons, signals such as a target material request signal, a target material return signal, or a return empty request signal can be sent respectively. The forms of these signals can be PLC (Programmable Logic Controller) signals. These buttons are associated with production station information and target material information, and these buttons can also be virtualized onto the operation interface of the production station.
[0032] The way to identify a returnable empty production station as a to-be-returned empty production station can be to change the value of the status parameter of the returnable empty production station. For example, changing the value of the status parameter of the returnable empty production station from 2 to 3 to identify the returnable empty production station as a to-be-returned empty production station.
[0033] The recycling division area can be a specific area range generated according to the situation of the to-be-returned empty production stations. The way to generate a new recycling division area according to the to-be-returned empty production stations can be to use the Canopy-based K-means clustering algorithm. Among them, Canopy is a fast and approximate clustering method that can quickly perform a preliminary division of data and reduce the computational amount of the subsequent K-means algorithm; K-means is a classic clustering algorithm with high computational efficiency.
[0034] Figure 3 It is the first example diagram for generating the recycling division area provided in the second embodiment of this application. As Figure 3 shown, the white rectangles represent idle production stations, the gray rectangles represent returnable empty production stations, the black rectangles represent to-be-returned empty production stations, and the dashed-line area represents the recycling division area.
[0035] In this technical solution, optionally, generating a new recycling division area according to the to-be-returned empty production stations includes: Determine the production work station to be emptied as the regional central production work station of the recycling division area; Determine the AGV travel distance between each idle production work station and the regional central production work station; Divide the idle production work stations with the AGV travel distance less than the preset travel distance threshold into the recycling division area.
[0036] The regional central production work station can refer to the production work station located at the central mass point of the recycling division area. Determining the production work station to be emptied as the regional central production work station of the recycling division area means determining the production work station to be emptied as the central mass point of the recycling division area.
[0037] The AGV travel distance can refer to the path length of the AGV vehicle traveling from the idle production work station to the regional central production work station. The AGV travel distance between each idle production work station and the regional central production work station needs to be determined according to the specific drivable route between the idle production work station and the regional central production work station.
[0038] The preset travel distance threshold can be a preset upper limit of the AGV travel distance indicating that it is more time-saving for the current AGV vehicle to travel from the idle production work station to the regional central production work station than to call a new AGV vehicle to travel to the regional central production work station. The preset travel distance threshold can be the AGV travel distance between the AGV vehicle rest area and the regional central production work station.
[0039] The method of dividing the idle production work stations with the AGV travel distance less than the preset travel distance threshold into the recycling division area can be to establish a set including the regional central production work station and add the idle production work stations with the AGV travel distance less than the preset travel distance threshold to this set. For example, as Figure 3 shown, the idle production work station 21 is divided into the recycling division area with the production work station 31 to be emptied as the regional central production work station, and the idle production work stations 24, 33, and 34 are divided into the recycling division area with the production work station 23 to be emptied as the regional central production work station.
[0040] In this technical solution, optionally, dividing the idle production work stations with the AGV travel distance less than the preset travel distance threshold into the recycling division area includes: Determine the idle production work stations with the AGV travel distance less than the preset travel distance threshold as candidate idle production work stations; If the candidate idle production work stations have not been divided into other recycling division areas, divide the candidate idle production work stations into the recycling division area; Or, In the case that the candidate idle production station has been assigned to other recycling partition areas and the AGV travel distance is less than the AGV travel distance between the candidate idle production station and the regional central production station of the other recycling partition areas, the candidate idle production station is assigned to the recycling partition area.
[0041] The candidate idle production station may refer to an idle production station with an AGV travel distance less than a preset travel distance threshold, that is, an idle production station that meets the preliminary requirements for being assigned to the current recycling partition area.
[0042] If the candidate idle production station has not been assigned to other recycling partition areas, then the candidate idle production station can be directly assigned to the current recycling partition area. If the candidate idle production station has been assigned to other recycling partition areas, then a preferred recycling partition area needs to be determined for the candidate idle production station. That is, the AGV travel distance between the candidate idle production station and the regional central production station of the current recycling partition area is taken as the first distance, and the AGV travel distance between the candidate idle production station and the regional central production station of the other recycling partition areas is taken as the second distance. The recycling partition area with the smaller distance is selected as the preferred recycling partition area for the candidate idle production station.
[0043] Figure 4 It is the second example diagram for generating the recycling partition area provided in the second embodiment of the present application. As Figure 4 shown, the recycling partition area with the to-be-returned empty production station 15 as the regional central production station is the current recycling partition area. The idle production station 24 was originally assigned to the recycling partition area with the to-be-returned empty production station 23 as the regional central production station and is now assigned to the recycling partition area with the to-be-returned empty production station 15 as the regional central production station.
[0044] Optionally, after each generation of the recycling partition area, the status of each production station and each recycling partition area can be stored based on a configuration file generated by DSL (Domain Specific Language).
[0045] The advantage of this solution is that by assigning the candidate idle production station to the recycling partition area in the case that the candidate idle production station has been assigned to other recycling partition areas and the AGV travel distance is less than the AGV travel distance between the candidate idle production station and the regional central production station of the other recycling partition areas, a preferred recycling partition area can be assigned to the idle production station, thereby achieving the purpose of minimizing the recycling path.
[0046] The advantage of this solution is that by classifying the idle production workstations where the AGV travel distance is less than the preset travel distance threshold into the recycling division area, it is possible to avoid the situation where the current AGV vehicle traveling from an idle production workstation to the central production workstation in the area takes more time than calling a new AGV vehicle to travel to the central production workstation in the area, thereby improving the rationality and efficiency of the recycling scheduling.
[0047] The advantage of this solution is that by marking the idle production workstations as returnable empty production workstations, it is possible to prevent the production workstations that are consuming materials but cannot be recycled from being classified into the recycling division area. By generating a new recycling division area based on the workstations to be returned empty, it can provide a data basis for determining the target returnable empty production workstations according to the idle production workstations in the future.
[0048] S202, determine the recycling division area where the idle production workstation is located; The method for determining the recycling division area where the idle production workstation is located can be to query the sets used to store each recycling division area with the idle production workstation as the query condition, and the obtained query result is the recycling division area where the idle production workstation is located.
[0049] S203, determine the central production workstation of the recycling division area as the target returnable empty production workstation; Determining the central production workstation of the recycling division area as the target returnable empty production workstation means determining the production workstation to be returned empty in the recycling division area as the target returnable empty production workstation.
[0050] S204, use the AGV vehicle to recycle the loading equipment of the target returnable empty production workstation; Figure 5 It is an example diagram of the recycling result of the loading equipment provided in the second embodiment of the present application. As Figure 5 shown, assume that the AGV vehicle recycles the loading equipment of the production workstation 31 to be returned empty. The recycling division area with the production workstation 31 to be returned empty as the central production workstation in the area disappears, the idle production workstation 21 is released, and the production workstation 31 to be returned empty becomes the idle production workstation 31.
[0051] The advantage of this solution is that by determining the recycling division area where the idle production workstation is located and determining the central production workstation of the recycling division area as the target returnable empty production workstation, it is possible to allocate a nearest production workstation to be returned empty for the AGV vehicle to recycle, thereby improving the recycling efficiency.
[0052] Embodiment Three Figure 6It is a schematic flowchart of a material scheduling method based on an AGV vehicle provided in the third embodiment of the present application. This solution makes a better improvement on the above-mentioned embodiments. The specific improvement is as follows: Before transporting the target material to the idle production station by the AGV vehicle, the method further includes: in response to a target material outbound request, transporting the target material to the outbound port of the automated storage and retrieval system (AS / RS); correspondingly, when receiving a target material request signal from an idle production station, transporting the target material to the idle production station by the AGV vehicle, including: when receiving a target material request signal from an idle production station, transporting the target material from the outbound port of the AS / RS to the idle production station by the AGV vehicle.
[0053] As Figure 6 shown, it specifically includes the following steps: S601, in response to a target material outbound request, transporting the target material to the outbound port of the AS / RS; The outbound port of the AS / RS may refer to a specific area or passage opening inside the AS / RS that is connected to the external production area or logistics channel. Among them, the AS / RS is a warehouse system that stores materials using high-rise shelves and uses automated material handling equipment for material storage and transportation.
[0054] A transfer vehicle may be provided at the outbound port of the AS / RS. The transfer vehicle is an important connecting device in the production and logistics automation process and is generally located at the junction of different production links or logistics transportation lines.
[0055] The target material outbound request may be a message sent to obtain the target material from the AS / RS. The method of transporting the target material to the outbound port of the AS / RS may be to transport the target material from the storage location of the target material to the material connection platform of the transfer vehicle at the outbound port of the AS / RS by an RGV (Rail Guided Vehicle). In this solution, the transfer vehicle at the outbound port of the AS / RS can be used to transfer the target material from the RGV to the AGV vehicle.
[0056] Optionally, before transporting the target material to the material connection platform of the transfer vehicle at the outbound port of the AS / RS, the target material can be first transported to the temporary storage area at the outbound port of the AS / RS, and then transported from the temporary storage area at the outbound port of the AS / RS to the material connection platform of the transfer vehicle after receiving the permission signal of the transfer vehicle to release materials.
[0057] Optionally, the inbound process of materials may include: when it is recognized that a material transportation vehicle is docked at the material unloading area, the materials on the material transportation vehicle are transported to the RGV transfer station by an AGV forklift, and the RGV transfer station transports the materials to the appearance inspection device to obtain the material information of the materials through the appearance inspection device; wherein, the material information includes at least one of pallet information, weight information, and height information; dynamically allocate storage locations for the materials in the three-dimensional warehouse according to the material information, and move the materials to the storage locations. Optionally, the material information of the materials may be stored in the two-dimensional code marked on the pallet carrying the materials; optionally, the three-dimensional warehouse may include an anode sub-warehouse and a cathode sub-warehouse, with anode materials stored in the anode sub-warehouse and cathode materials stored in the cathode sub-warehouse.
[0058] S602, when receiving the target material request signal of an idle production station, transport the target material from the outbound port of the three-dimensional warehouse to the idle production station by an AGV vehicle; wherein, the target material is carried by a carrying device; In this technical solution, optionally, after responding to the target material outbound request and transporting the target material to the outbound port of the three-dimensional warehouse, the method further includes: When not receiving the target material request signal of an idle production station, transport the target material from the outbound port of the three-dimensional warehouse to the material buffer area by an AGV vehicle; Correspondingly, when receiving the target material request signal of an idle production station, transporting the target material from the outbound port of the three-dimensional warehouse to the idle production station by an AGV vehicle includes: When receiving the target material request signal of an idle production station and the target material exists in the material buffer area, transport the target material from the material buffer area to the idle production station by an AGV vehicle; Correspondingly, recycling the carrying device of the target emptied production station by the AGV vehicle includes: Transport the carrying device of the target emptied production station to the material buffer area by the AGV vehicle.
[0059] The material buffer area may be an area between the outbound port of the three-dimensional warehouse and each production station. By determining the starting point of the AGV vehicle's travel as the outbound port of the three-dimensional warehouse and the ending point as the material buffer area, the target material can be transported from the outbound port of the three-dimensional warehouse to the material buffer area.
[0060] By determining the starting point of the AGV vehicle as the material buffer area and the ending point as the idle production station when receiving the target material request signal of an idle production station and the target material exists in the material buffer area, the target material can be transported from the material buffer area to the idle production station.
[0061] The method of using an AGV vehicle to transport the loading equipment of the target emptied production station to the material buffer area can be to use the AGV vehicle to transport the pallet of the target emptied production station to the pallet stacker and transport the steel frame of the target emptied production station to the material buffer area. Among them, before using the AGV vehicle to transport the pallet of the target emptied production station to the pallet stacker, it is necessary to first obtain the operating status and / or the number of stacked pallets of the pallet stacker. When the operating status is normal operation and the number of stacked pallets does not exceed the maximum stacking number of the pallet stacker, use the AVG vehicle to transport the pallet of the target emptied production station to the pallet stacker. When the operating status is a fault and / or the number of stacked pallets reaches the maximum stacking number of the pallet stacker, use the AVG vehicle to transport the pallet of the target emptied production station to the material buffer area, and then the AGV vehicle can be called to transport all the pallets of the pallet stacker to the material buffer area.
[0062] The advantage of this solution is that, when receiving the target material request signal of the idle production station and there is the target material in the material buffer area, use the AGV vehicle to transport the target material from the material buffer area to the idle production station, and use the AGV vehicle to transport the loading equipment of the target emptied production station to the material buffer area, which can effectively improve the material flow efficiency, reduce the material waiting time and the idle time of the production station. The setting of the material buffer area plays a key role in buffering and dispatching, making the matching of material supply and production demand more accurate and timely, and avoiding the situation of production stagnation caused by untimely material supply or congestion and chaos at the production site due to premature material handling.
[0063] S603. When it is recognized that there is at least one production station to be emptied, determine the target emptied production station from the production stations to be emptied according to the idle production station; S604. Recover the loading equipment of the target emptied production station through the AGV vehicle; The advantage of this solution is that, in response to the target material outbound request, transport the target material to the outbound port of the automated storage and retrieval system (AS / RS). When receiving the target material request signal of the idle production station, use the AGV vehicle to transport the target material from the outbound port of the AS / RS to the idle production station. Compared with directly transporting the target material from the AS / RS to the idle production station, it can be flexibly scheduled according to the actual needs of the production station, and at the same time, it is convenient to check and confirm the quantity and quality of the material to ensure that the material is accurately delivered to the production station.
[0064] Embodiment 4 Figure 7 It is a schematic structural diagram of a material scheduling device based on an AGV vehicle provided in Embodiment 4 of the present application. As Figure 7 shown, the device includes: A target material handling module 710 is configured to, when receiving a target material request signal from an idle production station, transport the target material to the idle production station by means of an AGV vehicle; wherein, the target material is loaded by a loading device. A target station determination module 720 is configured to, when identifying that there is at least one production station to be emptied, determine a target emptying production station from the production stations to be emptied according to the idle production station. A loading device recovery module 730 is configured to recover the loading device at the target emptying production station by means of the AGV vehicle.
[0065] In an embodiment of the present application, the target material handling module is configured to, when receiving a target material request signal from an idle production station, transport the target material to the idle production station by means of an AGV vehicle; wherein, the target material is loaded by a loading device. The target station determination module is configured to, when identifying that there is at least one production station to be emptied, determine a target emptying production station from the production stations to be emptied according to the idle production station. The loading device recovery module is configured to recover the loading device at the target emptying production station by means of the AGV vehicle. The above material scheduling device based on an AGV vehicle can transport the target material to the idle production station by means of the AGV vehicle and recover the loading device at the target emptying production station determined based on the idle production station, so as to achieve efficient collaborative scheduling of materials and loading devices, optimize the recovery management of loading devices, and thus improve the resource utilization rate and operation efficiency of the entire production system.
[0066] The material scheduling device based on an AGV vehicle in an embodiment of the present application may be a device, or a component, an integrated circuit, or a chip in a terminal. The device may be a mobile electronic device or a non-mobile electronic device. Exemplarily, the mobile electronic device may be a mobile phone, a tablet computer, a notebook computer, a handheld computer, a vehicle-mounted electronic device, a wearable device, an ultra-mobile personal computer (UMPC), a netbook, or a personal digital assistant (PDA), etc., and the non-mobile electronic device may be a server, a Network Attached Storage (NAS), a personal computer (PC), a television (TV), a teller machine, or a self-service machine, etc. The embodiment of the present application does not make a specific limitation.
[0067] The material scheduling device based on an AGV vehicle in the embodiments of the present application can be a device with an operating system. The operating system can be the Android operating system, the IOS operating system, or other possible operating systems, which are not specifically limited in the embodiments of the present application.
[0068] The material scheduling device based on an AGV vehicle provided in the embodiments of the present application can implement each process implemented in the above-mentioned Embodiments 1 to 3. To avoid repetition, it will not be elaborated here.
[0069] Embodiment 5 As Figure 8 shown, the embodiments of the present application further provide an electronic device 800, including a processor 801, a memory 802, a program or instruction stored on the memory 802 and executable on the processor 801. When the program or instruction is executed by the processor 801, it implements each process of the above-mentioned embodiment of the material scheduling device based on an AGV vehicle and can achieve the same technical effect. To avoid repetition, it will not be elaborated here.
[0070] It should be noted that the electronic device in the embodiments of the present application includes the above-mentioned mobile electronic device and non-mobile electronic device.
[0071] Embodiment 6 The embodiments of the present application further provide a readable storage medium, on which a program or instruction is stored. When the program or instruction is executed by a processor, it implements each process of the above-mentioned embodiment of the material scheduling device based on an AGV vehicle and can achieve the same technical effect. To avoid repetition, it will not be elaborated here.
[0072] Wherein, the processor is the processor in the electronic device described in the above-mentioned embodiment. The readable storage medium includes a computer-readable storage medium, such as a computer read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disc, etc.
[0073] Embodiment 7 The embodiments of the present application further provide a chip, which includes a processor and a communication interface. The communication interface is coupled to the processor. The processor is used to run a program or instruction to implement each process of the above-mentioned embodiment of the material scheduling device based on an AGV vehicle and can achieve the same technical effect. To avoid repetition, it will not be elaborated here.
[0074] It should be understood that the chip mentioned in the embodiments of the present application can also be referred to as a system-on-chip, a system chip, a chip system, or a system-on-chip, etc.
[0075] It should be noted that in this text, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, such that a process, method, article or device comprising a series of elements not only includes those elements but also other elements not expressly listed, or elements inherent to such process, method, article or device. Without further limitation, an element defined by the phrase "comprising an..." does not exclude the presence of additional identical elements in the process, method, article or device comprising that element. In addition, it should be pointed out that the scope of the methods and devices in the embodiments of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in the reverse order according to the functions involved. For example, the described methods may be performed in an order different from that described, and various steps may be added, omitted, or combined. Additionally, the features described with reference to certain examples may be combined in other examples.
[0076] Through the description of the above embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus a necessary general hardware platform. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation. Based on this understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art, can be embodied in the form of a computer software product. The computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions for causing a terminal (which can be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of the present application.
[0077] The embodiments of the present application have been described above in conjunction with the accompanying drawings. However, the present application is not limited to the above specific embodiments. The above specific embodiments are merely illustrative and not restrictive. Under the inspiration of the present application, those of ordinary skill in the art can also make many forms without departing from the purpose of the present application and the scope protected by the claims, and all of them belong to the protection scope of the present application.
[0078] The above is only the preferred embodiment of the present application and the technical principles applied. The present application is not limited to the specific embodiments described here. Various obvious changes, re-adjustments and substitutions that can be made by those skilled in the art will not depart from the protection scope of the present application. Therefore, although the present application has been described in more detail through the above embodiments, the present application is not limited to the above embodiments. Without departing from the concept of the present application, it may also include more other equivalent embodiments, and the scope of the present application is determined by the scope of the claims.
Claims
1. A material scheduling method based on AGV vehicles, characterized in that: The method comprises: When receiving a target material request signal from an idle production station, the target material is transported to the idle production station by an AGV vehicle; wherein the target material is carried by a carrying device; When it is identified that there is at least one production station to be emptied, a target production station to be emptied is determined among the production stations to be emptied according to the idle production stations; The AGV vehicle is used to recover the carrying equipment of the target empty production station.
2. The material dispatching method based on AGV vehicles according to claim 1 is characterized in that: Determining a target empty production station among the production stations to be empty according to the idle production stations includes: Determine the recycling zone where the idle production station is located; The regional center production station of the recycling divided area is determined as the target return empty production station.
3. The material dispatching method based on AGV vehicles according to claim 2 is characterized in that: After the target material is transported to the idle production station by the AGV vehicle, the method further includes: Marking the idle production station as a returnable production station; In response to a return request signal of a production station that can be returned, marking the production station that can be returned as a production station to be returned; A new recycling division area is generated according to the production station to be emptied.
4. The material dispatching method based on AGV vehicles according to claim 3 is characterized in that: A new recycling division area is generated according to the production station to be emptied, including: Determine the production station to be emptied as the regional center production station of the recycling zone; Determine the AGV travel distance between each idle production station and the regional center production station; The idle production stations whose AGV travel distance is less than a preset travel distance threshold are divided into the recycling division area.
5. The material dispatching method based on AGV vehicles according to claim 4 is characterized in that: The idle production stations whose AGV travel distance is less than a preset travel distance threshold are divided into the recycling division area, including: Determine an idle production station whose AGV travel distance is less than a preset travel distance threshold as a candidate idle production station; In the case where the candidate idle production station has not been allocated to other recycling partition areas, the candidate idle production station is allocated to the recycling partition area; or, When the candidate idle production station has been divided into other recycling partition areas and the AGV driving distance is less than the AGV driving distance between the candidate idle production station and the regional center production station of the other recycling partition areas, the candidate idle production station is divided into the recycling partition area.
6. The material dispatching method based on AGV vehicles according to claim 1 is characterized in that: Before the target material is transported to the idle production station by the AGV vehicle, the method further includes: In response to a request for the target material to be shipped out of the warehouse, the target material is transported to a shipping port of the three-dimensional warehouse; Accordingly, when a target material request signal of an idle production station is received, the target material is transported to the idle production station by an AGV vehicle, including: When a target material request signal of an idle production station is received, the target material is transported from the exit of the stereoscopic warehouse to the idle production station by an AGV vehicle.
7. The material dispatching method based on AGV vehicles according to claim 6 is characterized in that: After the target material is transported to the exit port of the stereoscopic warehouse in response to the exit request of the target material, the method further includes: In the case where no target material request signal is received from an idle production station, the target material is transported from the exit of the stereoscopic warehouse to the material buffer area by an AGV vehicle; Correspondingly, when a target material request signal of an idle production station is received, the target material is transported from the exit of the stereoscopic warehouse to the idle production station by an AGV vehicle, including: When a target material request signal of an idle production station is received and the target material exists in the material buffer area, the target material is transported from the material buffer area to the idle production station by an AGV vehicle; Accordingly, the AGV vehicle is used to recover the carrying equipment of the target empty production station, including: The AGV vehicle transports the carrying equipment of the target empty production station to the material buffer area.
8. A material dispatching device based on AGV vehicles, characterized in that: The device comprises: A target material handling module is used to, upon receiving a target material request signal from an idle production station, transport the target material to the idle production station through an AGV vehicle; wherein the target material is carried by a carrying device; A target station determination module is used to determine a target production station to be emptied among the production stations to be emptied according to the idle production stations when it is identified that there is at least one production station to be emptied; The load-bearing equipment recovery module is used to recover the load-bearing equipment of the target empty production station through the AGV vehicle.
9. An electronic device, characterized in that: It includes a processor, a memory, and a program or instruction stored in the memory and executable on the processor. When the program or instruction is executed by the processor, the steps of the material scheduling method based on the AGV vehicle as described in any one of claims 1 to 7 are implemented.
10. A readable storage medium, characterized in that: The readable storage medium stores a program or instruction, and when the program or instruction is executed by the processor, the steps of the material scheduling method based on the AGV vehicle as described in any one of claims 1-7 are implemented.