AGV (Automatic Guided Vehicle) intelligent transportation method and system in medicine packaging industry and electronic equipment

Abstract

The invention relates to the technical field of AGV intelligent transportation scheme design, in particular to an AGV intelligent transportation method and system in the medicine packaging industry and electronic equipment. Comprising the steps that whether a new target material transportation task is established in the WMS or not is judged, if yes, task data of the target material transportation task are obtained, and the task data comprise the material name, the material number, the current storage position and the transportation end point position; according to the transportation starting position, the current storage position and the transportation ending position, all transportation paths and path lengths of the AGV vehicles from the transportation starting position to the transportation ending position are planned respectively, and then the transportation path with the shortest transportation time is selected and recorded as a target transportation path; and recording the AGV vehicle corresponding to the target transportation path as a first AGV vehicle, and controlling the first AGV vehicle to move according to the target transportation path. The intelligent degree, the transportation efficiency and the management quality of AGV intelligent transportation in the medicine packaging industry are improved to a great extent.

Description

Technical Field

[0001] The present invention relates to the technical field of AGV intelligent transportation solution design, and particularly relates to an AGV intelligent transportation method and system for the pharmaceutical packaging industry, and an electronic device. Background Art

[0002] In the existing solutions for applying AGV vehicles to cargo transportation, the general solution is usually to use AGV vehicles to carry out the handling of goods according to a preset route. In the pharmaceutical packaging industry, usually due to the large production scale, there are a large number of AGV vehicles and the transportation routes are complex (for example, AGV vehicles need to automatically take the special cargo elevator). Since the existing technology lacks an effective solution for the collaborative management of AGV vehicles, it will cause transportation chaos, waste the transportation time of materials, and the existing AGV vehicles have relatively unified specifications, which will limit the transported materials. It may be necessary to transport multiple times, which will waste a large amount of transportation time or occupy multiple AGV vehicles at the same time, resulting in a waste of transportation resources.

[0003] Therefore, the existing technology still needs to be further developed. Summary of the Invention

[0004] The purpose of the present invention is to overcome the above technical deficiencies, and provide an AGV intelligent transportation method and system for the pharmaceutical packaging industry, and an electronic device, so as to solve the problems existing in the prior art.

[0005] To achieve the above technical purpose, according to the first aspect of the present invention, the present invention provides an AGV intelligent transportation method for the pharmaceutical packaging industry, including: S100. Determine whether a target material transportation task is newly created in the WMS system. If so, obtain the task data of the target material transportation task, where the task data includes the material name, the quantity of the material, the current storage location, and the transportation end location; S200. Obtain the positions of all currently idle AGV vehicles, denoted as the transportation start positions, obtain the preset environmental map of the factory area, and respectively plan all transportation paths and path lengths for each AGV vehicle to travel from the transportation start position to the transportation end position according to the transportation start position, the current storage location, and the transportation end location. Then, according to the preset AGV moving speed, calculate the transportation time of all transportation paths corresponding to each AGV vehicle; S300. Select the transportation path with the shortest transportation time, denoted as the target transportation path, denote the AGV vehicle corresponding to the target transportation path as the first AGV vehicle, send the target material transportation task and the target transportation path to the first AGV vehicle, and control the movement of the first AGV vehicle according to the target transportation path.

[0006] Specifically, the obtaining the positions of all currently idle AGV vehicles includes: Pre-store the weight data of a single material corresponding to each material name, the dimension data occupied after packaging, the maximum load-bearing data of each AGV vehicle, and the maximum transport dimension data of each AGV vehicle in the control module; calculate the total weight and total volume of the materials to be transported for the target material transport task according to the weight data of a single material corresponding to each material name, the dimension data occupied after packaging, and the quantity of materials, obtain the maximum load-bearing data and maximum transport dimension data of all currently idle AGV vehicles, and then obtain the positions of the AGV vehicles that can simultaneously meet the requirements of the total weight and total volume of the materials to be transported according to the total weight and total volume of the materials to be transported for the target material transport task, and perform subsequent planning of the transport path and calculation of the path length.

[0007] Specifically, the step of sending the target material transport task and the target transport path to the first AGV vehicle and controlling the movement of the first AGV vehicle according to the target transport path includes: Test the power consumption of each AGV vehicle under different load weights, and then fit the curves of the load weight and power consumption of each AGV vehicle and pre-store the curves in the control module. Then, obtain the power consumption of each AGV vehicle corresponding to the total weight of the materials to be transported according to the total weight of the materials to be transported, obtain the power consumption of the first AGV vehicle, calculate the estimated power consumption of the target material transport task according to the transport time and power consumption of the target transport path, and judge whether the first AGV vehicle can complete the target material transport task according to the estimated power consumption of the target task and the current remaining power; if it can complete, control the movement of the first AGV vehicle according to the target transport path; If it cannot complete, recalculate the transport time of all transport paths corresponding to the AGV vehicles other than the first AGV vehicle until the AGV vehicle corresponding to the transport path with the shortest transport time selected can complete the target material transport task, send the target material transport task and the target transport path to this AGV vehicle, and control the movement of this AGV vehicle according to the target transport path.

[0008] Specifically, the step of judging whether the first AGV vehicle can complete the target material transport task according to the estimated power consumption of the target task and the current remaining power includes: Calculate the first difference between the current remaining power and the estimated power consumption of the target task, and judge whether the first difference is greater than or equal to the first preset threshold; If so, determine that the first AGV vehicle can complete the target material transport task; If not, determine that the first AGV vehicle cannot complete the target material transport task.

[0009] Specifically, planning all transportation paths and path lengths for each AGV vehicle from the transportation start position to the transportation end position according to the transportation start position, the current storage position, and the transportation end position includes: Obtaining the elevator entrance position data of each dedicated goods elevator, and planning all transportation paths and path lengths for each AGV vehicle from the transportation start position through the dedicated goods elevator to the transportation end position according to the transportation start position, the current storage position, the elevator entrance position data of each dedicated goods elevator, and the transportation end position.

[0010] Specifically, the method further includes: Obtaining the operation status data of each dedicated goods elevator, where the operation status data of each dedicated goods elevator includes the currently docked floor and the floors to be docked. According to the preset single - floor docking time, the preset operation speed of the dedicated goods elevator, and the floor data to be docked, calculating the first time that each AGV vehicle needs to wait for the dedicated goods elevator to run to the current floor after transporting to the elevator entrance of each dedicated goods elevator and the second time that each AGV vehicle needs to stay in each dedicated goods elevator. Calculating the ratio of the path length of all transportation paths corresponding to each AGV vehicle to the preset AGV moving speed, denoted as the third time, and calculating the sum of the first time, the second time, and the third time of each transportation path, denoted as the transportation time of each transportation path.

[0011] Specifically, the target material transportation task includes at least one of the following: The material requisition task created by relevant management personnel in the WMS system; the material return task created by relevant management personnel in the WMS system.

[0012] Specifically, obtaining the maximum load - bearing data and the maximum transportation size data of all currently idle AGV vehicles, and then obtaining the positions of AGV vehicles that can simultaneously meet the requirements of the total weight and the total volume of the materials to be transported according to the total weight and the total volume of the materials required for the target material transportation task includes: Selecting an AGV vehicle at random, calculating the second difference between the maximum load - bearing data of the AGV vehicle and the total weight of the materials to be transported, and determining whether the second difference is greater than or equal to the second preset threshold; Calculating the third difference between the maximum transportation size data of the AGV vehicle and the total volume of the materials to be transported, and determining whether the third difference is greater than or equal to the third preset threshold; If the second difference is greater than or equal to the second preset threshold and the third difference is greater than or equal to the third preset threshold, determining that the AGV vehicle can simultaneously meet the requirements of the total weight and the total volume of the materials to be transported; If the second difference is less than the second preset threshold, or the third difference is less than the third preset threshold, it is determined that the AGV vehicle cannot simultaneously meet the requirements of the total weight and total volume of the materials to be transported.

[0013] According to a second aspect of the present invention, there is provided an AGV intelligent transportation system for the pharmaceutical packaging industry, including: An acquisition module, configured to acquire task data of a target material transportation task, where the task data includes material name, material quantity, current storage location, and transportation end location; and acquire the locations of all currently idle AGV vehicles. A control module, which determines whether a target material transportation task is newly created in the WMS system. If so, it uses the acquisition module to acquire the task data of the target material transportation task, where the task data includes material name, material quantity, current storage location, and transportation end location; acquires the locations of all currently idle AGV vehicles, denoted as transportation start locations, acquires a preset environmental map of the factory area, plans all transportation paths and path lengths for each AGV vehicle to travel from the transportation start location to the transportation end location according to the transportation start location, current storage location, and transportation end location, and then calculates the transportation time of all transportation paths corresponding to each AGV vehicle according to the preset AGV moving speed; selects the transportation path with the shortest transportation time, denoted as the target transportation path, designates the AGV vehicle corresponding to the target transportation path as the first AGV vehicle, issues the target material transportation task and the target transportation path to the first AGV vehicle, and controls the movement of the first AGV vehicle according to the target transportation path.

[0014] According to a third aspect of the present invention, there is provided an electronic device, including: a memory; and a processor, where computer-readable instructions are stored on the memory, and when the computer-readable instructions are executed by the processor, the above-mentioned AGV intelligent transportation method for the pharmaceutical packaging industry is implemented.

[0015] Beneficial effects: The present invention solves the problems that in the prior art, there is a lack of an effective solution for the collaborative management of AGV vehicles, which will cause transportation chaos, waste the transportation time of materials, and the existing AGV vehicles have relatively unified specifications, which will limit the transported materials, may require multiple transports, will waste a large amount of transportation time, or simultaneously occupy multiple AGV vehicles, resulting in a waste of transportation resources. To a great extent, it improves the intelligent level, transportation efficiency, and management quality of AGV intelligent transportation in the pharmaceutical packaging industry, reduces the waste of transportation resources, and greatly improves the enterprise benefits. Description of the Drawings

[0016] Figure 1 is a flowchart of the AGV intelligent transportation method for the pharmaceutical packaging industry provided in a specific embodiment of the present invention; Figure 2 It is a schematic diagram of the system composition of the AGV intelligent transportation system in the pharmaceutical packaging industry provided in a specific embodiment of the present invention. Specific Embodiments

[0017] In order to enable those skilled in the art to better understand the technical solution of the present invention, the technical solution of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the present invention. Based on the embodiments in this application, other similar embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the scope of protection of this application. In addition, the directional terms mentioned in the following embodiments, such as "up", "down", "left", "right", etc., are only with reference to the directions of the accompanying drawings. Therefore, the directional terms used are for illustration rather than to limit the present invention.

[0018] The present invention will be further described below in conjunction with the accompanying drawings and preferred embodiments.

[0019] Please refer to Figure 1 , the present invention provides an AGV intelligent transportation method for the pharmaceutical packaging industry, including: S100. Determine whether a target material transportation task is newly created in the WMS system. If so, obtain the task data of the target material transportation task, and the task data includes material name, material quantity, current storage location, and transportation end location.

[0020] It should be noted here that before the step S100, it includes: Pre-set in the control module the weight data of a single material corresponding to each material name, the size data occupied after packaging, the maximum load-bearing data of each AGV vehicle, the maximum transportation size data of each AGV vehicle, the load capacity and power consumption curve of each AGV vehicle, the preset AGV moving speed, the first preset threshold, the second preset threshold, the third preset threshold, the preset floor height, the preset operating speed of the dedicated goods elevator, and the preset single-layer stop time.

[0021] It can be understood that the weight data of a single material corresponding to each material name, the size data occupied after packaging, the maximum load-bearing data of each AGV vehicle, the maximum transportation size data of each AGV vehicle, the load capacity and power consumption curve of each AGV vehicle, the preset AGV moving speed, the first preset threshold, the second preset threshold, the third preset threshold, the preset floor height, the preset operating speed of the dedicated goods elevator, and the preset single-layer stop time can be specifically set by the user of the present invention according to the actual situation and actual needs. The present invention does not limit the specific values of the above parameters, as long as they are applicable to the AGV intelligent transportation method for the pharmaceutical packaging industry proposed by the present invention.

[0022] Preferably, in the present invention, the preset AGV moving speed is preferably 0.8 meters per second. The first preset threshold is preferably 5% of the rated capacity of the battery of the AGV vehicle. The second preset threshold is preferably 2% of the maximum load-bearing data of the AGV vehicle. The third preset threshold is preferably 2% of the maximum transport size data of the AGV vehicle. The settings of the above parameters are obtained by the technical personnel of the present invention through a large number of tests, aiming to provide a certain margin for the operation state planning of the AGV (such as improving the stability of materials on the AGV vehicle and the power planning of the AGV vehicle), so as to improve the safety and reliability of the AGV intelligent transportation process, ensure that the AGV vehicle can complete the transportation task safely and reliably during the transportation process. The present invention sets the preset floor height to 3 meters, sets the preset moving speed of the dedicated goods elevator to 2 meters per second, and sets the preset single-layer docking time to 30 seconds. The settings of the above parameters can well implement the AGV intelligent transportation method in the pharmaceutical packaging industry proposed by the present invention, and further improve the usability and safety of the present invention.

[0023] S200. Obtain the positions of all currently idle AGV vehicles, denoted as the transportation start positions. Obtain the preset environmental map of the factory area. According to the transportation start positions, the current storage positions, and the transportation end positions, respectively plan all transportation paths and path lengths for each AGV vehicle to travel from the transportation start position to the transportation end position, and then calculate the transportation times of all transportation paths corresponding to each AGV vehicle according to the preset AGV moving speed.

[0024] Specifically, the obtaining of the positions of all currently idle AGV vehicles includes: Pre-store in the control module the weight data of a single material corresponding to each material name, the size data occupied after packaging, the maximum load-bearing data of each AGV vehicle, and the maximum transport size data of each AGV vehicle; calculate the total weight and total volume of the materials to be transported for the target material transportation task according to the weight data of a single material corresponding to each material name, the size data occupied after packaging, and the quantity of materials. Obtain the maximum load-bearing data and maximum transport size data of all currently idle AGV vehicles, and then obtain the positions of the AGV vehicles that can simultaneously meet the requirements of the total weight and total volume of the materials to be transported, and perform subsequent transportation path planning and path length calculation.

[0025] It can be understood that the AGV vehicle in the idle state is an AGV vehicle that is not currently performing a material transportation task.

[0026] S300. Select the transportation route with the shortest transportation time, denoted as the target transportation route. Denote the AGV vehicle corresponding to this target transportation route as the first AGV vehicle. Send the target material transportation task and the target transportation route to the first AGV vehicle, and control the movement of the first AGV vehicle according to the target transportation route.

[0027] Specifically, the step of sending the target material transportation task and the target transportation route to the first AGV vehicle and controlling the movement of the first AGV vehicle according to the target transportation route includes: Test the power consumption of each AGV vehicle under different load weights, and then fit the curves of the load weight and power consumption of each AGV vehicle and pre-store the curves in the control module. Then, according to the total weight of the materials to be transported, obtain the power consumption of each AGV vehicle corresponding to this total weight of materials, obtain the power consumption of the first AGV vehicle, calculate the estimated power consumption of the target material transportation task according to the transportation time and power consumption of the target transportation route, and judge whether the first AGV vehicle can complete the target material transportation task according to the estimated power consumption of the target task and the current remaining power; if it can be completed, control the movement of the first AGV vehicle according to the target transportation route.

[0028] If it cannot be completed, recalculate the transportation time of all transportation routes corresponding to the AGV vehicles other than the first AGV vehicle until the AGV vehicle corresponding to the selected transportation route with the shortest transportation time can complete the target material transportation task. Send the target material transportation task and the target transportation route to this AGV vehicle, and control the movement of this AGV vehicle according to the target transportation route.

[0029] It can be understood that if the target material transportation task and the target transportation route are sent to this AGV vehicle and the movement of this AGV vehicle is controlled according to the target transportation route, a call instruction is sent to the elevator that this AGV vehicle needs to take at the same time.

[0030] Specifically, the step of judging whether the first AGV vehicle can complete the target material transportation task according to the estimated power consumption of the target task and the current remaining power includes: Calculate the first difference between the current remaining power and the estimated power consumption of the target task, and judge whether the first difference is greater than or equal to the first preset threshold; If so, determine that the first AGV vehicle can complete the target material transportation task; If not, determine that the first AGV vehicle cannot complete the target material transportation task.

[0031] It can be understood that the setting of the first preset threshold is aimed at providing a certain margin for the power planning of the AGV vehicle, so as to improve the reliability of the AGV intelligent transportation process, ensure that the AGV vehicle can reliably complete the transportation task during the transportation process, and further improve the usability and safety of the present invention.

[0032] Specifically, according to the transportation start position, the current storage position and the transportation end position, respectively plan all the transportation paths and path lengths of each AGV vehicle from the transportation start position to the transportation end position, including: Obtain the elevator entrance position data of each goods special elevator, and respectively plan all the transportation paths and path lengths of each AGV vehicle from the transportation start position through the goods special elevator to the transportation end position according to the transportation start position, the current storage position, the elevator entrance position data of each goods special elevator and the transportation end position.

[0033] Specifically, the method further includes: Obtain the operation status data of each goods special elevator. The operation status data of each goods special elevator includes the currently parked floor and the floors to be parked. According to the preset single - floor stop time, the preset operation speed of the goods special elevator and the floor data to be parked, calculate the first time that each AGV vehicle needs to wait for the goods special elevator to run to the current floor after transporting to the elevator entrance of each goods special elevator and the second time that each AGV vehicle needs to stay in each goods special elevator. Calculate the ratio of the path length of all the transportation paths corresponding to each AGV vehicle to the preset AGV moving speed, denoted as the third time. Calculate the sum of the first time, the second time and the third time of each transportation path, denoted as the transportation time of each transportation path.

[0034] It should be noted here that each goods special elevator determines the floors to be parked based on the call requests of each AGV vehicle, and the stop time of the goods special elevator on each floor is the preset single - floor stop time.

[0035] Specifically, the calculation method of the first time is as follows: After a certain AGV vehicle runs to the elevator entrance of a certain goods special elevator, multiply the preset floor height by the number of floors that the goods special elevator still needs to pass through during the process of moving to the floor where the AGV vehicle is located, denoted as the first distance. Calculate the ratio of the first distance to the preset operation speed of the goods special elevator, denoted as the first ratio; Calculate the product of the preset single - floor stop time of the goods special elevator and the number of floors that the goods special elevator still needs to stop during the process of moving to the floor where the AGV vehicle is located, denoted as the first product; Calculate the sum of the first ratio and the first product, denoted as the first time.

[0036] Specifically, the calculation method of the second time is as follows: After the AGV vehicle enters the dedicated goods elevator, multiply the preset floor height by the number of floors that the dedicated goods elevator still needs to pass through during the process of moving to the floor where the transportation end position is located, and record it as the second distance. Calculate the ratio of the first distance to the preset running speed of the dedicated goods elevator, and record it as the second ratio; Multiply the preset single-floor stop time of the dedicated goods elevator by the number of floors that the dedicated goods elevator still needs to stop at during the process of moving to the floor where the transportation end position is located, and record it as the second product; Calculate the sum of the second ratio and the second product, and record it as the second time.

[0037] It can be understood that the above technical solution further improves the management quality of each AGV vehicle and the material transportation efficiency.

[0038] Specifically, the target material transportation task includes at least one of the following: The material picking task created by relevant management personnel in the WMS system; the material return task created by relevant management personnel in the WMS system.

[0039] Specifically, obtaining the maximum load-bearing data and the maximum transportation size data of all currently idle AGV vehicles, and then obtaining the positions of AGV vehicles that can simultaneously meet the requirements of the total weight and total volume of the materials to be transported according to the total weight and total volume of the materials required for the target material transportation task, includes: Select any AGV vehicle, calculate the second difference between the maximum load-bearing data of the AGV vehicle and the total weight of the materials to be transported, and determine whether the second difference is greater than or equal to the second preset threshold; Calculate the third difference between the maximum transportation size data of the AGV vehicle and the total volume of the materials to be transported, and determine whether the third difference is greater than or equal to the third preset threshold; If the second difference is greater than or equal to the second preset threshold and the third difference is greater than or equal to the third preset threshold, it is determined that the AGV vehicle can simultaneously meet the requirements of the total weight and total volume of the materials to be transported; If the second difference is less than the second preset threshold or the third difference is less than the third preset threshold, it is determined that the AGV vehicle cannot simultaneously meet the requirements of the total weight and total volume of the materials to be transported.

[0040] It can be understood that the settings of the second preset threshold and the third preset threshold are aimed at improving the stability and safety of the materials during AGV transportation, ensuring that the AGV vehicle can safely complete the transportation task during transportation, and further improving the safety of the present invention.

[0041] It can be understood that the present invention solves the problems that the prior art lacks an effective solution for the collaborative management of AGV vehicles, which will cause transportation chaos, waste the transportation time of materials, and the specifications of existing AGV vehicles are relatively unified, resulting in limited transported materials, possibly requiring multiple transports, wasting a large amount of transportation time, or simultaneously occupying multiple AGV vehicles, causing waste of transportation resources. To a great extent, it improves the intelligence level, transportation efficiency and management quality of AGV intelligent transportation in the pharmaceutical packaging industry, reduces the waste of transportation resources, and greatly improves the enterprise benefits.

[0042] Please refer to Figure 2 , the present invention provides another embodiment. This embodiment provides an AGV intelligent transportation system for the pharmaceutical packaging industry. The AGV intelligent transportation system for the pharmaceutical packaging industry includes: An acquisition module 100, configured to acquire task data of a target material transportation task. The task data includes material name, material quantity, current storage location, and transportation end location; acquire the locations of all currently idle AGV vehicles. A control module 200, which determines whether a target material transportation task is newly created in the WMS system. If so, it uses the acquisition module to acquire the task data of the target material transportation task. The task data includes material name, material quantity, current storage location, and transportation end location; acquire the locations of all currently idle AGV vehicles, denoted as transportation start locations, acquire a preset environmental map of the factory area, and respectively plan all transportation paths and path lengths for each AGV vehicle to travel from the transportation start location to the transportation end location based on the transportation start location, current storage location, and transportation end location. Then, according to the preset AGV moving speed, calculate the transportation time of all transportation paths corresponding to each AGV vehicle; select the transportation path with the shortest transportation time, denoted as the target transportation path, denote the AGV vehicle corresponding to the target transportation path as the first AGV vehicle, send the target material transportation task and the target transportation path to the first AGV vehicle, and control the movement of the first AGV vehicle according to the target transportation path.

[0043] It should be noted here that the present invention solves the problems that the prior art lacks an effective solution for the collaborative management of AGV vehicles, which will cause transportation chaos, waste the transportation time of materials, and the specifications of existing AGV vehicles are relatively unified, resulting in limited transported materials, possibly requiring multiple transports, wasting a large amount of transportation time, or simultaneously occupying multiple AGV vehicles, causing waste of transportation resources. To a great extent, it improves the intelligence level, transportation efficiency and management quality of AGV intelligent transportation in the pharmaceutical packaging industry, reduces the waste of transportation resources, and greatly improves the enterprise benefits.

[0044] In a preferred embodiment, the present application also provides an electronic device. The electronic device includes: A memory; and a processor, wherein computer-readable instructions are stored on the memory, and when the computer-readable instructions are executed by the processor, the intelligent transportation method of AGV in the pharmaceutical packaging industry is implemented. This computer device can generally be a server, a terminal, or any other electronic device with necessary computing and / or processing capabilities. In one embodiment, the computer device may include a processor, a memory, a network interface, a communication interface, etc. connected through a system bus. The processor of the computer device can be used to provide necessary computing, processing, and / or control capabilities. The memory of the computer device may include a non-volatile storage medium and an internal memory. An operating system, a computer program, etc. may be stored in or on the non-volatile storage medium. The internal memory can provide an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The network interface and the communication interface of the computer device can be used to connect and communicate with external devices through a network. The computer program, when executed by the processor, executes the steps of the method of the present invention.

[0045] The present invention can be implemented as a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the method of the embodiments of the present invention are caused to be executed. In one embodiment, the computer program is distributed on a plurality of network-coupled computer devices or processors, so that the computer program is stored, accessed, and executed in a distributed manner by one or more computer devices or processors. A single method step / operation, or two or more method steps / operations, can be executed by a single computer device or processor or by two or more computer devices or processors. One or more method steps / operations can be executed by one or more computer devices or processors, and one or more other method steps / operations can be executed by one or more other computer devices or processors. One or more computer devices or processors can execute a single method step / operation, or execute two or more method steps / operations.

[0046] Those of ordinary skill in the art can understand that the method steps of the present invention can be completed by a computer program to instruct relevant hardware such as a computer device or a processor. The computer program can be stored in a non-transitory computer-readable storage medium, and when the computer program is executed, the steps of the present invention are caused to be executed. Depending on the circumstances, any reference herein to a memory, storage, database, or other medium may include non-volatile and / or volatile memory. Examples of non-volatile memory include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), flash memory, magnetic tape, floppy disk, magneto-optical data storage device, optical data storage device, hard disk, solid state disk, etc. Examples of volatile memory include random access memory (RAM), external cache memory, etc.

[0047] It can be understood that the present invention solves the problems that the prior art lacks an effective solution for the collaborative management of AGV vehicles, which will cause transportation chaos, waste the transportation time of materials, and the specifications of existing AGV vehicles are relatively unified, which will limit the transported materials, may require multiple transports, will waste a large amount of transportation time or occupy multiple AGV vehicles at the same time, resulting in a waste of transportation resources. To a great extent, it improves the intelligence level, transportation efficiency and management quality of AGV intelligent transportation in the pharmaceutical packaging industry, reduces the waste of transportation resources, and greatly improves the enterprise benefits.

[0048] The technical features described above can be combined arbitrarily. Although not all possible combinations of these technical features are described, any combination of these technical features should be considered to be covered by this specification as long as such a combination does not exist in contradiction.

[0049] The specific embodiments of the present invention described above do not constitute a limitation on the protection scope of the present invention. Any other corresponding changes and deformations made according to the technical concept of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. An AGV intelligent transportation method for the pharmaceutical packaging industry, characterized in that: The method comprises: S100, determining whether a target material transportation task is newly created in the WMS system, and if so, obtaining task data of the target material transportation task, wherein the task data includes the material name, material quantity, current storage location, and transportation destination location; S200, obtaining the positions of all AGV vehicles currently in an idle state, recording them as the transport start position, obtaining a preset environmental map of the factory area, and planning all the transport paths and path lengths of each AGV vehicle from the transport start position to the transport end position according to the transport start position, the current storage position, and the transport end position, and then calculating the transport time of all the transport paths corresponding to each AGV vehicle according to the preset AGV moving speed; S300, select the transport path with the shortest transport time, record it as the target transport path, record the AGV vehicle corresponding to the target transport path as the first AGV vehicle, send the target material transportation task and the target transport path to the first AGV vehicle, and control the movement of the first AGV vehicle according to the target transport path.

2. The AGV intelligent transportation method for the pharmaceutical packaging industry according to claim 1 is characterized in that: The method of obtaining the positions of all AGV vehicles currently in an idle state includes: The control module pre-stores the weight data of individual materials corresponding to each material name, the size data occupied after packaging, the maximum load-bearing data of each AGV vehicle, and the maximum transportation size data of each AGV vehicle; based on the weight data of individual materials corresponding to each material name, the size data occupied after packaging, and the number of materials, calculate the total weight and total volume of materials that need to be transported for the target material transportation task, obtain the maximum load-bearing data and maximum transportation size data of all AGV vehicles that are currently in an idle state, and then, based on the total weight and total volume of materials that need to be transported for the target material transportation task, obtain the position of the AGV vehicle that can simultaneously meet the total weight requirements and total volume requirements of the materials to be transported, and carry out subsequent transportation route planning and route length calculation.

3. The AGV intelligent transportation method for the pharmaceutical packaging industry according to claim 2 is characterized in that: The step of sending the target material transportation task and the target transportation path to the first AGV vehicle and controlling the movement of the first AGV vehicle according to the target transportation path includes: The power consumption of each AGV vehicle under different load weights is tested, and then the load weight and power consumption curve of each AGV vehicle is fitted, and the curve is pre-stored in the control module, and then according to the total weight of the materials to be transported, the power consumption of each AGV vehicle corresponding to the total weight of the materials is obtained, and the power consumption of the first AGV vehicle is obtained. According to the transportation time and power consumption of the target transportation path, the estimated power consumption of the target material transportation task is calculated, and according to the estimated power consumption of the target task and the current remaining power, it is judged whether the first AGV vehicle can complete the target material transportation task; if it can be completed, the movement of the first AGV vehicle is controlled according to the target transportation path; If it cannot be completed, recalculate the transportation time of all transportation paths corresponding to AGV vehicles except the first AGV vehicle until the AGV vehicle corresponding to the transportation path with the shortest transportation time is able to complete the target material transportation task, and send the target material transportation task and the target transportation path to the AGV vehicle, and control the movement of the AGV vehicle according to the target transportation path.

4. The AGV intelligent transportation method for the pharmaceutical packaging industry according to claim 3 is characterized in that: The step of judging whether the first AGV vehicle can complete the target material transportation task according to the estimated power consumption of the target task and the current remaining power includes: Calculating a first difference between the current remaining power and the estimated power consumption of the target task, and determining whether the first difference is greater than or equal to a first preset threshold; If so, it is determined that the first AGV vehicle can complete the target material transportation task; If not, it is determined that the first AGV vehicle cannot complete the target material transportation task.

5. The AGV intelligent transportation method for the pharmaceutical packaging industry according to claim 1 is characterized in that: According to the transport start position, the current storage position and the transport end position, all transport paths and path lengths of each AGV vehicle from the transport start position to the transport end position are planned respectively, including: Obtain the elevator entrance position data of each dedicated cargo elevator, and plan all transportation paths and path lengths of each AGV vehicle from the transportation start position through the dedicated cargo elevator to the transportation end position according to the transportation start position, current storage position, elevator entrance position data of each dedicated cargo elevator and transportation end position.

6. The AGV intelligent transportation method for the pharmaceutical packaging industry according to claim 5 is characterized in that: The method further comprises: Obtain the operating status data of each dedicated cargo elevator, wherein the operating status data of each dedicated cargo elevator includes the current stop floor and the floor that needs to be stopped; calculate the first time that each AGV vehicle needs to wait for the dedicated cargo elevator to run to the current floor after being transported to the elevator entrance of each dedicated cargo elevator, and the second time that each AGV vehicle needs to stay in each dedicated cargo elevator; calculate the ratio of the path length of all transport paths corresponding to each AGV vehicle and the preset AGV moving speed, which is recorded as the third time; calculate the sum of the first time, the second time and the third time of each transport path, which is recorded as the transport time of each transport path.

7. The AGV intelligent transportation method for the pharmaceutical packaging industry according to claim 1 is characterized in that: The target material transportation task includes at least one of the following: Material collection tasks created by relevant managers in the WMS system; material return tasks created by relevant managers in the WMS system.

8. The AGV intelligent transportation method for the pharmaceutical packaging industry according to claim 2 is characterized in that: The method of obtaining the maximum load-bearing data and the maximum transport size data of all AGV vehicles currently in an idle state, and then obtaining the position of the AGV vehicles that can simultaneously meet the total weight and total volume requirements of the materials to be transported according to the total weight and total volume of the materials to be transported of the target material transportation task, includes: Select an AGV vehicle, calculate the second difference between the maximum load-bearing data of the AGV vehicle and the total weight of the materials to be transported, and determine whether the second difference is greater than or equal to a second preset threshold; Calculate a third difference between the maximum transport dimension data of the AGV vehicle and the total volume of materials to be transported, and determine whether the third difference is greater than or equal to a third preset threshold; If the second difference is greater than or equal to the second preset threshold, and the third difference is greater than or equal to the third preset threshold, it is determined that the AGV vehicle can simultaneously meet the total weight requirement and the total volume requirement of the materials to be transported; If the second difference is smaller than the second preset threshold, or the third difference is smaller than the third preset threshold, it is determined that the AGV vehicle cannot simultaneously meet the total weight requirement and the total volume requirement of the materials to be transported.

9. An AGV intelligent transportation system for the pharmaceutical packaging industry, characterized in that: include: The acquisition module is used to obtain the task data of the target material transportation task, wherein the task data includes the material name, material quantity, current storage location and transportation destination location; and obtain the location of all AGV vehicles currently in an idle state; The control module determines whether a new target material transportation task is created in the WMS system. If so, the acquisition module is used to obtain the task data of the target material transportation task, and the task data includes the material name, material quantity, current storage location and transportation end location; the position of all AGV vehicles that are currently in an idle state is obtained, recorded as the transportation start location, and the preset environmental map of the factory is obtained. According to the transportation start location, current storage location and transportation end location, all transportation paths and path lengths of each AGV vehicle from the transportation start location to the transportation end location are planned respectively, and then according to the preset AGV moving speed, the transportation time of all transportation paths corresponding to each AGV vehicle is calculated; the transportation path with the shortest transportation time is selected, recorded as the target transportation path, and the AGV vehicle corresponding to the target transportation path is recorded as the first AGV vehicle, and the target material transportation task and the target transportation path are sent to the first AGV vehicle, and the movement of the first AGV vehicle is controlled according to the target transportation path.

10. An electronic device, characterized in that: include: Memory; and a processor, wherein the memory stores computer-readable instructions, and when the computer-readable instructions are executed by the processor, the AGV intelligent transportation method for the pharmaceutical packaging industry according to any one of claims 1 to 8 is implemented.

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