AGV scheduling method and AGV scheduling system

Abstract

The embodiments of the present application provide an AGV scheduling method and an AGV scheduling system. The AGV scheduling method comprises: in response to receiving a station entry request signal of an AGV, checking the working state of a workstation; when it is determined, on the basis of the working state of the workstation, that the workstation can be used for the AGV to execute tasks, opening a station entry fence arranged at an entrance of the workstation relative to the movement path of the AGV, and sending a station entry permission signal to the AGV; and in response to receiving a station entry completion signal of the AGV, closing the station entry fence.

Description

AGV scheduling method and AGV scheduling system Technical Field

[0001] The present application relates to the field of intelligent manufacturing, and in particular to an AGV scheduling method, a scheduling system, and a storage medium. Background Art

[0002] With the increasing prevalence of industrial automation, manufacturing is increasingly requiring automated equipment. Assembly line operations require both automated operation of equipment and automated transportation of products between different pieces of equipment and workstations. Therefore, without the support of an automated logistics system, production line efficiency is likely to be significantly impacted.

[0003] An Automated Guided Vehicle (AGV) is a small vehicle that can travel along a pre-defined path. It is a common transport tool in current automated logistics systems, and its route and behavior are generally controlled by a computer. Companies often establish dedicated scheduling systems for multiple AGVs, including servers that communicate with the AGVs in real time to monitor their transport paths, operating status, and information exchange with workstations, ensuring the stable operation of the logistics system.

[0004] A Manufacturing Execution System (MES) is a production information management system for the execution level of manufacturing companies' workshops. It primarily summarizes and displays the execution status of production plans, the operational status of production materials, and tracks production progress, providing information for user decision-making and oversight. MES manages and optimizes the entire manufacturing process through information exchange and responds promptly to real-time events on the production floor, enabling companies and managers to accurately utilize relevant data. The MES's rapid response effectively guides a company's production operations, enhances the supply capacity of automated production lines, improves distribution efficiency, and ultimately increases production returns.

[0005] Existing implementations offer technical solutions for issues like AGV route planning. However, due to the automated nature of the entire manufacturing process, when AGVs move between workstations, transport products, or interact with MES systems, they may encounter abnormal situations such as task conflicts, vehicle collisions, and sudden power outages, impacting the safety of the AGV and its logistics system.

[0006] Summary of the Invention

[0007] The present application relates to an AGV scheduling method, scheduling system and storage medium, which can solve the possible conflicts and collisions between the AGV and other equipment or human bodies when the AGV moves in the workshop or performs tasks, and ensure that the working state can be quickly restored when an abnormal situation occurs.

[0008] In the first aspect, the present application provides an AGV scheduling method, comprising: in response to receiving an entry request signal from the AGV, checking the working status of the workstation; when it is determined based on the working status of the workstation that the workstation can be used by the AGV to perform tasks, opening an entry fence set at the entrance of the workstation relative to the moving path of the AGV, and sending an entry permission signal to the AGV; and in response to receiving an entry completion signal from the AGV, closing the entry fence.

[0009] In the technical solution of the embodiments of the present disclosure, an entry fence is installed at the workstation entrance. It opens when the AGV sends an entry request signal and the workstation allows AGV entry, allowing the AGV to pass through the entry fence and enter the workstation normally. As a result, only AGVs that meet system requirements or are compatible with the workstation can enter the workstation area to perform tasks, avoiding task conflicts at the workstation and preventing collisions and interference with AGVs caused by unrestricted passage of other equipment or people.

[0010] In some embodiments, opening the entry fence includes disabling the entry safety light curtain included in the entry fence; and closing the entry fence includes restoring the entry safety light curtain. The entry fence of a workstation can be a physical fence, in which case the opening and closing of the entry fence is controlled by a mechanical structure; or it can be an electronic fence, in which case the opening and closing of the entry fence can be achieved by the safety light curtain on the fence. The entry fence can protect the workstation and the AGV within the workstation from interference and collision. The entry safety light curtain is preferably used to simplify the fence structure while achieving protection.

[0011] In some embodiments, in response to receiving an AGV's entry completion signal, the workstation's operating status is bound to the AGV's operating status. Before the AGV enters the workstation, the workstation is in its initial state, meaning no operating status has been written to it. After the AGV enters the workstation, the workstation and the AGV's operating status are bound, and the workstation and AGV are simultaneously written to the operating status of the task to be executed. In the event of an exception, both the workstation and the AGV are simultaneously released from the task and their operating status is cleared. This binding facilitates synchronization of the workstation's status with the AGV entering the workstation, allowing for integrated scheduling and operation of the workstation and AGV within the task execution period.

[0012] In some embodiments, if at least one of the workstation and the AGV experiences an abnormality, the working status of both the workstation and the AGV are cleared simultaneously. By binding the working statuses, it is ensured that if an abnormality occurs in either the AGV or the workstation, both simultaneously stop and clear their working status. Once work resumes, the working status can be rewritten. This prevents the unsafe situation of one of the AGV and the workstation stopping due to an abnormality while the other continues to operate, and also prevents the impact of the previous abnormality upon resumption of work.

[0013] In some embodiments, an alarm is triggered if an object passes through the entry fence when the entry safety light curtain is not blocked. Because the safety light curtain is always in operation, allowing objects to pass through the entry fence only when blocked, if the AGV has entered or is entering the current workstation, an alarm is triggered when a person or other equipment enters the workstation boundary defined by the fence, thus preventing collisions or conflicts.

[0014] In some embodiments, in response to an alarm signal, the workstation is determined to be abnormal and its operating status is cleared. The alarm signal indicates that equipment or personnel not belonging to the current workstation have entered the workstation boundary defined by the fence. Clearing the operating status of the workstation and its associated AGV can prevent safety issues during ongoing work.

[0015] In some embodiments, the AGV's current product code is checked to see if it matches a preset product code determined based on the AGV's vehicle number; in response to a successful check, a signal is sent to allow operation. By checking whether the product code on the AGV matches the preset product code, it is possible to ensure that the task being performed by the AGV and / or the workstation is consistent with the preset task at the current workstation, thereby avoiding execution errors.

[0016] In some embodiments, the dispatching method of the present application further includes, in response to receiving an exit request signal from the AGV, opening an exit fence located at the exit of the workstation relative to the AGV's movement path and sending an exit permission signal to the AGV; and, in response to receiving an exit completion signal from the AGV, closing the exit fence and clearing the workstation's working state. As previously described, similar to the entry fence at the entrance, the exit fence defines the boundary of the workstation in the direction of the AGV's departure, preventing people or equipment from accidentally entering from the other side of the workstation.

[0017] In some embodiments, opening the exit fence includes shielding the exit safety light curtain included in the exit fence; and closing the exit fence includes restoring the exit safety light curtain. Similarly, using the safety light curtain can simplify the exit fence structure while protecting the workstation and AGV.

[0018] In some embodiments, when an object passes through the exit fence when the exit safety light curtain is not blocked, an alarm signal is triggered. Similarly, setting an alarm trigger can avoid collisions or conflicts between the workstation and the AGV.

[0019] On the second aspect, the present application provides an AGV scheduling method, including: sending an entry request signal to the control device of the workstation during the process of the AGV moving along the moving path to the workstation; in response to receiving the entry permission signal from the control device, moving through the entry fence set at the entrance of the workstation relative to the moving path; when the AGV enters the workstation, sending an entry completion signal to the control device.

[0020] In the technical solution of the embodiments of the present disclosure, during the AGV's movement path to a workstation, before reaching the workstation's entry fence, the AGV sends an entry request, requesting that the fence be opened to allow the AGV to pass. The AGV receives an entry permission signal from the workstation's control device, indicating that the fence is ready to allow the AGV to enter. The AGV then continues along its movement path until it enters the workstation. After the AGV has completely passed through the area containing the entry fence, it sends an entry completion signal to the control device, which then closes the fence, thereby ensuring protection for the workstation and the AGV within it.

[0021] In some embodiments, in response to reading an entry request landmark set before the entry fence, an entry request signal is sent to the control device; and in response to reading an entry completion landmark set after the entry fence, an entry completion signal is sent to the control device. Multiple landmarks to be read by the AGV are set on the moving path. When the AGV reads landmarks at different positions, it sends corresponding signals to confirm the position and distance of the AGV relative to the workstation. For example, when the AGV reads the entry request landmark before the entry fence, it sends an entry request signal to the control device of the workstation to obtain access to the workstation, that is, waits for the safety grating on the entry fence to be shielded; when the AGV reads the entry completion landmark, it indicates that the AGV has completely crossed the entry fence and entered the workstation area. At this time, the safety grating is restored to prevent other equipment or people from entering the current workstation, thereby avoiding collisions.

[0022] In some embodiments, when an AGV enters a workstation, the AGV's operating state is bound to the workstation's operating state. This binding ensures that both the AGV and the workstation maintain the same operating state and simultaneously stop working or change state when encountering an abnormality, thereby avoiding safety issues caused by the workstation or AGV continuing with its original task when an abnormality occurs.

[0023] In some embodiments, when an AGV enters a workstation and receives a work enable signal from a control device, the AGV executes its work task according to the programmed work status. The work enable signal reflects the workstation's assessment of the workpiece being loaded by the AGV, ensuring that the task being executed by the AGV and / or the workstation complies with the preset work status for the current workstation, thus preventing execution errors.

[0024] In some embodiments, when an AGV enters a workstation, if at least one of the AGV and its control device experiences an anomaly, the workstation's operating status and the AGV's operating status are simultaneously cleared. Similarly, maintaining synchronization between the workstation and AGV's operating status can prevent unexpected hazards when one is operating abnormally while the other is operating normally, and can also mitigate the impact of prior anomalies when executing new tasks.

[0025] In some embodiments, the abnormality in at least one of the AGV and the workstation includes one or more of an emergency stop, power outage, or task conflict. During AGV operation, abnormal situations may occur that affect the work task, such as a collision caused by other equipment or operators intruding into the workstation area, a workpiece being carried by the AGV falling, a sudden power outage on the workstation equipment or the AGV, or any other situation that deviates from the intended work process. In these situations, the workstation and AGV immediately stop their current work and clear their working state, which helps prevent other safety issues caused by the abnormal situation.

[0026] In some embodiments, the scheduling method of the present application further includes: in response to receiving a release signal from a control device, sending an exit request signal to the control device while the AGV is leaving the workstation along the moving path; in response to receiving a permission signal from the control device to exit, moving through an exit fence provided at the exit of the workstation relative to the moving path and clearing the working state of the AGV; and, when the AGV leaves the workstation, sending an exit completion signal to the control device. As previously described, similar to the entry fence, the exit fence opens and closes the fence based on the exit request signal and exit completion signal sent when the AGV leaves the workstation along the moving path, thereby providing protection in the direction of the workstation exit.

[0027] In some embodiments, in response to reading an exit request landmark located before the exit fence, an exit request signal is sent to the control device; in response to reading an exit completion landmark located after the exit fence, an exit completion signal is sent to the control device. Similar to the entry request landmarks and entry completion landmarks located before and after the entry fence, exit request landmarks and exit completion landmarks are located before and after the exit fence, respectively. When the AGV leaves a workstation along its movement path, a signal is sent to the control device at the corresponding landmark to determine the AGV's position and distance relative to the workstation exit boundary, ensuring that the safety light barrier on the exit fence is shielded and restored in a timely manner.

[0028] On the third aspect, the present application provides an AGV scheduling system, comprising: a workstation scheduling unit, configured to schedule AGVs and work tasks on the workstations, an AGV server unit, configured to perform a first communication with the AGV and a second communication with the workstation scheduling unit, and an MES unit, configured to perform product code inspection and receive work completion data, wherein the AGV server unit is configured to query the current product code bound to the AGV in response to receiving the vehicle number of the AGV from the AGV, and send the vehicle number and the current product code to the workstation scheduling unit, and forward the release signal to the AGV in response to reading the release signal from the workstation scheduling unit; wherein the workstation scheduling unit is configured to respond to the request from the AGV server unit The unit receives the vehicle number and current product code of the AGV, sends the vehicle number and current product code to the MES unit, and in response to the MES unit checking that the product codes are consistent, enables the AGV to start the work task at the work station, and in response to the AGV completing the work task, uploads the work completion data to the MES unit, and in response to receiving the release permission signal from the MES unit, sends a release signal to the AGV server unit; and wherein the MES unit is configured to, in response to receiving the vehicle number and current product code from the work station scheduling unit, query the preset product code stored in the MES unit through the vehicle number, and check whether the current product code is consistent with the preset product code, and in response to receiving the work completion data, send a release permission signal to the work scheduling unit.

[0029] In the technical solution of the embodiment of the present disclosure, the scheduling process of the AGV and the workstation by the AGV scheduling system is specifically reflected in the signal interaction between the AGV and the control device on the workstation. The control device generally includes a workstation scheduling unit in the form of a programmable logic controller (PLC) or a workstation PC, which can communicate with the AGV server unit as the AGV central control and the MES unit facing the execution layer. Among them, the workstation scheduling unit is mainly used to send and receive signals for interaction with the AGV around the working status of the workstation, the AGV server unit is mainly used to execute the communication between the AGV and the control device of the workstation, and the MES unit is mainly used to verify the consistency of the workpiece or work task and receive the work completion data. In specific practice, the AGV scheduling system can be applied in different scenarios, including but not limited to automatic solutions in which the control devices of the AGV and the workstation independently judge and execute work tasks based on preset programs, and manual solutions in which the staff on the production line cooperate with or operate the AGV to perform work tasks.

[0030] In some embodiments, the workstation scheduling unit is configured to control an entry fence provided at the entrance of the workstation relative to the movement path of the AGV. In response to receiving an entry request signal from the AGV server unit, the workstation's operating status is checked. If the workstation is determined to be available for AGV task execution based on the workstation's operating status, the entry fence is opened and an entry permission signal is sent to the AGV server unit. Furthermore, in response to receiving an entry completion signal from the AGV server unit, the entry fence is closed. Furthermore, the AGV server unit is configured to: in response to receiving an entry request signal from the AGV, send an entry request signal to the workstation scheduling unit; in response to receiving an entry permission signal from the workstation scheduling unit, send an entry permission signal to the AGV; and in response to receiving an entry completion signal from the AGV, send an entry completion signal to the workstation scheduling unit. In other words, the workstation scheduling unit and the AGV exchange signals via the AGV server unit, and determine whether the AGV has entered the workstation by controlling the opening and closing of the fence at the workstation boundary, thereby implementing an automatic AGV scheduling solution.

[0031] In some embodiments, the MES unit is configured to respond to a scanned QR code from the production line by verifying whether the current product code, the preset product code, and the scanned product code are consistent. The workstation scheduling unit is configured to issue a release instruction to the AGV on the production line and send a release signal to the AGV server unit. Specifically, the production line staff manually performs product code verification, and the verification result serves as the basis for determining whether the AGV enters the workstation to perform its work task. Furthermore, the production line staff manually provides a release instruction, and in response to the instruction, a signal associated with permission to release is sent to the AGV.

[0032] In a fourth aspect, the present application provides an AGV scheduling system, comprising: a workstation scheduling unit, configured to control an entry fence set at the entrance of the workstation relative to the moving path of the AGV, wherein the entry fence includes an entry safety light grid, and an AGV server unit, configured to perform a first communication with the AGV and a second communication with the workstation scheduling unit, respectively, wherein the workstation scheduling unit is configured to check the working status of the workstation in response to receiving an entry request signal from the AGV server unit, open the entry fence and send an entry permission signal to the AGV server unit when it is determined that the workstation can be used for the AGV to perform a task based on the working status of the workstation, and close the entry fence in response to receiving an entry completion signal from the AGV server unit; and wherein the AGV server unit is configured to send an entry request signal to the workstation scheduling unit in response to receiving an entry request signal from the AGV, send an entry permission signal to the AGV in response to receiving a entry permission signal from the workstation scheduling unit, and send an entry completion signal to the workstation scheduling unit in response to receiving an entry completion signal from the AGV.

[0033] In some embodiments, the workstation scheduling unit is configured to shield the entry safety light barrier included in the entry fence when it determines that the workstation is available for the AGV to perform tasks based on the working status of the workstation; and restore the entry safety light barrier in response to receiving an entry completion signal from the AGV server unit.

[0034] In some embodiments, the AGV server unit is further configured to receive an in-station signal from the AGV and clear the station status signal in response to the AGV starting to enter the workstation. The AGV is in the in-station state after receiving the entry permission signal from the workstation scheduling unit and before sending the entry completion signal, at which time it will send the in-station signal to the AGV server unit.

[0035] In some embodiments, the workstation scheduling unit is further configured to read a leaving signal in response to the AGV server unit receiving an entering signal.

[0036] In some embodiments, the AGV server unit is further configured to clear the leaving signal in response to receiving a pull-in complete signal from the AGV.

[0037] In some embodiments, the workstation scheduling unit is further configured to bind the working status of the workstation with the working status of the AGV in response to the entry completion signal received from the AGV server unit.

[0038] In some embodiments, the workstation scheduling unit is further configured to clear the working status of the workstation and the working status of the AGV simultaneously when an abnormality occurs in at least one of the workstation and the AGV.

[0039] In some embodiments, the workstation scheduling unit is further configured to control an exit fence set at the exit of the workstation relative to the moving path of the AGV, wherein the workstation scheduling unit is configured to open the exit fence and send an exit permission signal to the AGV server unit in response to receiving an exit request signal from the AGV server unit, and close the exit fence and clear the working status of the workstation in response to receiving an exit completion signal from the AGV server unit; and the AGV server unit is configured to send an exit request signal to the workstation scheduling unit in response to receiving an exit request signal from the AGV, send an exit permission signal to the AGV in response to receiving an exit permission signal from the workstation scheduling unit, and send an exit completion signal to the workstation scheduling unit in response to receiving an exit completion signal from the AGV.

[0040] In some embodiments, the workstation scheduling unit is configured to shield the outbound safety light barrier contained in the outbound fence; and restore the outbound safety light barrier in response to receiving an outbound completion signal from the AGV server unit.

[0041] In some embodiments, the scheduling system of the present application also includes an MES unit, which is configured to store a preset product code corresponding to the vehicle number of the AGV, and to check whether the current product code of the AGV is consistent with the preset product code, wherein when the current product code is consistent with the preset product code, a work permission signal is sent to the work station scheduling unit; when the current product code is inconsistent with the preset product code, an abnormality alarm is issued. The MES unit mainly performs information management functions for the entire production line, and stores data on work tasks that should be performed for each work station and each AGV, including the AGV vehicle number and its corresponding preset product code. Therefore, it is possible to check whether the current product code on the AGV is consistent with the preset product code through information interaction of the MES unit, so as to supervise the work and the working status of the AGV.

[0042] In some embodiments, abnormality alerts include pop-up notifications through the human-machine interface (HMI), flashing red indicators on workstations, or sounding buzzers. These alerts can be generated through a variety of visual or auditory signals to alert users who use or monitor the AGV and its dispatching system to check for abnormalities or resolve them.

[0043] In some embodiments, the work scheduling unit is configured to upload work completion data to the MES unit in response to the AGV completing the work task.

[0044] In some embodiments, the MES unit is configured to send a release signal to the work scheduling unit after receiving the work completion data; the work scheduling unit is configured to send a release signal to the AGV server unit in response to receiving the release signal from the MES unit; and the AGV server unit is configured to send a release signal to the AGV in response to receiving the release signal from the work scheduling unit.

[0045] In some embodiments, the AGV server unit is further configured to transmit a first message containing multiple AGV signal bits in one or more first communications, wherein the first message includes a byte bit used to indicate that the binding between the AGV and the workstation is completed. The AGV server unit, as a functional unit that performs a first communication with the AGV and a second communication with the workstation scheduling unit, is configured to transmit information related to the AGV in the first communication. When the AGV enters the task point in the workstation, a first message is transmitted in the first communication. The first message may have multiple AGV signal bits, which are used to indicate the status information of the AGV and whether the binding between the AGV and the workstation is completed.

[0046] In some embodiments, the first message includes a first AGV signal bit having 8 bytes, wherein the first AGV signal bit includes a byte bit for indicating the health of the AGV system, a byte bit for indicating the AGV offline mode, a byte bit for indicating the AGV online mode, a byte bit for indicating an AGV failure, a byte bit for indicating an AGV emergency stop, a byte bit for indicating that the AGV requests to enter the workstation, a byte bit for indicating that the AGV is entering the workstation, and a byte bit for indicating that the AGV vehicle is in place. The first message has 8 bytes in one signal bit. When the AGV server unit performs the first communication, each time a certain byte bit may be an identification code, and the other byte bits may be filled with 0. That is, the AGV server unit can complete the transmission of information from the AGV in one or more first communications.

[0047] In some embodiments, the first message includes a second AGV signal bit having eight bytes, wherein the second AGV signal bit includes a byte bit for indicating that the AGV is bound to the workstation and a byte bit for indicating that the AGV is unbound from the workstation. After the AGV is bound to the workstation and performs a work task, it is necessary to unbind the AGV from the workstation's working status when leaving the workstation after completing the work task. These two bytes are reflected in the same AGV signal bit.

[0048] In some embodiments, the second AGV signal bit further includes a byte bit for indicating that the AGV is leaving, a byte bit for indicating that the AGV writes a Pack code, and one or more spare byte bits.

[0049] In some embodiments, the first message includes a third AGV signal bit for indicating the AGV vehicle number, a fourth AGV signal bit for indicating an error code, a fifth AGV signal bit for indicating the Pack code executed by the AGV, and a sixth AGV signal bit for indicating the AGV transmission code. Additionally, in some embodiments, the first message further includes one or more standby AGV signal bits. Overall, the AGV server unit can grasp the current and future status of the AGV in real time, facilitating the scheduling of the AGV.

[0050] In some embodiments, the AGV server unit is further configured to transmit a second message comprising a plurality of PLC signal bits in one or more second communications, wherein the second message includes a byte bit indicating whether to disable the safety light barrier. The AGV server unit transmits information related to the workstation in the second communication, including information such as whether to disable the safety light barrier on the entry fence.

[0051] In some embodiments, the second message includes a first PLC signal bit having 8 byte bits, wherein the first PLC signal bit includes a byte bit for indicating PLC system health, a byte bit for indicating PLC offline mode, a byte bit for indicating PLC online mode, a byte bit for indicating PLC fault, a byte bit for indicating PLC emergency stop, a byte bit for indicating PLC entering an interlocked state, a byte bit for indicating PLC entry is allowed, and a byte bit for indicating PLC exiting an interlocked state. Based on this information, the AGV server unit can also grasp the current status of the workstation in real time, providing a basis for AGV scheduling.

[0052] In some embodiments, the second message includes a second PLC signal bit having 8 byte bits, wherein the second PLC signal bit includes a byte bit for indicating that the safety light curtain is blocked. Additionally, in some embodiments, the second PLC signal bit also includes a byte bit for indicating a request to leave the PLC, a byte bit for indicating a request to write a Pack code, and one or more spare byte bits.

[0053] In some embodiments, the second message includes a third PLC signal bit for indicating the AGV execution path, a fourth PLC signal bit for indicating the Pack code executed by the PLC, and a fifth PLC signal bit for indicating the PLC transmission code. Additionally, in some embodiments, the second message also includes one or more spare PLC signal bits.

[0054] In a fifth aspect, the present application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, enables the processor to execute the scheduling method disclosed in the above embodiments.

[0055] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, which can be implemented in accordance with the contents of the specification, and to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments of the present application. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the drawings without creative work.

[0057] FIG1 shows a schematic architecture of a scheduling system for AGVs disclosed in an embodiment of the present application;

[0058] 2A and 2B are a schematic diagram and an exemplary configuration diagram of an AGV scheduling method disclosed in an embodiment of the present application;

[0059] 3A to 3E are partial flow charts of an AGV scheduling method disclosed in one embodiment of the present application;

[0060] FIG4 is a flowchart of an AGV scheduling method disclosed in an embodiment of the present application;

[0061] FIG5 is a flowchart of an AGV scheduling method disclosed in another embodiment of the present application;

[0062] FIG6 shows an exemplary configuration of a computing device that can implement a scheduling method for AGVs according to an embodiment of the present application.

[0063] In the drawings, the drawings are not drawn to scale. DETAILED DESCRIPTION

[0064] Various exemplary embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings. It should be noted that unless otherwise specifically stated, the relative arrangements of components and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present disclosure.

[0065] The following description of at least one exemplary embodiment is merely illustrative and is not intended to limit the present disclosure, its application, or use. In other words, the structures and methods herein are presented in an exemplary manner to illustrate various embodiments of the structures and methods of the present disclosure. However, those skilled in the art will appreciate that these are merely exemplary of the present disclosure that may be implemented, and are not exhaustive. Furthermore, the drawings are not necessarily drawn to scale, and some features may be exaggerated to illustrate details of specific components.

[0066] Technologies, methods and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, such technologies, methods and equipment should be considered part of the authorization specification.

[0067] FIG1 shows a schematic architecture of a scheduling system for AGV disclosed in an embodiment of the present application. Generally speaking, a production line in a manufacturing industry has different work tasks arranged at each workstation, where the workstations can be divided into automatic workstations and manual workstations. The work at the automatic workstation is performed by a robot according to a preset processing program, while the manual workstation requires human participation. After the task at a workstation is completed, the semi-finished products and finished products need to be transported to other workstations, that is, the AGV carries the corresponding workpieces to shuttle through the production line. As shown in FIG1 , a plurality of AGVs are equipped in the assembly line production process, such as AGV 1701, AGV 1702, AGV 1703, ...AGV 170 shown as examples.n To avoid task conflicts between AGVs or collisions with other equipment at workstations, the AGV's trajectory and sequence need to be monitored and coordinated in real time. Therefore, a system for scheduling AGV operations has been established. This system architecture primarily includes a top-level factory-level MES unit (hereinafter referred to as the "MES unit") 110 and an AGV server unit 160 for communicating with workstations and AGVs.

[0068] The MES unit 110 is configured to communicate with one or more servers, including but not limited to a PACK server 120 that communicates with a plurality of workstations (such as the PACK automatic workstation 1401, the PACK manual workstation 1402, and the PACK manual workstation 1403 shown in FIG. 1 ), or a single third-party workstation (such as the third-party workstation 1501, the third-party workstation 1502, ... the third-party workstation 1503 shown in FIG. 1 ). n ) communicates with a third-party workstation server (such as the third-party workstation 1 server 1301, the third-party workstation 2 server 1302, ... the third-party workstation n server 130 shown in FIG. 1 ) n ) etc. The MES unit 110 is communicatively coupled to the wire server (120 or 130) via an open protocol, and the wire server is then communicatively coupled to the corresponding workstation (140 or 150) via the S7 protocol or an open protocol. The workstation is similarly coupled to the AGV server 160 via the S7 protocol or an open protocol. Finally, the AGV server 160 exchanges data / information with the AGV via wireless communication. FIG1 shows a non-limiting example of a PACK server 120, where the functional units on the workstation that communicate with the MES unit 110 or the AGV server 160 can be implemented by a PLC or a workstation PC.

[0069] Generally, the scheduling system for AGV shown in Figure 1 defines a data set of connection parameters, interfaces, and interaction signals for communication. The Web Service connection parameters are shown in Table 1 below, the interface Respond description is shown in Table 2 below, and the AGV interaction signals are shown in Table 3 below.

[0070] Table 1: Web Service connection parameters

[0071] Table 2: Interface Respond Description

[0072] Table 3: AGV interaction signals

[0073] The AGV interaction signals shown in Table 3 above are mainly transmitted by the AGV server unit 160 in the first communication with the AGV (170) and the second communication with the workstation (140 or 150). Specifically, the first message transmitted by the AGV server unit 160 in the first communication is shown in the FROM_AGV part of Table 3 above in the transmission direction. The first message may include multiple digital fields, each representing different information of the AGV. In a non-limiting embodiment, as shown in Table 3, the first message may include 9 digital fields, namely 0, 1, 2, 3, 4, 6, 8, 50, and 92, wherein a plurality of digital digits are included in a digital field, such as 1.1 digits indicating that the binding between the AGV and the workstation is completed, and 1.2 digits indicating that the unbinding between the AGV and the workstation is completed. Additionally, in a digital field of the first message, the system health of the AGV may be indicated by bit 0.0, offline mode by bit 0.1, online mode by bit 0.2, fault by bit 0.3, emergency stop by bit 0.4, entry request by bit 0.5, entry of the AGV to the workstation by bit 0.6, entry of the AGV to the workstation by bit 0.7, arrival of the AGV, departure of the AGV from the workstation by bit 1.0 (i.e., Leaving signal), completion of writing the Pack code (i.e., PackID) by bit 1.3, etc. Additionally, in a digital field of the first message, the AGV code may be indicated by bit 2.0, the AGV error code by bit 3.0, the Pack code by bit 8.0, and the transmission code by bit 50.0. These different digital fields may use different data formats and have different signal lengths, as shown in Table 3. In addition, the first message may also include one or more spare digital fields. Preferably, the AGV server unit is configured to transmit the first message in the form of a data frame, and the frame structure of the first message is composed of the aforementioned digital fields. It should be understood that the digital field distribution and data format of the first message are not limited to the types shown in Table 3 above, and other forms that can achieve data exchange in the first communication can also be used for the first message.

[0074] Similarly, the second message transmitted by the AGV server unit 160 in the second communication is shown in the FROM_PLC portion of Table 3 above. The second message may also include multiple digital fields, each representing different information of a workstation (the example in Table 3 above is the workstation PLC). In a non-limiting embodiment, as shown in Table 3, the second message may include 9 digital fields, namely 100, 101, 102, 104, 106, 108, 110, 152, and 194, wherein a digital field includes multiple digital digits, such as 101.1 representing a shielded entry safety light curtain on the entry fence of the workstation. Additionally, in a digital field of the second message, the system health of the workstation can be represented by bit 100.0, offline mode by bit 100.1, online mode by bit 100.2, fault by bit 100.3, emergency stop by bit 100.4, entry interlock by bit 100.5, entry to the workstation by bit 100.6, entry to the AGV by bit 100.7, exit interlock by bit 101.0, exit request by bit 101.2, and a request to write a Pack code by bit 101.2. Additionally, in a digital field of the second message, the path executed by the AGV can be represented by bit 102.0, the Pack code can be represented by bit 110.0, and the transmission code can be represented by bit 152.0. These different digital fields may use different data formats and have different signal lengths, as shown in Table 3. In addition, the second message may also include one or more spare digital fields. Preferably, the AGV server unit is configured to transmit the second message in the form of a data frame, and the frame structure of the second message is composed of the aforementioned digital fields. It should be understood that the digital domain distribution and data format of the second message are not limited to the types shown in Table 3 above, and other forms that can achieve data interaction in the second communication can also be used for the second message.

[0075] The AGV scheduling method disclosed in this application and the system for implementing the scheduling method will be described in detail below in FIG. 2 to FIG. 5 based on the aforementioned defined data sets.

[0076] Figures 2A and 2B are a schematic diagram and an exemplary configuration diagram of a scheduling method for an AGV disclosed in one embodiment of the present application. Figure 2A schematically illustrates the movement path 1600 of an AGV 1200 relative to a workstation 1400 from a top-down perspective, and establishes a planar rectangular coordinate system based on the movement path 1600 to describe the interaction between the AGV 1200 and the workstation 1400. As shown in the figure, a rectangular coordinate system for the AGV 1200 is established with the movement direction of the AGV 1200 as the positive x-axis and the central axis 1620 of the movement path 1600 as the x-axis. Because the movement path has a certain width, a Y negative boundary 1640 and a Y positive boundary 1660 are set to limit the movement range of the AGV 1200. These two boundary lines also represent the closest points at which people or other equipment within the workspace can approach the AGV 1200. Generally, the width between the Y positive boundary 1660 and the Y negative boundary 1640 is greater than the width of the AGV 1200 in the y direction. The y-width of the AGV 1200 is determined by the y-extending distance of the pallet and / or the workpiece loaded on it. Therefore, the path boundaries of the AGV 1200 ensure safe operation during path planning and task scheduling, avoiding unnecessary path conflicts and equipment collisions.

[0077] The AGV 1200 is provided with an imaging device or an information reading device with a scanning function at the front end corresponding to the moving direction, so as to obtain information about the road surface or three-dimensional space in the forward direction, thereby achieving effective obstacle avoidance or executing movement operations such as steering, speed change, and lane change. FIG2A shows a non-limiting example, which includes the obstacle avoidance warning function of the AGV 1200 on the road ahead. Specifically, the AGV 1200 divides the road ahead into multiple different area types according to the distance range. The shapes of these areas can be rectangular, sector-shaped, elliptical, etc. respectively or in combination. The specific graphics can be set based on the shape of the workpiece carried by the AGV 1200, the shape characteristics of the current workspace and workstation, and the operator's usage habits. The shape of the area shown in FIG2A is a pentagon that is close to a rectangle, in which the area closest to the AGV 1200 is set as the stopped area 1260, the area at a slightly farther distance is set as the deceleration area 1240, and the area at a farther distance is set as the warning area 1220. In addition to the above three area types, the road surface in front of the AGV 1200 within the working range (i.e., between the Y positive boundary 1660 and the Y negative boundary 1640) is an ordinary area that does not require special treatment. Additionally, the AGV 1200 is configured to install an imaging device or an information reading device at the front and rear ends of the vehicle body, respectively, so as to obtain information from both the front and rear of the AGV 1200 (only the front situation is shown in FIG2A). Alternatively, the imaging device or the information reading device is installed in the center under the AGV 1200 body and can be rotated at any angle to achieve a similar multi-directional information acquisition function.

[0078] Furthermore, the road surface is scanned using an information reading device installed on AGV 1200. If an unidentified object, such as a person or other equipment, enters warning zone 1220 or a closer area, this indicates a potential collision ahead of AGV 1200. AGV 1200 must change its motion and / or operating state to avoid safety issues. Generally, the operating state of an AGV refers to the different stages of the dispatching process for an AGV carrying a workpiece, which can include moving, preparing to enter / complete entering, executing a task, preparing to exit / complete exiting, etc. The operating state of a workstation refers to the overall operation of various equipment within the workstation, including production line equipment used to process workpieces and control equipment used to dispatch AGVs. The operating state of a workstation can include opening / closing a fence, confirming the AGV is in place, confirming the task is being executed / completed, and confirming the AGV has departed. Furthermore, in addition to the operating states of the AGV and workstation, there are also abnormal states, such as abnormality warnings and clearing the working state.

[0079] In a non-limiting embodiment, when it is determined that an unknown object has entered the warning zone 1220, the AGV 1200 will issue an alarm signal to remind the unknown object to avoid it; when the unknown object enters the deceleration zone 1240, in order to ensure that the AGV 1200 has sufficient moving distance in possible emergency situations, the AGV 1200 begins to actively decelerate; and when the unknown object enters the stop zone 1260, the moving distance at this time is not enough to overcome the emergency situation, and the AGV 1200 is controlled to stop directly. It should be understood that the above operations are not specific to the situation where the AGV 1200 is moving. When the AGV 1200 has stopped in the work station and is performing a work task, if an unknown object is detected to enter the above three areas, the AGV 1200 will similarly issue an alarm signal, stop the current task, directly clear the working state or cut off the power, etc., to prevent safety accidents such as collisions.

[0080] Furthermore, as AGV 1200 moves along a set path to a designated workstation, workstation 1400 and AGV 1200 exchange data to confirm whether workstation 1400 allows AGV 1200 to enter and perform its work tasks. As shown in Figure 2A, workstation 1400 is equipped with an entry fence 1420 at the entrance relative to the AGV 1200's movement path. Entry fence 1420 and exit fence 1460 serve as the x-direction boundaries of workstation 1400. These fences can be physical or electronic, primarily used to prevent people or equipment from accidentally entering the workstation area, potentially disrupting normal operations or causing safety issues. When AGV 1200 moves along the positive x-axis, before approaching entry fence 1420, it sends an entry request signal to workstation 1400, requesting that workstation 1400 release the protection of entry fence 1420 and stop blocking AGV 1200. For a physical entry fence 1420, opening the entry fence 1420 involves manipulating the fence using a mechanical structure containing a control device. For an electronic entry fence 1420, opening the entry fence 1420 involves disabling the entry safety light curtain, etc., contained within the entry fence 1420. Generally, a safety light curtain consists of a signal transmitter and a detector. The signal transmitter remains operational unless it receives a control signal to disable the light curtain. When the safety light curtain is operating normally, any object entering the light curtain area will be detected by the detector. However, if the light curtain is blocked, the AGV 1200 passing through the safety light curtain area will not trigger an alarm.

[0081] In a non-limiting embodiment, the conditions for triggering the AGV 1200 to send an entry request signal include the AGV 1200 reading a landmark set in the direction of travel. These landmarks containing attribute and location information are set on the ground, ceiling, peripheral shelves, or any other location that can approach the AGV 1200 and does not affect its normal movement, such as the moving path leading to the workstation. The landmark can be in the form of an RFID, a QR code attached to the ground, or any other identifier with positioning and data exchange functions. Generally, the AGV 1200 reads the landmark in front of the entry fence 1420 and sends an entry request to the workstation 1400. After obtaining permission, it passes through the entry fence 1420 and enters the workstation 1400.

[0082] In an alternative embodiment, the condition triggering AGV 1200 to transmit a station entry request signal may also include the distance between the front end of AGV 1200 and station entry fence 1420 meeting a preset threshold. As previously described, AGV 1200 divides the road ahead into multiple different zone types, such as warning zone 1220, deceleration zone 1240, and stop zone 1260, based on distance ranges. The distance between AGV 1200 and station entry fence 1420 can be determined based on whether station entry fence 1420 falls within the ranges of these zone types. For example, in response to AGV 1200 scanning and finding that the boundary of station entry fence 1420 coincides with the boundary of warning zone 1220 in the positive x-direction, AGV 1200 transmits a station entry request signal to workstation 1400.

[0083] After receiving the entry permission signal from workstation 1400, AGV 1200 moves along the positive x-axis through the area of ​​entry fence 1420 until it is completely inside workstation 1400. At this point, AGV 1200 sends an entry completion signal to workstation 1400, prompting workstation 1400 to close entry fence 1420 and resume its protective function. AGV 1200 then continues moving until it reaches a designated task point 1440 within workstation 1400. Here, AGV 1200 stops for further interaction with workstation 1400, including but not limited to binding their working states and executing work tasks.

[0084] Similarly, the condition for triggering the AGV 1200 to send an entry completion signal includes the AGV 1200 reading a landmark set in the moving direction (such as the +x direction behind the entry fence 1420 shown in FIG. 2A ). That is, the AGV 1200 reads the landmark behind the entry fence 1420 and sends an entry completion signal to the workstation 1400 as a prompt to the workstation 1400 to close the entry fence 1420. Alternatively, the condition for triggering the AGV 1200 to send an entry completion signal also includes the distance between the rear end of the AGV 1200 and the entry fence 1420 meeting a preset threshold. As mentioned above, the AGV 1200 can be configured to be equipped with an information reading device that scans the surrounding environment at any angle, that is, the AGV 1200 can similarly establish different area types (not shown) such as warning areas, deceleration areas, and stop areas behind the vehicle body. That is, in response to the AGV 1200 scanning and finding that the entry fence 1420 coincides with the boundary of the rear warning zone in the negative x direction, the AGV 1200 sends an entry completion signal to the workstation 1400 .

[0085] After the working states of AGV 1200 and workstation 1400 are bound, AGV 1200 is externally displayed as part of workstation 1400. In response to receiving a signal permitting work for both AGV 1200 and workstation 1400, the designated working state is written to the AGV 1200 and workstation 1400 as a whole. This involves writing the values ​​representing the working states of the AGV 1200 and workstation 1400 into new instructions, including values ​​indicating the current work task or workpiece type to be processed by workstation 1400. While the AGV 1200 and workstation 1400 as a whole execute their work tasks according to the written working states, they may encounter abnormal situations, including emergency stops, power outages, and task conflicts. These situations include collisions caused by other equipment or operators intruding into the workstation area, the fall of a workpiece carried by the AGV, sudden power outages to the workstation equipment or the AGV, or any other situation that deviates from the pre-set working process. If one or both of AGV 1200 and workstation 1400 experience these anomalies, they immediately stop their current operations and clear their operating status. This allows them to re-write their operating status upon resuming operations. Specifically, AGV 1200 and workstation 1400 begin operations simultaneously and disengage from their tasks simultaneously. The values ​​representing their operating status are reset to zero or assigned to other default initial values. This prevents the unsafe situation of one AGV 1200 or workstation 1400 stopping due to an abnormality while the other continues to operate, and prevents the impact of the prior abnormality upon resuming operations.

[0086] Additionally or alternatively, the workstation 1400 is further provided with an exit fence 1460 at the exit. FIG2A schematically illustrates only the situation where the exit fence 1460 is located in the positive x direction of the movement path. Similarly, when the AGV 1200 approaches the exit fence 1460 from the task point 1440 along the positive x direction, it sends an exit request signal to the workstation 1400 to request the workstation 1400 to open the protection of the exit fence 1460. In a non-limiting example, the exit fence 1460 may include an exit safety light curtain. After obtaining permission, the AGV 1200 passes through the exit fence to leave the workstation 1400, and sends an exit completion signal after completely leaving the exit fence 1460. It should be understood that since the movement path planning of the AGV 1200 is not necessarily a straight line (it can be, for example, a broken line or a curve), the AGV 1200 may leave the workstation 1400 along any direction within the rectangular coordinate system. Specifically, the movement direction of AGV 1200 includes returning to its original path after completing its task at task point 1440 within workstation 1400, i.e., moving along the negative x-axis. At this point, entry fence 1420 itself becomes the exit fence when AGV 1200 leaves workstation 1400. The triggering conditions for the exit request signal and exit completion signal are similar to those for the aforementioned entry request signal and entry completion signal, and are not further elaborated here.

[0087] FIG2B illustrates a preferred embodiment of the scheduling method based on FIG2A , showing an exemplary configuration diagram of an AGV 1200 and a workstation 1400 disclosed in one embodiment of the present application. As shown, AGV 1200 moves along the x-direction and prepares to enter workstation 1400. Workstation 1400 is provided with an entry fence 1420 at the entrance, which includes an entry safety light barrier 1421. An entry request landmark 1422 and an entry completion landmark 1423 are positioned on the central axis 1620 of the movement path 1600, respectively, in front and behind the entry fence 1420. The entry request landmark 1422 is positioned so that an information reader can read it when the front end of the AGV 1200 reaches a specific distance from the entry fence 1420. Similarly, the entry completion landmark 1423 is positioned so that the information reader can read it when the rear end of the AGV 1200 reaches a specific distance from the entry fence 1420. It should be understood that the entry request landmark 1422 and the entry completion landmark 1423 may also be set at other suitable positions other than the central axis 1620, as long as they can be read by the AGV 1200 moving along the moving path.

[0088] As previously mentioned, corresponding to the entry fence 1420 in the form of an electronic fence, the entry safety light barrier 1421 can be a protective optoelectronic device such as an infrared detector. When an object enters the area protected by the entry safety light barrier 1421, an alarm signal is issued (or a direct command to stop operation is issued). In response to this alarm signal, the workstation 1400 is determined to have experienced an abnormality, and the operating status of the workstation 1400 and the AGV 1200 are simultaneously cleared. The entry safety light barrier 1421 can be controlled to a shielded state, in which case the area protected by the entry safety light barrier 1421 is freely accessible. Based on this, the specific distance between the entry request landmark 1422 and the entry completion landmark 1423 and the entry fence 1420 can be, for example, 10 mm. Setting this to a smaller value helps prevent unidentified objects from accidentally entering the AGV 1200 by following it when the entry safety light barrier 1421 is shielded (e.g., the AGV 1200 is allowed to enter the workstation 1400).

[0089] In one non-limiting embodiment, when the AGV 1200 approaches the workstation 1400 along the central axis 1620, it first reads the entry request landmark 1422 and, based on this reading, issues an entry request signal to the workstation 1400. When the workstation 1400 allows the AGV 1200 to enter, the entry safety light barrier 1421 is disabled, effectively opening a "small door" in the entry fence 1420, allowing the AGV 1200 to enter the workstation 1400. The AGV then reads the entry completion landmark 1423 and, based on this reading, issues an entry completion signal to the workstation 1400. At this point, the workstation 1400 recognizes that the AGV 1200 has completed its entry into the workstation 1400 and restores the entry safety light barrier 1421, preventing any further equipment from accidentally entering the workstation 1400 area. The AGV 1200 ultimately reaches the task point 1440 within the workstation 1400 and stops. The working states of AGV 1200 and workstation 1400 are bound together, that is, AGV 1200 and workstation 1400 will enter the work task at the same time, and if an exception occurs during the process, they will both leave the task. At this time, the working states of AGV 1200 and workstation 1400 will be cleared at the same time. As a result, AGV 1200 starts working at task point 1440.

[0090] Alternatively, after AGV 1200 completes its work task at task point 1440, it uploads work completion data and / or continues loading the workpiece processed at workstation 1400 to the next work task. At this point, AGV 1200 prepares to leave workstation 1400 along the positive x-axis. Similarly, workstation 1400 is equipped with an exit fence 1460 at its exit, which includes an exit safety light curtain 1461. On the central axis 1620, an exit request landmark 1462 and an exit completion landmark 1463 are located in front of and behind exit fence 1460, respectively. The AGV first reads exit request landmark 1462 and, based on this reading, issues an exit request signal to workstation 1400. When workstation 1400 permits AGV 1200 to leave, exit safety light curtain 1461 is disabled, allowing AGV 1200 to exit workstation 1400 through the "small door" on exit fence 1460. The AGV then reads exit completion landmark 1463 and, based on this reading, sends an exit completion signal to workstation 1400. Workstation 1400 now knows that AGV 1200 has completed its departure, thereby restoring exit safety light curtain 1461. This prevents other devices from accidentally entering the area of ​​workstation 1400 from the direction of exit fence 1460 and prevents the next AGV from interacting with workstation 1400 unnecessarily if the previous AGV has not fully left. Similarly, exit request landmark 1462 and exit completion landmark 1463 are positioned at a specific distance from exit fence 1460 to prevent accidental intrusion when exit safety light curtain 1461 is blocked. It should be understood that exit request landmark 1462 and exit completion landmark 1463 can also be positioned at other suitable locations outside of central axis 1620, as long as they can be read by AGV 1200 moving along the travel path.

[0091] Figures 3A to 3E are partial flow charts of a scheduling method for AGVs disclosed in an embodiment of the present application, which mainly show the operation steps performed by the AGV 310 and each subject in the AGV scheduling system. Generally, the AGV scheduling system includes an AGV server unit 320 for performing communication between the AGV 310 and the workstation, a workstation scheduling unit 330 for performing data processing within the workstation, and an MES unit 340 for top-level task monitoring and data interaction. Generally, the AGV 310 is configured to read various landmarks set on the moving path from the beginning of movement toward the workstation, and send a request signal associated with the read landmark to the workstation via the AGV server unit 320. On the other hand, the AGV server unit 320 is configured to forward the request signal from the AGV 310 and the indication signal from the workstation scheduling unit 330, confirm the working status, vehicle number and product code of the AGV, etc.; the workstation scheduling unit 330 is configured to receive the request signal transmitted via the AGV server unit 320, confirm whether the AGV 310 is allowed to enter and exit the current workstation, shield or restore the safety light curtain, and perform designated work tasks, etc.; the MES unit 340 is configured to uniformly manage and monitor the working status in the entire workspace, including the operation status of the AGV 310 that is moving and in the workstation, confirm whether the AGV 310 is allowed to work at the current workstation, etc., and confirm abnormalities, etc.

[0092] Specifically, the AGV dispatching system and its operating method disclosed in the embodiments of this application can be broken down into three parts: AGV entry, task execution, and AGV exit, each of which is illustrated in the form of a partial flowchart in Figures 3A to 3C. Additionally, Figure 3D is an alternative embodiment to the task execution portion shown in Figure 3B. Alternatively, Figure 3E is an alternative embodiment of the AGV dispatching system and its operating method.

[0093] FIG3A shows the entry process of the AGV 310 disclosed in an embodiment of the present application. First, in step S3101, the AGV 310 starts to move toward the workstation and reads the entry request landmark before the entry fence (step S3102), and then sends an entry request signal to the AGV server unit 320 (step S3103). As mentioned above, step S3102 is not necessary, and the AGV 310 can also be triggered by other conditions to send a request signal. The AGV server unit 320 receives the entry request signal of the AGV and forwards it to the workstation scheduling unit 330 (step S3201). The workstation scheduling unit 330 thus confirms the workstation status (step S3301). Specifically, the workstation scheduling unit 330 needs to confirm that there are no other AGVs currently performing tasks in the workstation or have not yet completed the exit, and / or confirm that the current working status of the workstation has been cleared, that is, the workstation is not occupied by other people both physically and in terms of processing procedures. Additionally or alternatively, the workstation scheduling unit 330 can also confirm with the MES unit 340 whether the AGV 310 should come to the current workstation based on the information of the AGV 310 contained in the entry request, that is, whether it complies with the preset work plan. The workstation scheduling unit 330 performs a judgment on whether the AGV 310 is allowed to enter the station (step S3303). When the AGV 310 is not allowed to enter the station (that is, "No" in step S3303), it proceeds to step S3302 to continue waiting for the next entry permission from the work scheduling unit 330 or the MES unit 340; when the AGV 310 is allowed (that is, "Yes" in step S3303), the workstation scheduling unit 3310 sends a permission to enter the station signal to the AGV server unit 320 (step S3304). Further, the workstation scheduling unit 330 shields the entry safety grating on the entry fence (step S3305) to prepare for the AGV 310 to enter the station.

[0094] In response to the AGV server unit 320 receiving the entry permission signal and forwarding it to the AGV 310 (step S3202), the AGV 310 begins entering the station at step S3104. During the AGV 310's entry process, the AGV server unit 320 receives an entry signal from the AGV 310 at step S3203 and simultaneously clears the current station status signal at the workstation, preparing the workstation to welcome the AGV 310 and its work tasks. The workstation scheduling unit 330 then reads the leaving signal associated with the AGV 310's status at step S3306, namely the 1.0-bit leaving signal from the AGV trolley as shown in Table 3. When the leaving signal is 1, it indicates that the AGV 310 is leaving the entry area. AGV 310 passes through the shielded entry safety light barrier and enters the workstation until the entry completion landmark is read at step S3105. At this time, the rear end of the AGV 310 body has reached a specific distance from the entry fence, and sends an entry completion signal to the AGV server unit 320 at step S3106. The AGV server unit 320 receives the entry completion signal at step S3204 and forwards it to the workstation scheduling unit 330, while clearing the current leaving signal. The workstation scheduling unit 330 restores the entry safety light barrier on the entry fence in step S3308, and no other equipment or personnel are allowed to enter the current workstation at this time. The AGV 310 moves along the moving path into the workstation until it reaches the designated task point (step S3107). At this time, the entry process has been completed, and the working status of the AGV 310 is bound to the working status of the workstation. The binding of working status can be performed by one of the AGV 310 or the workstation scheduling unit 330 alone or jointly, or one or both of the AGV server unit 320 or the MES unit 340 can issue instructions to the AGV 310 and the control equipment in the workstation for execution.

[0095] Next, the work execution process of the AGV 310 shown in Figure 3B while it is within the workstation will be described. Upon arriving at the task point within the workstation in step S3107, the AGV 310 sends its vehicle number to the AGV server unit 320 in step S3108. After receiving the vehicle number of the AGV 310 (step S3205), the AGV server unit 320 queries the current product code bound to the AGV 310 (step S3206). The AGV 310 is loaded with workpieces produced during the preceding work, each of which is accompanied by a corresponding product code, to facilitate real-time tracking of the workpiece's circulation process and / or the work task currently associated with the AGV 310. The AGV server unit 320 then sends the vehicle number and current product code to the workstation scheduling unit 330 (step S3207). The workstation scheduling unit 330 receives the vehicle number of the AGV 310 and its bound current product code and forwards them to the MES unit 340 (step S3309). Based on the vehicle number received in step S3401, the MES unit 340 searches for the preset product code stored in the database for the vehicle number (step S3402), compares the preset product code with the current product code received in step S3401, and determines whether the product codes are consistent in step S3403 based on the comparison result. If the current product code is consistent with the preset product code (i.e., "yes" in step S3403), the MES unit 340 sends a work permission signal to the workstation scheduling unit 330 (step S3404). Otherwise, it indicates an abnormality, i.e., the task to be performed by the workstation does not match the workpiece loaded by the AGV, and work cannot begin. At this time, the AGV scheduling system issues an abnormality alarm, including a pop-up prompt via the human-machine interface (HMI) or other display method, and / or the workstation indicator light flashes red, or a buzzer sounds an alarm, reminding the AGV 310 and / or the workstation to clear the working state and reassign the correct work task.

[0096] In response to receiving the permission signal from the MES unit 340 (step S3310), the workstation scheduling unit 330 instructs the workstation and AGV 310 to begin work (step S3311). When the work is completed (step S3312), the workstation scheduling unit 330 uploads the work completion data to the MES unit 340 (step S3313). The MES unit 340 receives the work completion data at step S3405 and sends a permission release signal at step S3406. The workstation scheduling unit 330 receives the permission release signal from the MES unit 340 at step S3314.

[0097] Next, the outbound process of the AGV 310 based on another embodiment of the present application shown in Figure 3C is described. It should be understood that the outbound process in Figure 3C is an additional solution rather than a necessary part of the inbound process of the AGV 310 shown in Figure 3A. The workstation scheduling unit 330 receives the release signal from the MES unit 340 at step 3314, and then sends a release signal to the AGV server unit (step S3315). In response to the AGV server unit 320 receiving and forwarding the release signal (step S3208), the AGV 310 prepares to exit, that is, it starts from the state of originally stopping at the task point in the workstation and moves toward the exit (step S3109). The AGV 310 reads the outbound request landmark on the path before the outbound fence (step S3110) and sends an outbound request signal to the AGV server unit 320 (step S3111). AGV server unit 320 receives AGV 310's exit request signal and forwards it to workstation scheduling unit 330 (step S3209). The workstation scheduling unit 330 confirms the workstation status at step S3316. When AGV 310 exits, it may be affected or interfered with by other equipment outside the workstation. Therefore, workstation scheduling unit 330 determines whether to allow AGV 310 to exit based on the workstation and AGV operating status, as well as the work outside the workstation (step S3318). When AGV 310 is not allowed to exit the station (i.e., "No" in step S3318), the workstation scheduling unit 330 waits for the next exit permission from the workstation scheduling unit 330 or the MES unit 340 at step S3317; and when AGV 310 is allowed to exit the station (i.e., "Yes" in step S3318), the MES unit 340 sends an exit permission signal (step S3319), and further shields the exit safety grating on the exit fence at step S3320.

[0098] In response to the AGV server unit 320 receiving the exit permission signal and forwarding it to the AGV 310 (step S3210), the AGV 310 begins exiting, i.e., moving through the area where the exit safety light barrier is located, and clearing the AGV 310's own working status (step S3112). Similarly, when the AGV 310 reads the exit completion landmark (step S3113), it sends an exit completion signal to the AGV server unit 320 (step S3114), indicating that the rear end of the AGV 310 is already outside the specified distance from the exit fence. In other words, the AGV 310 has safely left the boundary of the workstation and exit is complete (step S3115). The AGV server unit 320 receives the exit completion signal at step S3211 and forwards it to the workstation scheduling unit 330. The workstation scheduling unit 330 then restores the exit safety light barrier on the exit fence and clears the workstation's working status (step S3321), preparing for subsequent workstation tasks.

[0099] Next, the work execution process of the AGV 310 shown in Figure 3D as an alternative embodiment when it is in the work station is described. The steps represented by the same reference numerals as in Figure 3B are the same and will not be repeated here. The difference between the two is mainly concentrated in whether the work task is performed by the work station scheduling unit 330 or the AGV310 (shown in bold in Figure 3D). Specifically, in response to receiving the work permission signal from the MES unit 340, the work station scheduling unit 330 forwards the work permission signal to the AGV server unit 320 (step S3310'), and the AGV server unit 320 receives the work permission signal at step S3208' and forwards it to the AGV 310. The AGV 310 starts to execute the work task (step S3109') and completes the work at step S3110'. Next, the AGV 310 uploads the work completion data at step S3111′, and forwards it to the MES unit 340 via the AGV server unit 320 (step S3209′) and the workstation scheduling unit 330 (step S3311′). The MES unit 340 receives the work completion data at step S3405 and sends a clearance signal at step S3406. The workstation scheduling unit 330 receives the clearance signal from the MES unit 340 at step S3312′.

[0100] Alternatively, Figure 3E illustrates the interaction between AGV 310 and the AGV scheduling system as an alternative embodiment. Generally speaking, the aforementioned scheduling steps for AGV 310 can be automatically performed by the control devices in AGV 310 and the AGV scheduling system according to a preset program, or can be manually completed by a worker at a workstation interacting with AGV 310. Figure 3E shows an alternative embodiment in which manual operations within a workstation are completed separately or jointly by the AGV 310, the AGV server unit 320, the workstation scheduling unit 330, the MES unit 340, and the production line 350, wherein the AGV 310 enters the workstation in step S3101" and sends the vehicle number of AGV310 to the AGV server unit 320 in step S3102". After receiving the vehicle number of AGV310 (step S3201"), the AGV server unit 320 queries the current product code bound to the AGV 310 (step S3202"), and then sends the vehicle number and current product code to the workstation scheduling unit 330 (step S3203"). The workstation scheduling unit 330 receives the vehicle number of AGV 310 and the current product code bound to it and forwards them to the MES unit 340 (step S3301"). The MES unit 340 searches for the preset product code stored in the database for the vehicle number based on the vehicle number received in step S3401 ″ (step S3402 ″).

[0101] In step S3501, the staff on the production line 350 uses a handheld device such as a scanner to scan the workpiece on the AGV 310, and uses the scanning result as the scanned product code of the workpiece actually loaded. The MES unit 340 receives the scanned product code from the production line 350 in step S3403", and in step S3404", based on the vehicle number and current product code received in step S3401, the preset product code queried in step S3402, and the scanned product code received in S3403", determines whether the above product codes are consistent. If step S3404" determines that the product codes are inconsistent (i.e., the judgment in S3404" is "No"), an abnormality occurs, and the production line 350 issues an abnormality alarm, including the AGV scheduling system issuing a pop-up prompt through the HMI or other display methods, and / or the work station indicator light flashes red, the buzzer emits an alarm sound, etc.

[0102] On the other hand, if step S3404" determines that the product codes are consistent (i.e., "yes" is determined in S3404"), the workstation scheduling unit 330 performs operations similar to steps S3311 to S3314 and steps S3405 to S3406 in FIG. 3B in steps S3302" to S3305" and the MES unit performs operations similar to steps S3311 to S3314 and steps S3405 to S3406 in FIG. 3B in steps S3405" to S3406". In a non-limiting embodiment, the production line 350 is provided with a button allowing release, and the production line 350 clicks the release button at step S3503 as an instruction to release the AGV 310. The workstation scheduling unit 330 waits for the release signal from the production line 350 at step S3306” and writes the release signal at step S3307”. The AGV server unit 320 reads the release signal at step S3204”. The AGV 310 receives the release signal at step S3103” and exits the station at step S3104”. In response to the AGV 310 exiting the station, the AGV server unit 320 writes a leaving signal at step S3205”. Further, the workstation scheduling unit 330 clears the release signal of the workstation at step S3308”.

[0103] It should be understood that the division of the various steps in Figures 3A to 3E is for illustrative purposes only and is not intended to limit the embodiments of the present application. These steps can be completed individually by each of the illustrated entities or by two or more of them together, and are not limited to the distribution method shown in the figure. They can be completed sequentially in the order shown in the figure or in parallel in accordance with the direction of data flow, and can be completed step by step or in combination.

[0104] FIG4 is a schematic diagram of a scheduling method 4000 for AGVs disclosed in an embodiment of the present application. The method 4000 can be used, for example, in the AGV scheduling system shown in FIG1 . As shown in FIG4 , in step S401, in response to receiving an entry request signal from the AGV, the working status of the workstation is checked. In step S402, when it is determined based on the working status of the workstation that the workstation is available for the AGV to perform tasks, the entry fence set at the entrance of the workstation relative to the AGV's moving path is opened, and a permission to enter signal is sent to the AGV. In step S403, in response to receiving an entry completion signal from the AGV, the entry fence is closed. The above steps S401 to S403 can be implemented separately by the factory-level MES unit, AGV server, etc. described in FIG1 , or by these functional units as a whole, or by other devices with similar scheduling functions. For details of steps S401 to S403, reference can be made to the data interaction process of each subject described in FIG3A , which will not be described in detail here.

[0105] FIG5 is a schematic diagram of an AGV scheduling method 5000 disclosed in another embodiment of the present application. The method 5000 can be used, for example, for the AGV cart shown in FIG1 or FIG2A. As shown in FIG5, in step S501, while the AGV is moving along the moving path to the workstation, an entry request signal is sent to the workstation. In step S502, in response to receiving the entry permission signal from the workstation, the AGV moves through the entry fence set at the entrance of the workstation relative to the moving path. In step S503, when the AGV enters the workstation, an entry completion signal is sent to the workstation. The above steps S501 to S503 can be implemented, for example, by the AGV cart described in FIG2A, or by other means of transportation that conforms to similar AGV operation logic. For details about steps S501 to S503, reference can also be made to the data interaction process of each subject described in FIG3A, which will not be repeated here.

[0106] 6 shows an exemplary configuration of a computing device that can implement embodiments of the present disclosure. The computing device includes one or more processors 601, an input / output interface 605 connected to the processor 601 via a bus 604, and memories 602 and 603 connected to the bus 604. In some embodiments, the memory 602 may be a read-only memory (ROM), and the memory 603 may be a random access memory (RAM).

[0107] The processor 601 may be any kind of processor and may include, but is not limited to, one or more general-purpose processors or special-purpose processors (such as a dedicated processing chip). The memories 602 and 603 may be any non-transitory storage device that can store data and may include, but is not limited to, a disk drive, an optical storage device, a solid-state memory, a floppy disk, a flexible disk, a hard disk, a magnetic tape or any other magnetic medium, a compact disk or any other optical medium, a cache memory and / or any other storage chip or module, and / or any other medium from which a computer can read data, instructions and / or code.

[0108] The bus 604 may include, but is not limited to, an Industry Standard Architecture (ISA) bus, a Micro Channel Architecture (MCA) bus, an Enhanced ISA (EISA) bus, a Video Electronics Standards Association (VESA) local bus, and a Peripheral Component Interconnect (PCI) bus.

[0109] In some embodiments, the input / output interface 605 is connected to an input unit 606 configured by an input device such as a keyboard and a mouse for a user to input an operation command, an output unit 607 that outputs an image of a processing operation screen and a processing result to a display device, a storage unit 608 including a hard disk drive and the like for storing programs and various data, and a communication unit 609 including a local area network (LAN) adapter and the like and performing communication processing via a network represented by the Internet. In addition, a drive 610 that reads data from and writes data on a removable storage medium 611 is also connected.

[0110] The various aspects, embodiments, implementations or features of the aforementioned embodiments may be used alone or in any combination.The various aspects of the aforementioned embodiments may be implemented by software, hardware or a combination of hardware and software.

[0111] For example, the aforementioned embodiments may be embodied as computer-readable code on a computer-readable medium. A computer-readable medium is any data storage device that can store data that can thereafter be read by a computer system. Examples of computer-readable media include read-only memory, random access memory, CD-ROMs, DVDs, magnetic tapes, hard drives, solid-state drives, and optical data storage devices. The computer-readable medium may also be distributed among network-coupled computer systems so that the computer-readable code is stored and executed in a distributed manner.

[0112] For example, the aforementioned embodiments may be implemented in the form of hardware circuits. The hardware circuits may include any combination of combinational logic circuits, clock storage devices (such as floppy disks, flip-flops, latches, etc.), finite state machines, memories such as static random access memory or embedded dynamic random access memory, custom designed circuits, programmable logic arrays, and the like.

[0113] In one embodiment, hardware circuits according to the present disclosure may be implemented by coding and designing one or more integrated circuits using a hardware description language (HDL) such as Verilog or VHDL, or in combination using discrete circuits.

[0114] Although the present application has been described with reference to preferred embodiments, various modifications may be made thereto and components may be substituted with equivalents without departing from the scope of the present application. In particular, the various technical features described in the various embodiments may be combined in any manner as long as there are no structural conflicts. The present application is not limited to the specific embodiments disclosed herein, but encompasses all technical solutions within the scope of the claims.

Claims

1. An AGV scheduling method, comprising: In response to receiving an entry request signal from the AGV, checking the working status of the workstation; When it is determined based on the working status of the workstation that the workstation can be used by the AGV to perform tasks, opening an entry fence provided at an entrance of the workstation relative to a moving path of the AGV, and sending an entry permission signal to the AGV; and In response to receiving the entry completion signal of the AGV, the entry fence is closed.

2. The scheduling method according to claim 1, wherein: Opening the entry fence includes shielding the entry security light curtain contained in the entry fence; and Closing the inbound fence includes reinstating the inbound security grating.

3. The scheduling method according to claim 2, wherein: In response to receiving the station entry completion signal of the AGV, the working state of the workstation is bound to the working state of the AGV.

4. The scheduling method according to claim 3, wherein: In the event that at least one of the workstation and the AGV is abnormal, the working status of the workstation and the working status of the AGV are cleared simultaneously.

5. The scheduling method according to any one of claims 2 to 4, wherein: In the event that an object passes through the entry fence when the entry safety light grid is not blocked, an alarm signal is triggered.

6. The scheduling method according to claim 5, wherein: In response to the alarm signal, the workstation is determined to be abnormal, and the working state of the workstation is cleared.

7. The scheduling method according to any one of claims 1 to 6, wherein: Check whether the current product code of the AGV is consistent with the preset product code determined based on the vehicle number of the AGV; In response to the verification being passed, an operation enable signal is sent.

8. The scheduling method according to any one of claims 1 to 7, further comprising: In response to receiving an exit request signal from the AGV, opening an exit fence provided at an exit of the workstation relative to a moving path of the AGV, and sending an exit permission signal to the AGV; and In response to receiving the outbound completion signal of the AGV, the outbound fence is closed and the working state of the workstation is cleared.

9. The scheduling method according to claim 8, wherein: Opening the exit fence includes shielding the exit security light curtain contained in the exit fence; and Closing the outbound fence includes reinstating the outbound security grating.

10. The scheduling method according to claim 9, wherein: In the event that an object passes through the outbound fence when the outbound safety light grid is not blocked, an alarm signal is triggered.

11. An AGV scheduling method, comprising: When the AGV moves toward a workstation along a moving path, a station entry request signal is sent to a control device of the workstation; In response to receiving an entry permission signal from the control device, moving through an entry fence provided at an entrance of the workstation relative to the moving path; as well as When the AGV enters the workstation, a station entry completion signal is sent to the control device.

12. The scheduling method according to claim 11, wherein: In response to reading a station entry request landmark disposed before the station entry fence, sending a station entry request signal to the control device; and In response to reading a pit stop completion landmark disposed behind the pit stop fence, a pit stop completion signal is sent to the control device.

13. The scheduling method according to claim 11 or 12, wherein: When the AGV enters the workstation, the working state of the AGV is bound to the working state of the workstation.

14. The scheduling method according to any one of claims 11 to 13, wherein: When the AGV enters the workstation, in response to receiving a work permission signal sent by the control device, the work task is performed according to the written work status.

15. The scheduling method according to any one of claims 11 to 14, wherein: When the AGV enters the workstation, if at least one of the AGV and the workstation is abnormal, the working state of the AGV and the working state of the workstation are cleared at the same time.

16. The scheduling method according to claim 15, wherein: The abnormality of at least one of the AGV and the workstation includes one or more of an emergency stop, a power failure, and a task conflict.

17. The scheduling method according to any one of claims 11 to 16, further comprising: In response to receiving a release signal from the control device, sending an exit request signal to the control device during the process of the AGV leaving the workstation along the moving path; In response to receiving an exit permission signal from the control device, moving through an exit fence provided at an exit of the workstation relative to the moving path, and clearing the working state of the AGV; and When the AGV leaves the workstation, an exit completion signal is sent to the control device.

18. The scheduling method according to claim 17, wherein: sending an exit request signal to the control device in response to reading an exit request landmark disposed before the exit fence; In response to reading an outbound completion landmark disposed behind the outbound fence, an outbound completion signal is sent to the control device.

19. An AGV dispatching system, comprising: The workstation scheduling unit is configured to schedule the work tasks on the AGV and the workstation. an AGV server unit configured to respectively perform a first communication with the AGV and a second communication with the workstation scheduling unit, and MES unit, configured to perform verification of product codes and receive work completion data, Among them, the AGV server unit is configured as In response to receiving the vehicle number of the AGV from the AGV, querying the current product code bound to the AGV, and sending the vehicle number and the current product code to the workstation scheduling unit, and In response to reading a release signal from the workstation scheduling unit, forwarding the release signal to the AGV; wherein the workstation scheduling unit is configured to In response to receiving the vehicle number and current product code of the AGV from the AGV server unit, The vehicle number and current product code are sent to the MES unit, In response to the MES unit checking that the product code is consistent, the AGV starts the work task at the work station. In response to the AGV completing the work task, uploading the work completion data to the MES unit, and In response to receiving a release permission signal from the MES unit, sending a release signal to the AGV server unit; and Among them, the MES unit is configured as In response to receiving the vehicle number and the current product code from the workstation scheduling unit, query the preset product code stored in the MES unit by the vehicle number, and check whether the current product code is consistent with the preset product code, and In response to receiving the work completion data, a release permission signal is sent to the work scheduling unit.

20. The dispatch system according to claim 19, wherein: The workstation scheduling unit is configured to control an entry fence provided at an entrance of the workstation relative to a moving path of the AGV, wherein: In response to receiving an entry request signal from the AGV server unit, checking the working status of the workstation, opening the entry fence and sending an entry permission signal to the AGV server unit if it is determined that the workstation can be used for AGV to perform tasks based on the working status of the workstation, and In response to receiving a stop completion signal from the AGV server unit, closing the stop fence; and The AGV server unit is configured as: In response to receiving a station entry request signal from the AGV, sending a station entry request signal to the workstation scheduling unit, In response to receiving a signal allowing entry from the workstation scheduling unit, sending a signal allowing entry to the AGV, and In response to receiving the station entry completion signal from the AGV, the station entry completion signal is sent to the workstation scheduling unit.

21. The dispatch system according to claim 19, wherein: The MES unit is configured to respond to a scanned QR code from the production line and verify whether the current product code, the preset product code and the scanned product code are consistent; The workstation scheduling unit is configured to send a release signal to the AGV server unit in response to the production line issuing an instruction to release the AGV.

22. An AGV dispatching system, comprising: A workstation scheduling unit is configured to control an entry fence provided at an entrance of the workstation relative to a moving path of the AGV, and The AGV server unit is configured to respectively perform a first communication with the AGV and a second communication with the workstation scheduling unit, Among them, the workstation scheduling unit is configured as In response to receiving an entry request signal from the AGV server unit, checking the working status of the workstation, opening the entry fence and sending an entry permission signal to the AGV server unit if it is determined that the workstation can be used for AGV to perform tasks based on the working status of the workstation, and In response to receiving a stop completion signal from the AGV server unit, closing the stop fence; and Among them, the AGV server unit is configured as In response to receiving a station entry request signal from the AGV, a station entry request signal is sent to the workstation scheduling unit. Request signal, In response to receiving a signal allowing entry from the workstation scheduling unit, sending a signal allowing entry to the AGV, and In response to receiving the station entry completion signal from the AGV, the station entry completion signal is sent to the workstation scheduling unit.

23. The dispatch system according to claim 22, wherein: The workstation scheduling unit is configured to shield the entry safety grating included in the entry fence when determining that the workstation is available for the AGV to perform tasks based on the working status of the workstation; and In response to receiving the entry completion signal from the AGV server unit, the entry safety light barrier is restored.

24. The dispatching system according to claim 22 or 23, wherein: The AGV server unit is also configured to receive an in-station signal from the AGV in response to the AGV starting to enter the workstation, and clear the working status signal of the workstation.

25. The dispatch system according to claim 24, wherein: The workstation scheduling unit is also configured to read a leaving signal in response to the AGV server unit receiving an entering signal.

26. The dispatch system according to claim 25, wherein: The AGV server unit is further configured to clear the leaving signal in response to receiving the inbound completion signal from the AGV.

27. The dispatch system according to claim 23, wherein: The workstation scheduling unit is further configured to bind the working state of the workstation with the working state of the AGV in response to the entry completion signal received from the AGV server unit.

28. The dispatch system according to claim 27, wherein: The workstation scheduling unit is further configured to simultaneously clear the working status of the workstation and the working status of the AGV when at least one of the workstation and the AGV is abnormal.

29. The dispatch system according to claim 22, wherein: The workstation scheduling unit is also configured to control an exit fence provided at an exit of the workstation relative to the moving path of the AGV. Among them, the workstation scheduling unit is configured as In response to receiving an exit request signal from the AGV server unit, opening the exit fence and sending an exit permission signal to the AGV server unit, and In response to receiving an outbound completion signal from the AGV server unit, closing the outbound fence and clearing the working state of the workstation; and The AGV server unit is configured as In response to receiving an exit request signal from the AGV, sending an exit request signal to the workstation scheduling unit, In response to receiving a signal allowing exit from the workstation scheduling unit, sending a signal allowing exit to the AGV, and In response to receiving the outbound completion signal from the AGV, the outbound completion signal is sent to the workstation scheduling unit.

30. The dispatch system according to claim 29, wherein: The workstation scheduling unit is configured to shield the outbound safety grating included in the outbound fence; and The outbound safety light barrier is restored in response to receiving an outbound completion signal from the AGV server unit.

31. The dispatch system according to claim 30, wherein: The workstation scheduling unit is further configured to trigger an alarm signal and clear the working state of the workstation when an object passes through the outbound fence when the outbound safety grating is not shielded.

32. The dispatching system according to any one of claims 22 to 31, further comprising: MES units are configured as Store the preset product code corresponding to the vehicle number of the AGV, and check whether the current product code of the AGV is consistent with the preset product code, where When the current product code is consistent with the preset product code, a work permission signal is sent to the work station scheduling unit; When the current product code is inconsistent with the preset product code, an abnormal alarm is issued.

33. The dispatch system according to claim 32, wherein: The abnormal alarm includes a pop-up prompt through the human-machine interface HMI, a flashing red light on the workstation indicator light, or a sound prompt from the workstation buzzer.

34. The dispatch system of claim 32, wherein: The work scheduling unit is configured to upload work completion data to the MES unit in response to the AGV completing the work task.

35. The dispatch system of claim 34, wherein: The MES unit is configured to send a release permission signal to the work scheduling unit after receiving the work completion data; The work scheduling unit is configured to send a release signal to the AGV server unit in response to receiving a release permission signal from the MES unit; as well as The AGV server unit is configured to respond to receiving a release signal from the work scheduling unit, The AGV sends a release signal.

36. A dispatch system according to any one of claims 22 to 35, wherein: The AGV server unit is further configured to transmit a first message including a plurality of AGV signal bits in one or more first communications, The first message includes a byte used to indicate that the binding between the AGV and the workstation is completed.

37. The dispatch system of claim 36, wherein: The first message includes a first AGV signal bit having 8 bytes, wherein the first AGV signal bit includes a byte bit for indicating the health of the AGV system, a byte bit for indicating the AGV offline mode, a byte bit for indicating the AGV online mode, a byte bit for indicating an AGV failure, a byte bit for indicating an AGV emergency stop, a byte bit for indicating that the AGV requests to enter the workstation, a byte bit for indicating that the AGV is entering the workstation, and a byte bit for indicating that the AGV trolley is in place.

38. The dispatch system according to claim 36 or 37, wherein: The first message includes a second AGV signal bit having 8 bytes, wherein the second AGV signal bit includes a byte bit used to indicate that the AGV is bound to the workstation and a byte bit used to indicate that the AGV is unbound from the workstation.

39. The dispatch system of claim 38, wherein: The second AGV signal bit also includes a byte bit for indicating that the AGV is leaving, a byte bit for indicating that the AGV writes a Pack code, and one or more spare byte bits.

40. The dispatch system according to any one of claims 36 to 39, wherein: The first message includes a third AGV signal bit for indicating the AGV vehicle number, a fourth AGV signal bit for indicating the error code, and a fifth AGV signal bit for indicating the Pack code executed by the AGV. signal bit and the sixth AGV signal bit used to represent the AGV transmission code.

41. A dispatch system according to any one of claims 36 to 40, wherein: The first message also includes one or more spare AGV signal bits.

42. A dispatch system according to any one of claims 22 to 35, wherein: The AGV server unit is further configured to transmit a second message including a plurality of PLC signal bits in one or more second communications, The second message includes a byte bit for indicating that the safety light grid is muted.

43. The dispatch system of claim 42, wherein: The second message includes a first PLC signal bit having 8 byte bits, wherein the first PLC signal bit includes a byte bit for indicating the health of the PLC system, a byte bit for indicating the PLC offline mode, a byte bit for indicating the PLC online mode, a byte bit for indicating a PLC fault, a byte bit for indicating an emergency stop of the PLC, a byte bit for indicating that the PLC enters an interlocked state, a byte bit for indicating that the PLC is allowed to enter, and a byte bit for indicating that the PLC leaves an interlocked state.

44. The dispatch system according to claim 42 or 43, wherein: The second message includes a second PLC signal bit having 8 byte bits, wherein the second PLC signal bit includes a byte bit for indicating that the safety light curtain is muted.

45. The dispatch system of claim 44, wherein: The second PLC signal bit also includes a byte bit for indicating a request to leave the PLC, a byte bit for indicating a request to write a Pack code, and one or more spare byte bits.

46. ​​A dispatch system according to any one of claims 42 to 45, wherein: The second message includes a third PLC signal bit for indicating an AGV execution path, a fourth PLC signal bit for indicating a Pack code executed by the PLC, and a fifth PLC signal bit for indicating a PLC transmission code.

47. A dispatch system according to any one of claims 42 to 45, wherein: The second message also includes one or more standby PLC signal bits.

48. A computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, the processor is caused to execute the AGV scheduling method according to any one of claims 1 to 10 or 11 to 18.

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