Scheduling control method, device and equipment of carrying vehicle, medium and program product

Abstract

The invention relates to a dispatching control method, device and equipment of a carrier, a medium and a program product. The method comprises the steps that the vehicle state of at least one carrying vehicle in a target environment is acquired; in response to a loading task for the target equipment, determining whether candidate carriers with vehicle states being schedulable states exist in the at least one carrier or not; if yes, a target carrying vehicle is selected from the candidate carrying vehicles, and a feeding instruction for the feeding task is sent to the target carrying vehicle; if the loading task does not exist, adding the loading task into a task queue according to the acquisition time of the loading task; and under the condition that the candidate carrier exists in the at least one carrier, matching the carrier for the corresponding loading task according to the acquisition time sequence of each loading task in the task queue. By adopting the method, the flexibility of dispatching control of the carrying vehicle and the working efficiency of the carrying vehicle are improved.

Description

Technical Field

[0001] The present application relates to the technical field of transport vehicle control, and in particular to a method, device, equipment, medium and program product for dispatching and controlling a transport vehicle. Background Art

[0002] With the development of artificial intelligence (AI) technology, improved production efficiency and automation have become crucial factors in a company's competitiveness. In cigarette manufacturing, traditional tobacco packaging lines often rely on manual handling, leading to issues such as wasted human resources and time delays in the production process. This significantly impacts production efficiency and reduces a company's overall competitiveness. The introduction of AGVs (Automated Guided Vehicles) and intelligent robotic arms (AGVs) has provided a new solution for logistics scheduling in tobacco packaging lines. The combination of AGVs and robotic arms enables autonomous material handling and delivery without human intervention.

[0003] However, traditional AGV scheduling typically pairs a single AGV with a single packaging machine, enabling one-to-one loading of each packaging machine. This creates a single point of failure risk, which can easily cause the entire machine's material supply to stall, impacting the continuity and stability of the production line. This approach also struggles to adapt to rapidly changing production needs and lacks flexibility. Summary of the Invention

[0004] Based on this, it is necessary to provide a method, device, equipment, medium and program product for dispatching and controlling a transport vehicle to address the above technical problems, thereby improving the flexibility of dispatching and controlling the transport vehicle and the working efficiency of the transport vehicle.

[0005] In a first aspect, the present application provides a method for dispatching and controlling a transport vehicle, which is applied to a terminal device and includes:

[0006] Obtaining the vehicle status of at least one transport vehicle in the target environment;

[0007] In response to a material loading task for a target device, determining whether there is a candidate transport vehicle with a dispatchable vehicle status among at least one transport vehicle;

[0008] If so, the target transport vehicle is selected from the candidate transport vehicles, and a loading instruction for the loading task is sent to the target transport vehicle;

[0009] If it does not exist, the loading task will be added to the task queue according to the acquisition time of the loading task; if there is a candidate truck in at least one truck, the truck will be matched with the corresponding loading task according to the acquisition time order of each loading task in the task queue.

[0010] In one embodiment, a transport vehicle is matched to the corresponding loading task according to the acquisition time order of each loading task in the task queue, including: selecting a target loading task with the earliest acquisition time from the task queue; selecting a target transport vehicle from the candidate transport vehicles, and sending a target loading instruction for the target loading task to the target transport vehicle; and deleting the target loading task from the task queue.

[0011] In one embodiment, the loading task includes a target position of a target device; accordingly, selecting a target truck from candidate trucks includes: obtaining the vehicle distribution positions of the candidate trucks; and selecting the target truck closest to the target position from the candidate trucks based on the vehicle distribution positions.

[0012] In one embodiment, the loading instruction includes a loading position; accordingly, the method further includes: obtaining an arrival signal sent by the target transport vehicle after reaching the loading position; when it is determined that the target device has the loading conditions, sending a confirmation loading instruction to the target transport vehicle, so that the target transport vehicle loads the target device according to the corresponding material quantity in the confirmation loading instruction.

[0013] In one embodiment, when it is determined that the target device has the conditions for loading, a confirmation loading instruction is sent to the target transport vehicle, including: sending a loading request to the target device; receiving confirmation loading information fed back by the target device based on the loading request, the confirmation loading information is used to indicate that the target device has the conditions for loading; obtaining the material remaining in the target device, and determining the quantity of materials required for loading based on the material remaining; sending a confirmation loading instruction to the target transport vehicle, the confirmation loading instruction including the quantity of materials.

[0014] In one embodiment, the vehicle status includes a schedulable state and an unschedulable state; the unschedulable state includes at least one of an offline state, a low-battery state, and a working state; accordingly, obtaining the vehicle status of at least one transporter in the target environment includes: for each transporter, obtaining the current battery level of the transporter and the communication status with the transporter; when the communication status is a communication disconnection state, determining that the transporter is in an offline state; when the current battery level is less than a preset battery level threshold, determining that the transporter is in a low-battery state; when a task instruction is sent to the transporter, determining that the transporter is in a working state; when the communication status is a communication connection state, the current battery level is not less than a preset battery level threshold, and task completion information feedback from the transporter in response to the task instruction is received, determining that the transporter is in a schedulable state.

[0015] In a second aspect, the present application further provides a dispatching control device for a transport vehicle, comprising:

[0016] A first acquisition module is used to acquire the vehicle status of at least one transport vehicle in the target environment;

[0017] a determination module, configured to determine, in response to a material loading task for a target device, whether there is a candidate transport vehicle with a dispatchable vehicle status among at least one transport vehicle;

[0018] A first processing module is configured to select a target transport vehicle from the candidate transport vehicles if such a vehicle exists, and send a loading instruction for the loading task to the target transport vehicle;

[0019] The second processing module is used to add the loading task to the task queue according to the acquisition time of the loading task if it does not exist; when there is a candidate truck in at least one truck, match the truck for the corresponding loading task according to the acquisition time order of each loading task in the task queue.

[0020] In a third aspect, the present application further provides a computer device comprising a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the following steps are implemented:

[0021] Obtaining the vehicle status of at least one transport vehicle in the target environment;

[0022] In response to a material loading task for a target device, determining whether there is a candidate transport vehicle with a dispatchable vehicle status among at least one transport vehicle;

[0023] If so, the target transport vehicle is selected from the candidate transport vehicles, and a loading instruction for the loading task is sent to the target transport vehicle;

[0024] If it does not exist, the loading task will be added to the task queue according to the acquisition time of the loading task; if there is a candidate truck in at least one truck, the truck will be matched with the corresponding loading task according to the acquisition time order of each loading task in the task queue.

[0025] In a fourth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the following steps:

[0026] Obtaining the vehicle status of at least one transport vehicle in the target environment;

[0027] In response to a material loading task for a target device, determining whether there is a candidate transport vehicle with a dispatchable vehicle status among at least one transport vehicle;

[0028] If so, the target transport vehicle is selected from the candidate transport vehicles, and a loading instruction for the loading task is sent to the target transport vehicle;

[0029] If it does not exist, the loading task will be added to the task queue according to the acquisition time of the loading task; if there is a candidate truck in at least one truck, the truck will be matched with the corresponding loading task according to the acquisition time order of each loading task in the task queue.

[0030] In a fifth aspect, the present application further provides a computer program product, comprising a computer program, which, when executed by a processor, implements the following steps:

[0031] Obtaining the vehicle status of at least one transport vehicle in the target environment;

[0032] In response to a material loading task for a target device, determining whether there is a candidate transport vehicle with a dispatchable vehicle status among at least one transport vehicle;

[0033] If so, the target transport vehicle is selected from the candidate transport vehicles, and a loading instruction for the loading task is sent to the target transport vehicle;

[0034] If it does not exist, the loading task will be added to the task queue according to the acquisition time of the loading task; if there is a candidate truck in at least one truck, the truck will be matched with the corresponding loading task according to the acquisition time order of each loading task in the task queue.

[0035] The above-described method, apparatus, device, medium, and program product for dispatching and controlling transport vehicles provide a basis for rational dispatching of transport vehicles by acquiring the vehicle status of at least one transport vehicle in a target environment. In response to a loading task for a target device, it is determined whether a candidate transport vehicle with a dispatchable vehicle status exists among the at least one transport vehicle, thereby facilitating the implementation of corresponding control strategies for different situations. If a candidate transport vehicle exists, the target transport vehicle is selected from the candidate transport vehicles, and further, the desired target transport vehicle is selected from the candidate transport vehicles, thereby enabling dispatching and controlling the transport vehicles so that the target transport vehicle can promptly perform related operations according to the loading instructions. If no candidate transport vehicle exists, the loading task is added to the task queue according to the acquisition time of the loading task, thereby ensuring orderly task management. If a candidate transport vehicle exists among the at least one transport vehicle, the transport vehicle is matched to the corresponding loading task according to the acquisition time of each loading task in the task queue, thereby avoiding the stagnation of the entire machine feed due to a single point of failure, adapting to rapidly changing production needs, improving the flexibility of transport vehicle dispatching, and facilitating overall work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the following briefly introduces the drawings required for use in the embodiments of the present application or related technical descriptions. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying any creative work.

[0037] Figure 1 This is a diagram of an application environment of a dispatching control method for a transport vehicle in one embodiment;

[0038] Figure 2A 1 is a flow chart of a method for dispatching and controlling a transport vehicle in one embodiment;

[0039] Figure 2B A schematic diagram of determining the vehicle state of an AGV in one embodiment;

[0040] Figure 3 Schematic diagram of the process of confirming the loading of materials in one embodiment;

[0041] Figure 4 is a flow chart of a dispatching control method for a transport vehicle in another embodiment;

[0042] Figure 5 is a flow chart of a dispatching control method for a transport vehicle in yet another embodiment;

[0043] Figure 6 is a structural block diagram of a dispatching control device for a transport vehicle in one embodiment;

[0044] Figure 7 FIG. 1 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0045] In order to make the purpose, technical solutions and advantages of this application more clearly understood, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0046] The dispatching control method for a transport vehicle provided in an embodiment of the present application can be applied to a dispatching control system. For example, the dispatching control system may include a terminal device, at least one target device, and at least one transport vehicle. The terminal device may include a personal computer, a laptop computer, a smart phone, a tablet computer, an Internet of Things device, and a dispatching controller. The transport vehicle may include an AGV (Automated Guided Vehicle) and the like. The target device may include tobacco packaging production line equipment or other production equipment. The present application does not impose any restrictions on the specific type of the target device. For example, the target device may include a packaging machine.

[0047] For example, the terminal device may also be connected to a server; the data storage system may store data that the server needs to process. The data storage system may be integrated with the server, or located in the cloud or on other network servers. The server may be a standalone physical server, a server cluster or distributed system consisting of multiple physical servers, or a cloud server providing cloud computing services.

[0048] refer to Figure 1 The application environment diagram of the transporter scheduling control method shown in the figure includes an AGV scheduling controller, N AGVs, and N packaging machines. The AGV scheduling controller can communicate with the AGVs via a wireless access point (AP) and with the packaging machines via PROFINET (Process Field Net). The AGV scheduling controller can also transmit data to a server via Ethernet and perform system function operations and status monitoring through a visual human-computer interaction interface. For example, each packaging machine can be equipped with a corresponding label paper stacking system controller to determine whether the packaging machine is ready for loading.

[0049] In an exemplary embodiment, Figure 2A As shown, a dispatching control method for a transport vehicle is provided, which is described by taking the application of the method to a terminal device as an example, including:

[0050] S210: Acquire the vehicle status of at least one transport vehicle in the target environment.

[0051] The target environment can be understood as the specific physical space where the transport vehicle performs its task. For example, the target environment can include a tobacco packaging production line, etc.

[0052] The transport vehicle may include an AGV (Automated Guided Vehicle), etc. For example, the transport vehicle may be provided with an intelligent manipulator for transporting materials or loading materials onto target equipment.

[0053] In an optional embodiment, the vehicle state includes a dispatchable state and an undispatched state; the undispatched state includes at least one of an offline state, a low-battery state, and a working state.

[0054] The dispatchable state can be understood as the transport vehicle being normal and having no tasks to perform. The undispatched state can be understood as the transport vehicle being abnormal or in working state. Exemplarily, the offline state can include the offline state and the fault state.

[0055] Optionally, for each transport truck, the current power level of the transport truck and the communication status with the transport truck can be obtained; when the communication status is disconnected, the transport truck is determined to be offline; when the current power level is less than a preset power threshold, the transport truck is determined to be in a low power state; when a task instruction is sent to the transport truck, the transport truck is determined to be in a working state; when the communication status is connected, the current power level is not less than a preset power threshold, and task completion information is received from the transport truck in response to the task instruction, the transport truck is determined to be in a dispatchable state. In the above steps, by obtaining relevant information about the transport truck, the status of each transport truck can be determined in real time, providing a basis for the reasonable scheduling of the transport truck.

[0056] Optionally, the transport vehicle may be marked as being in a dispatchable state in response to a running signal sent by the transport vehicle during normal startup. The transport vehicle may be updated from a working state to a dispatchable state upon receiving task completion information fed back by the transport vehicle in response to a task instruction.

[0057] For example, when the transport vehicle is in a low-battery state, the transport vehicle can be controlled to move to the charging area and marked as being in a charging state; when the current battery level of the transport vehicle is not less than a preset battery level threshold, the charging state mark is canceled.

[0058] refer to Figure 2B The figure shows a schematic diagram of determining the vehicle status of an AGV. It can determine whether the AGC vehicle has a communication failure or power outage. If so, the AGV dispatch controller marks the AGV vehicle as "offline." If not, it continues to determine whether the AGV vehicle has a fault.

[0059] If the AGV trolley has a fault, the AGV dispatch controller will mark the AGV trolley as a "fault state"; if the AGV trolley does not have a fault, it will continue to determine whether the AGV trolley has a low battery.

[0060] If the battery level of the AGV is too low (for example, the current battery level is less than the preset battery threshold), the AGV scheduling controller will mark the AGV as "charging state" and the AGV will execute the forced charging procedure; if the battery level of the AGV is not low (for example, the current battery level is not less than the preset battery threshold), it will continue to determine whether the AGV has received the task instruction sent by the AGV scheduling controller.

[0061] If the AGV receives a task instruction, the AGV scheduling controller will mark the AGV as "working state", and the AGV will go to the target machine to perform the work task.

[0062] If the AGV does not receive the task instruction, the AGV scheduling controller will mark the AGV as "no working state (i.e., scheduling state)". At this time, the AGV can wait for the task instruction at the charging station.

[0063] For example, if the truck is offline, its operating signal is acquired. If the operating signal is abnormal, the truck is determined to be faulty or down, indicating that the truck is in a faulty state. Accordingly, an alarm message can be sent to the server, which can display the alarm message in a visual human-computer interaction interface. Alternatively, the alarm message can be sent directly to the monitoring terminal to alert technicians of the truck failure. If the operating signal is normal, it indicates that the truck has only lost communication with the terminal device, and the truck can be marked as offline.

[0064] S220 : In response to the material loading task for the target equipment, determine whether there is a candidate transport vehicle with a dispatchable vehicle status among the at least one transport vehicle.

[0065] The target device may be a production device in the target environment, such as a tobacco packaging machine.

[0066] The loading task can be understood as the task of replenishing materials. Materials can be understood as materials used for the production of target equipment. For example, the materials can include trademark paper.

[0067] Among them, the candidate transporter can be understood as a transporter that is in a dispatchable state in the target environment.

[0068] In an optional embodiment, a material loading task for a target device can be generated by an identification device when it detects that the target device is out of material, or by proactively creating a material loading task for the target device. The identification device can be a standalone detection device or a detection device integrated into the target device. The detection device can include at least one of a visual sensor and a distance sensor.

[0069] For example, a laser ranging sensor can be installed before the material delivery point of a tobacco packaging machine to detect the target distance to the label paper stack. If the target distance is less than a preset distance threshold, the controller of the target device generates a material delivery task, i.e., a material request, for the target device. The controller of the target device can include a controller for the label paper stack delivery system.

[0070] S230: If so, select a target transport vehicle from the candidate transport vehicles, and send a loading instruction for the loading task to the target transport vehicle.

[0071] The loading instruction may be generated based on the loading task. The loading instruction may include a loading position. The loading position may include a material taking position and a material discharging position.

[0072] In an optional embodiment, the vehicle distribution positions of the candidate transport vehicles may be obtained; and based on the vehicle distribution positions, a target transport vehicle closest to the target position is selected from the candidate transport vehicles.

[0073] Optionally, for each candidate transport vehicle, a target distance between the candidate transport vehicle and the target device may be determined; and a target transport vehicle with the shortest target distance may be selected from the candidate transport vehicles.

[0074] S240. If not, add the loading task to the task queue according to the acquisition time of the loading task; if there is a candidate truck in at least one truck, match the truck to the corresponding loading task according to the acquisition time sequence of each loading task in the task queue.

[0075] Among them, the acquisition time sequence of the loading tasks can be understood as the acquisition time of the loading tasks, from first to last.

[0076] In an optional embodiment, the target loading task with the earliest acquisition time is selected from the task queue; the target transport vehicle is selected from the candidate transport vehicles, and a target loading instruction for the target loading task is sent to the target transport vehicle; and the target loading task is deleted from the task queue.

[0077] For example, at 9:00 a.m., loading task t1 is received. At this time, all transport vehicles are in an unschedulable state. Loading task t1 is added to the task queue, and the task queue can be represented as [t1]. At 9:01 a.m., loading task t2 is received. At this time, all transport vehicles are in an unschedulable state. Loading task t2 is added to the task queue, and the task queue can be represented as [t1, t2]. Then, at 9:03 a.m., there is one transport vehicle a1 in a schedulable state. At this time, a task instruction for loading task t1 can be sent to transport vehicle a1, and the task queue is updated to [t2].

[0078] Similar to the above, selecting a target transport vehicle from candidate transport vehicles may include: determining, for each candidate transport vehicle, a target distance between the candidate transport vehicle and the target device; and selecting a target transport vehicle with the shortest target distance from the candidate transport vehicles.

[0079] In an optional embodiment, task scheduling information may be sent to a server. The task scheduling information may include the loading task and information about the target truck that matches the loading task. The target truck information may include operational information about the target truck, thereby facilitating display of the task scheduling status of the truck via a visual human-computer interaction interface. Optionally, the human-computer interaction interface may also display material information, including at least one of remaining material quantities for different target devices and loading task status information. The material may include a stack of label paper.

[0080] For example, the server can receive operational information from each transporter, task scheduling status, and information about each packaging machine's loading tasks for label paper stacks. Furthermore, it can connect to an external display or remote workstation to display label paper stack remaining and loading status information via a visual human-computer interface. Operators can use this interface to perform manual control, parameter modification, task adjustment, and other system functions. When a system fault alarm occurs, it is transmitted via signal transmission to the server, displayed on the visual interface, and an alarm is issued.

[0081] The above-described method for dispatching and controlling transport vehicles provides a basis for rational dispatching of transport vehicles by acquiring the vehicle status of at least one transport vehicle in a target environment. In response to a loading task for a target device, it is determined whether a candidate transport vehicle with a dispatchable vehicle status exists among the at least one transport vehicle, thereby enabling appropriate control strategies to be implemented for different situations. If a candidate transport vehicle exists, the method selects a target transport vehicle from the candidate transport vehicles, and further selects a desired target transport vehicle from the candidate transport vehicles, thereby enabling dispatching and controlling the transport vehicles so that the target transport vehicle can promptly perform related operations according to the loading instructions. If no candidate transport vehicle exists, the loading task is added to the task queue according to the acquisition time of the loading task, thereby ensuring orderly task management. If a candidate transport vehicle exists among the at least one transport vehicle, the method matches the corresponding loading task according to the acquisition time of each loading task in the task queue, thereby avoiding stagnation of the entire machine's feeding due to a single point of failure, adapting to rapidly changing production needs, improving the flexibility of transport vehicle dispatching, and contributing to improving overall work efficiency.

[0082] Based on the technical solutions of the above embodiments, the present application also provides an optional embodiment, in which a loading confirmation step is added. The loading instruction includes the loading position;

[0083] See also Figure 3 The flow chart of the loading confirmation steps shown includes:

[0084] S310: Obtain an arrival signal sent by the target transport vehicle after arriving at the loading position.

[0085] Among them, the arrival signal is generated by the target transport vehicle after it moves to the loading position and is sent to the terminal device.

[0086] S320: When it is determined that the target device has the material loading conditions, a material loading confirmation instruction is sent to the target transport vehicle, so that the target transport vehicle loads the target device according to the material quantity corresponding to the material loading confirmation instruction.

[0087] In an optional embodiment, whether the target device has the loading conditions can be determined by obtaining the device operating status of the target device.

[0088] In another optional embodiment, a loading request can be sent to the target device; the target device receives confirmation loading information based on the loading request, and the confirmation loading information is used to indicate that the target device has the loading conditions; the material balance in the target device is obtained, and the quantity of material required for loading is determined based on the material balance; and a confirmation loading instruction is sent to the target transport vehicle, and the confirmation loading instruction includes the quantity of materials.

[0089] Optionally, the target device may be equipped with a label paper stack conveying system, including a target controller for controlling label paper stack conveying. Accordingly, a loading request may be sent to the target controller corresponding to the target device, and the target controller may receive a confirmation of loading information based on the loading request.

[0090] For example, consider a packaging machine as the target device. A laser ranging sensor is installed before the packaging machine's material delivery station to detect the target distance to the label paper stack. Accordingly, the target distance can be determined, and the remaining material quantity corresponding to the label paper stack can be determined based on the target distance. The required material quantity can then be determined based on the remaining material quantity. The required material quantity can be calculated by subtracting the preset material quantity from the remaining material quantity.

[0091] Optionally, if the target device does not receive a confirmation message based on the loading request, or if the target device receives a prohibition message based on the loading request, the loading request may be sent again to the target device, or the loading request may be sent to the target device at a preset time interval. If the confirmation message is not received within the preset time period, a loading anomaly message may be sent to the monitoring terminal or server to prompt technical personnel to handle the issue. For example, a cyclic redundancy check (CRC) heartbeat check may be performed when repeatedly sending a loading request to the target device.

[0092] In an optional embodiment, the transport vehicle includes a manipulator. Accordingly, the target transport vehicle loads the target equipment with the material quantity corresponding to the confirmed loading instruction, including: moving the transport vehicle to a material grabbing station and controlling the manipulator to grab the material; and moving the transport vehicle to the loading station and placing the material at the material level (i.e., the machine area) of the target equipment, thereby loading the target equipment.

[0093] In an optional embodiment, the material grabbing station and the material loading station can be determined by visual recognition by the transport vehicle. In another optional embodiment, the material loading instruction or the determination of the material loading instruction can include the positions of the material grabbing station and the material loading station.

[0094] In one optional embodiment, a robotic arm can be controlled to grab the material quantity corresponding to the loading instruction. In another optional embodiment, the remaining material quantity can be collected on-site, and the required material quantity can be determined based on the collected material quantity. The robotic arm can then be controlled to grab the material based on the required material quantity. In yet another optional embodiment, any amount of material can be grabbed until the material level of the target device is filled or the material level of the target device reaches a preset threshold.

[0095] For example, the transport vehicle may be provided with a 3D vision camera. Accordingly, the transport vehicle may grab the label paper stack from the label paper stack pallet based on the visual feedback of the 3D vision camera and place the label paper stack at the material level of the target device.

[0096] For example, when the transport vehicle completes the loading task, it can send task completion information for the loading task to the terminal device; at the same time, it can also move to the charging area for charging or perform the next loading task.

[0097] For ease of understanding, the following example uses an AGV dispatch controller as the terminal device, an AGV (Automated Guided Vehicle) as the transport vehicle, and a tobacco packaging machine (also known as a machine) as the target device. It should be noted that this should not be construed as limiting the specific dispatch control method for the transport vehicle.

[0098] refer to Figure 4 A flow chart of a method for dispatching and controlling a transport vehicle in another embodiment is shown.

[0099] If a packaging machine on the production line detects a low balance of label paper, its label conveyor system sends a request for material—a loading task—to the AGV dispatch controller. The AGV dispatch controller determines whether there are available AGVs. If not, it creates a task queue based on the priority of the machine's corresponding requests. If an existing AGV is available, it assigns tasks to the AGVs according to the priority of the task queue. If so, it dispatches the nearest AGV to the target machine (i.e., the packaging machine) based on its proximity to the target machine.

[0100] The AGV that receives the command runs to the AGV feeding station (i.e. loading station) of the designated packaging machine and sends an "arrival signal" to the AGV dispatch controller. It then waits for the "loading confirmation signal" from the other side.

[0101] The AGV dispatch controller interacts with the machine again to confirm whether the loading conditions are met. If so, the AGV dispatch controller calculates the required number of label paper stacks based on the remaining label paper stack detection data and sends it to the AGV along with a "load confirmation signal." If not, a CRC heartbeat check is performed and another confirmation request is initiated.

[0102] The AGV robot grabs a specified number of label paper stacks and completes the subsequent loading task. Upon completion, it sends a "task completion signal" to the AGV controller. The AGV dispatch controller then schedules the AGV to perform the next task or return to the charging station based on the current task queue.

[0103] Based on the above embodiments, the dispatching control method of the transport vehicle is described in detail.

[0104] refer to Figure 5 In yet another embodiment, a method for controlling the dispatching of a transport vehicle includes:

[0105] S501: Acquire the vehicle status of at least one transport vehicle in the target environment.

[0106] S502 , in response to a material loading task for a target device, determining whether there is a candidate transport vehicle in at least one transport vehicle whose vehicle status is a dispatchable state; if not, executing S503 - S506 ; if so, executing S507 - S513 .

[0107] S503: Add the loading task to the task queue according to the acquisition time of the loading task.

[0108] S504: When there is a candidate transport vehicle in at least one transport vehicle, select a target loading task with the earliest acquisition time from the task queue.

[0109] S505 : Select a target transport vehicle from the candidate transport vehicles, and send a target loading instruction for the target loading task to the target transport vehicle.

[0110] S506: Delete the target loading task from the task queue.

[0111] S507: Obtain the vehicle distribution positions of the candidate transport vehicles.

[0112] S508. Select a target transport vehicle closest to the target location from the candidate transport vehicles according to the vehicle distribution positions.

[0113] S509: Acquire an arrival signal sent by the target transport vehicle after arriving at the loading position.

[0114] S510: Send a loading request to the target device.

[0115] S511: Receive the loading confirmation information fed back by the target device based on the loading request, where the loading confirmation information is used to indicate that the target device has the loading conditions.

[0116] S512: Obtain the remaining amount of materials in the target equipment, and determine the required amount of materials to be loaded based on the remaining amount of materials.

[0117] S513: Send a loading confirmation instruction to the target transport vehicle, where the loading confirmation instruction includes the material quantity.

[0118] It should be understood that, although the various steps in the flowcharts involved in the various embodiments described above are displayed in sequence according to the instructions of the arrows, these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and these steps can be executed in other orders. Moreover, at least a portion of the steps in the flowcharts involved in the various embodiments described above can include multiple steps or multiple stages, and these steps or stages are not necessarily executed and completed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a portion of steps or stages in other steps.

[0119] Based on the same inventive concept, embodiments of the present application also provide a transport vehicle scheduling control device for implementing the aforementioned transport vehicle scheduling control method. The solution provided by this device is similar to the solution described in the aforementioned method. Therefore, the specific limitations of the embodiments of the one or more transport vehicle scheduling control devices provided below can be found in the aforementioned limitations of the transport vehicle scheduling control method and will not be further elaborated here.

[0120] In an exemplary embodiment, Figure 6 As shown, a dispatching control device for a transport vehicle is provided, comprising: a first acquisition module 610, a determination module 620, a first processing module 630 and a second processing module 640, wherein:

[0121] A first acquisition module 610 is configured to acquire a vehicle status of at least one transport vehicle in a target environment;

[0122] A determination module 620 is configured to determine, in response to a material loading task for a target device, whether there is a candidate transport vehicle with a dispatchable vehicle status among at least one transport vehicle;

[0123] The first processing module 630 is configured to select a target transport vehicle from the candidate transport vehicles if such a transport vehicle exists, and send a loading instruction for the loading task to the target transport vehicle;

[0124] The second processing module 640 is used to add the loading task to the task queue according to the acquisition time of the loading task if it does not exist; when there is a candidate truck in the at least one truck, match the truck for the corresponding loading task according to the acquisition time order of each loading task in the task queue.

[0125] In one embodiment, the second processing module 640 includes: a first acquisition unit, used to select the target loading task with the earliest acquisition time from the task queue; a first sending unit, used to select the target transport vehicle from the candidate transport vehicles, and send the target loading instruction for the target loading task to the target transport vehicle; and a deletion unit, used to delete the target loading task from the task queue.

[0126] In one embodiment, the loading task includes a target position of a target device; accordingly, the first processing module 630 includes: a second acquisition unit for acquiring the vehicle distribution position of the candidate transport vehicles; and a selection unit for selecting the target transport vehicle closest to the target position from the candidate transport vehicles based on the vehicle distribution position.

[0127] In one embodiment, the loading instruction includes a loading position; and also includes: a second acquisition module for acquiring an arrival signal sent by the target transport vehicle after reaching the loading position; a sending module, when determining that the target device has the loading conditions, sends a confirmation loading instruction to the target transport vehicle, so that the target transport vehicle loads the target device according to the corresponding material quantity in the confirmation loading instruction.

[0128] In one embodiment, the sending module also includes: a second sending unit, used to send a loading request to the target device; a receiving unit, used to receive the loading confirmation information fed back by the target device based on the loading request, and the loading confirmation information is used to indicate that the target device has the loading conditions; a third acquisition unit, used to obtain the material balance in the target device, and determine the quantity of material required for loading based on the material balance; the third sending unit, used to send a loading confirmation instruction to the target transport vehicle, and the loading confirmation instruction includes the quantity of materials.

[0129] In one embodiment, the vehicle status includes a schedulable state and an unschedulable state; the unschedulable state includes at least one of an offline state, a low-battery state, and a working state; accordingly, the first acquisition module 610 includes: a fourth acquisition unit, for acquiring the current battery level of the transport vehicle and the communication status with the transport vehicle for each transport vehicle; a first determination unit, for determining that the transport vehicle is in an offline state when the communication status is a communication disconnection state; a second determination unit, for determining that the transport vehicle is in a low-battery state when the current battery level is less than a preset battery level threshold; a third determination unit, for determining that the transport vehicle is in a working state when a task instruction is sent to the transport vehicle; a fourth determination unit, for determining that the transport vehicle is in a schedulable state when the communication status is a communication connection state, the current battery level is not less than a preset battery level threshold, and task completion information feedback from the transport vehicle for the task instruction is received.

[0130] Each module in the aforementioned transporter dispatch control device may be implemented in whole or in part through software, hardware, or a combination thereof. Each module may be embedded in or independent of a processor within a computer device in hardware form, or may be stored in a computer device memory in software form, allowing the processor to call and execute the corresponding operations of each module.

[0131] In an exemplary embodiment, a computer device is provided. The computer device may be a terminal, and its internal structure diagram may be as shown in FIG. Figure 7As shown. The computer device includes a processor, memory, an input / output interface, a communication interface, a display unit, and an input device. The processor, memory, and input / output interface are connected via a system bus, and the communication interface, display unit, and input device are connected to the system bus via the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and computer program in the non-volatile storage medium. The input / output interface of the computer device is used to exchange information between the processor and external devices. The communication interface of the computer device is used to communicate with external terminals via wired or wireless means, and the wireless means can be implemented via Wi-Fi, a mobile cellular network, near-field communication (NFC), or other technologies. When executed by the processor, the computer program implements a method for dispatching and controlling a transport vehicle. The display unit of the computer device is used to form a visually visible image and can be a display screen, a projection device, or a virtual reality imaging device. The display screen can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covering the display screen, or a button, trackball or touchpad set on the computer device casing, or an external keyboard, touchpad or mouse.

[0132] Those skilled in the art will understand that Figure 7 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0133] In one embodiment, a computer device is further provided, including a memory and a processor. The memory stores a computer program, and the processor implements the steps in the above method embodiments when executing the computer program.

[0134] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0135] In one embodiment, a computer program product is provided, including a computer program, which implements the steps in the above method embodiments when executed by a processor.

[0136] Those skilled in the art will understand that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. In particular, any reference to memory, database, or other media used in the embodiments provided in this application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The databases involved in the various embodiments provided herein may include at least one of a relational database and a non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the various embodiments provided herein may be, but are not limited to, general-purpose processors, central processing units (CPUs), graphics processing units (GPUs), digital signal processors (DSPs), programmable logic devices (PLDs), quantum computing-based data processing logic devices, artificial intelligence (AI) processors, and the like.

[0137] The technical features of the above embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0138] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present application. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present application, and these modifications and improvements fall within the scope of protection of the present application. Therefore, the scope of protection of the present application shall be determined by the appended claims.

Claims

1. A method for dispatching and controlling a transport vehicle, characterized in that: Applied to a terminal device, the method includes: Obtaining the vehicle status of at least one transport vehicle in the target environment; In response to a material loading task for a target device, determining whether there is a candidate transport vehicle with a dispatchable vehicle status among the at least one transport vehicle; If so, a target transport vehicle is selected from the candidate transport vehicles, and a loading instruction for the loading task is sent to the target transport vehicle; If it does not exist, the loading task will be added to the task queue according to the acquisition time of the loading task; if there is a candidate truck in the at least one truck, the truck will be matched with the corresponding loading task according to the acquisition time order of each loading task in the task queue.

2. The method according to claim 1, characterized in that The matching of transport vehicles for corresponding loading tasks according to the acquisition time sequence of each loading task in the task queue includes: Selecting the target loading task with the earliest acquisition time from the task queue; Selecting a target transport vehicle from the candidate transport vehicles, and sending a target loading instruction for the target loading task to the target transport vehicle; The target loading task is deleted from the task queue.

3. The method according to claim 1, characterized in that The loading task includes the target position of the target equipment; accordingly, selecting the target transport vehicle from the candidate transport vehicles includes: Obtain the vehicle distribution locations of candidate transport vehicles; According to the vehicle distribution positions, a target transport vehicle closest to the target position is selected from the candidate transport vehicles.

4. The method according to any one of claims 1 to 3, characterized in that The loading instruction includes a loading position; accordingly, the method further includes: Obtaining an arrival signal sent by the target transport vehicle after arriving at the loading position; When it is determined that the target device meets the loading conditions, a loading confirmation instruction is sent to the target transport vehicle, so that the target transport vehicle loads the target device according to the material quantity corresponding to the loading confirmation instruction.

5. The method according to claim 4, characterized in that When it is determined that the target device has the loading conditions, sending a loading confirmation instruction to the target transport vehicle includes: Sending a loading request to the target device; receiving a material loading confirmation message fed back by the target device based on the material loading request, wherein the material loading confirmation message indicates that the target device meets the material loading conditions; Obtaining the remaining amount of material in the target equipment and determining the amount of material required to be loaded based on the remaining amount of material; A material loading confirmation instruction is sent to the target transport vehicle, where the material loading confirmation instruction includes the material quantity.

6. The method according to any one of claims 1 to 3, characterized in that The vehicle state includes a dispatchable state and an undispatched state; the undispatched state includes at least one of an offline state, a low-battery state, and a working state; accordingly, obtaining the vehicle state of at least one transport vehicle in the target environment includes: For each transport vehicle, obtain the current power level of the transport vehicle and the communication status with the transport vehicle; When the communication state is a communication disconnected state, determining that the transport vehicle is in the offline state; When the current power level is less than a preset power threshold, determining that the transport vehicle is in the low power state; In the case of sending a task instruction to the transport vehicle, determining that the transport vehicle is in the working state; When the communication state is a communication connection state, the current power level is not less than the preset power level threshold, and task completion information fed back by the transport vehicle in response to the task instruction is received, it is determined that the transport vehicle is in a dispatchable state.

7. A dispatching control device for a transport vehicle, characterized in that: The device comprises: A first acquisition module is used to acquire the vehicle status of at least one transport vehicle in the target environment; a determination module, configured to determine, in response to a material loading task for a target device, whether there is a candidate transport vehicle with a dispatchable vehicle status among the at least one transport vehicle; A first processing module is configured to select a target transport vehicle from the candidate transport vehicles if such a vehicle exists, and send a loading instruction for the loading task to the target transport vehicle; The second processing module is used to add the loading task to the task queue according to the acquisition time of the loading task if it does not exist; when there is a candidate truck in the at least one truck, match the truck for the corresponding loading task according to the acquisition time order of each loading task in the task queue.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 6 are implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

10. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

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