CN110955210B

CN110955210B - AGV scheduling method, device and system

Info

Publication number: CN110955210B
Application number: CN201911197303.6A
Authority: CN
Inventors: 周小和; 郭海涛; 欧阳长志
Original assignee: Guangdong Jaten Robot and Automation Co Ltd
Current assignee: Guangdong Jaten Robot and Automation Co Ltd
Priority date: 2019-11-29
Filing date: 2019-11-29
Publication date: 2021-10-19
Anticipated expiration: 2039-11-29
Also published as: CN110955210A

Abstract

The method is applied to main equipment and slave equipment which are connected by data, the slave equipment acquires scheduling data generated when the AGV is scheduled by the main equipment in real time in the process that the main equipment sends a scheduling instruction to the AGV by using a virtual IP (Internet protocol), and when the slave equipment does not receive the scheduling data, whether the condition of switching the scheduling equipment is met is judged; if yes, controlling the slave equipment to send a scheduling instruction to the AGV by using the virtual IP; when the master equipment is abnormally scheduled, the virtual IP is used for scheduling the AGV through the slave equipment, so that the operation reliability of the AGV is ensured, hardware equipment such as a disk array cabinet and a router is reduced, and the implementation cost and the maintenance difficulty are greatly reduced.

Description

AGV scheduling method, device and system

Technical Field

The invention relates to the field of automatic guided vehicles, in particular to an AGV dispatching method, device and system.

Background

In an important production link, the stopping of an Automated Guided Vehicle (AGV) scheduling service often causes production interruption, resulting in serious emergency loss. The AGV scheduling server inevitably has the possibility of system crash due to software bugs or various reasons such as hardware aging and looseness. In order to increase reliability, two scheduling server devices are required to operate simultaneously, and when the main server is abnormal, the standby server provides services actively.

On Windows systems, a complete set of highly available schemes is often used to ensure that the standby server can be started immediately after a primary server crashes. But this is a highly concurrent and highly complex control scheme for web servers and the own software of the Windows Server system must be used. The scheme comprises a server service agent redundant host, load uniform control, two pieces of scheduling server equipment and a disk array cabinet. If this scheme is applied to relatively small devices, such as those that schedule AGVs, the cost of implementation and difficulty of maintenance can be quite high.

Based on the above problems, a solution suitable for dispatching relatively small devices, such as AGVs, is needed.

Disclosure of Invention

In view of this, the present invention provides an AGV scheduling method, apparatus and system.

In order to achieve the above purpose, the embodiment of the present invention adopts the following technical solutions:

in a first aspect, an embodiment of the present invention provides an AGV scheduling method, which is applied to a master device and a slave device connected to data, where the master device sends a scheduling instruction to an AGV using a virtual IP, and the method includes:

the slave equipment acquires scheduling data of the master equipment in real time; the scheduling data is data generated when the AGV is scheduled by the main equipment;

when the slave device does not accept the scheduling data, judging whether a condition for switching scheduling devices is met; and if so, controlling the slave equipment to use the virtual IP to send a scheduling instruction to the AGV.

In an optional implementation manner, the step of determining whether the condition for switching the scheduling device is satisfied includes:

judging whether the network of the slave equipment is abnormal or not; if not, confirming that the scheduling state of the main equipment is abnormal.

In an optional implementation manner, the step of determining whether the condition for switching the scheduling device is satisfied further includes:

acquiring the use condition of the virtual IP; the virtual IP is an IP address when the AGV is dispatched by the master equipment or the slave equipment;

and when the virtual IP is not occupied, controlling the slave equipment to send a scheduling instruction to the AGV by using the virtual IP.

In an optional embodiment, the step of determining whether the network of the slave device is abnormal includes:

the slave device sends communication data to all AGVs;

if the slave equipment receives response data of at least one AGV, the network of the slave equipment is normal; and the response data is feedback of the AGV to the communication data.

In an optional embodiment, the step of obtaining the usage of the virtual IP includes:

the slave device sends communication data to the virtual IP;

and if the slave equipment does not receive the response data of the communication data, the virtual IP is not occupied.

In a second aspect, an embodiment of the present invention provides an AGV scheduling apparatus, which is applied to a master device and a slave device connected by data, where the master device sends a scheduling instruction to an AGV using a virtual IP, and the apparatus includes:

an obtaining module, configured to obtain scheduling data of the master device; the scheduling data is data generated when the AGV is scheduled by the main equipment;

the judging module is used for judging whether the conditions for switching the dispatching equipment are met or not when the dispatching data is not received by the slave equipment;

and the processing module is used for controlling the slave equipment to use the virtual IP to send a scheduling instruction to the AGV when the condition of switching the scheduling equipment is met.

In an optional embodiment, the determining module is further configured to determine whether a network of the slave device is abnormal;

the processing module is further configured to confirm that the scheduling state of the master device is abnormal when the network of the slave device is normal.

In an optional implementation manner, the obtaining module is further configured to obtain a use condition of a virtual IP; the virtual IP is an IP address when the AGV is dispatched by the master equipment or the slave equipment;

the processing module is further configured to control the slave device to send a scheduling instruction to the AGV using the virtual IP when the virtual IP is not occupied;

and further for controlling the slave device to send communication data to all AGVs;

and further for determining that the network of the slave device is normal if the slave device receives reply data from at least one AGV; and the response data is feedback of the AGV to the communication data.

And further for controlling the slave device to send communication data to the virtual IP;

and the slave device is further used for determining that the virtual IP is not occupied if the slave device does not receive the response data of the communication data.

In a third aspect, an embodiment of the present invention provides an AGV scheduling system, where the AGV scheduling system includes a master device and a slave device connected by data, and the slave device includes a memory and a processor, and the processor is configured to implement the AGV scheduling method according to any one of the foregoing embodiments when executed.

The AGV scheduling method, the device and the system are applied to a main device and a slave device which are connected with data, the slave device acquires scheduling data generated when the main device schedules the AGV in real time in the process that the main device sends a scheduling instruction to the AGV by using a virtual IP, and when the slave device does not receive the scheduling data, whether the condition of switching the scheduling devices is met is judged; if yes, controlling the slave equipment to send a scheduling instruction to the AGV by using the virtual IP; when the master equipment is abnormally scheduled, the virtual IP is used for scheduling the AGV through the slave equipment, so that the operation reliability of the AGV is ensured, hardware equipment such as a disk array cabinet and a router is reduced, and the implementation cost and the maintenance difficulty are greatly reduced.

In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.

FIG. 1 is a schematic diagram of an AGV dispatching system according to an embodiment of the present invention.

FIG. 2 is a flowchart illustrating an AGV scheduling method according to an embodiment of the present invention.

FIG. 3 is a flowchart illustrating another AGV scheduling method according to an embodiment of the present invention.

FIG. 4 is a functional block diagram of an AGV dispatching method and apparatus according to an embodiment of the present invention.

Icon: 100-an AGV scheduling system; 110-a master device; 120-a slave device; 200-an AGV scheduling device; 210-an obtaining module; 220-a judgment module; 230-processing module.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.

Fig. 1 is a schematic diagram of an AGV dispatching system according to an embodiment of the present invention. The AGV dispatching system 100 includes a master 110, a slave 120, and a plurality of AGVs, the master 110 including a memory, a processor, and a communication module. The memory, the processor and the communication module are electrically connected with each other directly or indirectly to realize the data transmission or interaction. For example, the components may be electrically connected to each other via one or more communication buses or signal lines.

Wherein the memory is used for storing programs or data. The Memory may be, but is not limited to, a Random Access Memory (RAM), a Read Only Memory (ROM), a Programmable Read-Only Memory (PROM), an Erasable Read-Only Memory (EPROM), an electrically Erasable Read-Only Memory (EEPROM), and the like.

The processor is used to read/write data or programs stored in the memory and perform corresponding functions.

The communication module is used for establishing communication connection between the main equipment and other communication terminals through the network and receiving and transmitting data through the network.

The slave device 120 is the same as the master device 110, and includes a memory, a processor and a communication module, and the functions and principles thereof are also the same, and are not described herein again.

In practical application, the master device 110 and the slave device 120 respectively run scheduling software, and are provided with respective IP addresses, the master device 110 occupies a virtual IP to perform scheduling on a plurality of AGVs, the master device 110 stores data generated in a scheduling process in real time, and sends the scheduling data stored in real time to the slave device 120 for backup; the virtual IP address is the address that actually provides the dispatch service, and all AGVs are connected to the virtual IP.

Step 101, the slave device obtains scheduling data of the master device in real time.

And 102, judging whether the condition of switching the dispatching equipment is met or not when the slave equipment does not receive the dispatching data.

And 103, controlling the slave equipment to send a scheduling instruction to the AGV by using the virtual IP.

In the embodiment, the master device is in data connection with the slave device, and in the process that the device sends a scheduling instruction to the AGV by using the virtual IP, the slave device acquires scheduling data generated when the master device schedules the AGV in real time, and when the slave device does not receive the scheduling data, whether a condition for switching the scheduling device is met is judged; if yes, controlling the slave equipment to send a scheduling instruction to the AGV by using the virtual IP; when the master equipment is abnormally scheduled, the virtual IP is used for scheduling the AGV through the slave equipment, so that the operation reliability of the AGV is ensured, hardware equipment such as a disk array cabinet and a router is reduced, and the implementation cost and the maintenance difficulty are greatly reduced.

On the basis of fig. 2, a possible implementation manner of a complete scheme is given below, and specifically, referring to fig. 3, a flowchart of another AGV scheduling method provided by the embodiment of the present invention is shown.

It should be noted that the basic principle and the generated technical effects of the AGV dispatching method provided by this embodiment are the same as those of the above embodiment, and for the sake of brief description, no part of this embodiment is mentioned, and reference may be made to the corresponding contents in the above embodiment.

And in the process of scheduling the AGV by the main equipment, storing data generated in the scheduling process in real time, and sending the scheduling data stored in real time to the slave equipment for backup.

When the slave equipment does not receive the scheduling data, it is indicated that at least one of the master equipment and the slave equipment has a problem, and at the moment, further judgment is needed, and whether the condition of switching the scheduling equipment is met is judged; and if so, switching the slave equipment to schedule the AGV.

It should be noted that step 102 includes four substeps, and details not mentioned in this step will be described in the substeps.

Substep 102-1, when the slave device does not receive the scheduling data, determines whether the network of the slave device is abnormal.

Judging whether the network of the slave equipment is abnormal or not; if the network of the slave equipment is normal, the network of the master equipment is abnormal; and if the network of the slave equipment is abnormal, the condition of switching and scheduling the equipment is met.

It should be noted that the sub-step 102-1 includes four sub-steps, and details of the sub-steps will be described in detail without reference to the sub-step.

Sub-step 102-1-1, the slave device sends communication data to all AGVs.

In one embodiment, the communication data is a Ping packet, which is sent from the device to AGVs 1-AGVn.

Sub-step 102-1-2, determines whether response data from the AGV is received.

If yes, performing substeps 102-1-3; if not, then sub-steps 102-1-4 are performed.

If the response of at least one of the AGVs can be received, the network of the slave is normal; if not, the network of the slave device is abnormal.

Sub-step 102-1-3, the network of the slave device is normal.

On the premise that the network of the slave device is normal, the sub-step 102-2 is further executed to determine whether the condition for switching the scheduling device is satisfied.

Substep 102-1-4, the network of the slave device is abnormal.

And the network of the slave equipment is abnormal, and the user is informed that the network of the slave equipment is abnormal.

And a substep 102-2 of obtaining the use condition of the virtual IP.

And on the premise that the network of the slave equipment is normal, acquiring the service condition of the virtual IP, and if the service condition of the virtual IP meets the condition of switching and scheduling equipment, namely the virtual IP is not occupied by the master equipment, switching the slave equipment to schedule the AGV.

The purpose of this step is to prevent two masters and slaves from occupying the same IP address at the same time, which causes network data confusion.

Sub-step 102-2-1, the slave device sends communication data to said virtual IP.

In one embodiment, the communication data is a Ping packet, i.e., the Ping packet is sent from the device to the virtual IP address.

And a substep 102-2-2 of determining whether response data of the virtual IP is received.

If yes, performing substep 102-2-4; if not, then sub-step 102-2-3 is performed.

If the response data of the virtual IP is received, the virtual IP is occupied by the main equipment; and if the response data of the virtual IP is not received, the virtual IP is not occupied.

Sub-step 102-2-3, the virtual IP is unoccupied.

If the virtual IP is not occupied, step 103 is further executed.

Sub-step 102-2-4, the virtual IP is occupied by the master device.

If the virtual IP is occupied by the master device, the slave device cannot occupy the virtual IP, and informs the user that the master device has network abnormality, but the virtual IP is still occupied.

The network of the master equipment is abnormal, the network of the slave equipment is normal, the virtual IP is not occupied, the condition of switching the dispatching equipment is met at the moment, the slave equipment recovers the dispatching data sent by the master equipment, the dispatching service is started, and the slave equipment is controlled to occupy the virtual IP through the ARP protocol to send a dispatching instruction to the AGV so as to dispatch the AGV.

In summary, the AGV scheduling method, apparatus, and system provided in the embodiments of the present invention are applied to a master device and a slave device connected by data, where in a process that the master device sends a scheduling instruction to the AGV using a virtual IP, the slave device obtains scheduling data generated when the master device schedules the AGV in real time, and when the slave device does not receive the scheduling data, determines whether a condition for switching the scheduling device is satisfied; if yes, controlling the slave equipment to send a scheduling instruction to the AGV by using the virtual IP; when the master equipment is abnormally scheduled, the virtual IP is used for scheduling the AGV through the slave equipment, so that the operation reliability of the AGV is ensured, hardware equipment such as a disk array cabinet and a router is reduced, and the implementation cost and the maintenance difficulty are greatly reduced.

In order to perform the corresponding steps in the above embodiments and various possible manners, an implementation manner of the AGV scheduler is given below. Further, referring to fig. 4, fig. 4 is a functional block diagram of an AGV dispatching device according to an embodiment of the present invention. It should be noted that the basic principle and the technical effects of the AGV dispatching device provided by this embodiment are the same as those of the above embodiment, and for the sake of brief description, no part of this embodiment is mentioned, and reference may be made to the corresponding contents in the above embodiment. The AGV dispatching device 200 includes: an obtaining module 210, a determining module 220 and a processing module 230.

It is understood that in one possible embodiment, step 101 and step 102-2 are performed by the obtaining module 210.

It is understood that in one possible embodiment, step 101-1-2 and step 101-2-2 are performed by the decision module 220.

It will be appreciated that in one possible embodiment, steps 102-1 and 103 are performed by processing module 230.

In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method can be implemented in other ways. The apparatus embodiments described above are merely illustrative, and for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

In addition, the functional modules in the embodiments of the present invention may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.

The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. An AGV scheduling method is applied to a master device and a slave device which are connected through data, wherein the master device sends a scheduling instruction to the AGV by using a virtual IP (Internet protocol), and the AGV scheduling method is characterized by comprising the following steps:

when the slave device does not accept the scheduling data, judging whether a condition for switching scheduling devices is met;

if yes, controlling the slave equipment to use the virtual IP to send a scheduling instruction to the AGV;

the step of judging whether the conditions for switching the scheduling device are met comprises the following steps:

judging whether the network of the slave equipment is abnormal or not; if not, confirming that the scheduling state of the main equipment is abnormal;

the slave device sends communication data to the virtual IP; the virtual IP is an IP address when the AGV is dispatched by the master equipment or the slave equipment;

if the slave equipment does not receive the response data of the virtual IP, the virtual IP is not occupied;

2. The method of claim 1, wherein the step of determining whether the network of the slave device is abnormal comprises:

the slave device sends communication data to all AGVs;

3. An AGV scheduling device is applied to a master device and a slave device which are connected through data, wherein the master device sends a scheduling instruction to the AGV by using a virtual IP (Internet protocol), and the AGV scheduling device is characterized by comprising:

the processing module is used for controlling the slave equipment to use the virtual IP to send a scheduling instruction to the AGV when the condition of switching the scheduling equipment is met;

the judging module is further configured to judge whether the network of the slave device is abnormal;

the processing module is further configured to confirm that the scheduling state of the master device is abnormal when the network of the slave device is normal;

the acquisition module is also used for acquiring the service condition of the virtual IP; the virtual IP is an IP address when the AGV is dispatched by the master equipment or the slave equipment;

the processing module is further configured to control the slave device to send a scheduling instruction to the AGV using the virtual IP when the virtual IP is not occupied; and further for controlling the slave device to send communication data to the virtual IP; and the slave device is also used for determining that the virtual IP is not occupied if the slave device does not receive the response data of the virtual IP.

4. The apparatus of claim 3,

the processing module is further used for controlling the slave equipment to send communication data to all AGVs;

5. An AGV scheduling system comprising a master and a slave in data connection, the slave comprising a memory and a processor, the processor when executing implementing an AGV scheduling method according to any one of claims 1-2.