CN103995536B - Material tray warehousing method and system guaranteeing accurate material receiving by automatic navigation trolley - Google Patents
Material tray warehousing method and system guaranteeing accurate material receiving by automatic navigation trolley Download PDFInfo
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- CN103995536B CN103995536B CN201410252040.5A CN201410252040A CN103995536B CN 103995536 B CN103995536 B CN 103995536B CN 201410252040 A CN201410252040 A CN 201410252040A CN 103995536 B CN103995536 B CN 103995536B
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Abstract
The invention discloses a material tray warehousing method and system guaranteeing accurate material receiving by an automatic guided vehicle. The material tray warehousing method comprises the steps that when the automatic guided vehicle arrives at a material receiving platform and gets ready for fetching materials, a material receiving information verification request is sent to a warehouse dispatching platform; the warehouse dispatching platform acquires the current index number Index l of the automatic guided vehicle and searches for the corresponding predistribution transfer task number task 1 according to the index number Index l; the warehouse dispatching platform compares the task 1 and a current transfer task number task 2 provided by an electric control unit, wherein the task 2 is the transfer task number corresponding to a material container on the material receiving platform currently; if the task 1 is equal to the task 2, the warehouse dispatching platform sends a verification success instruction to the automatic navigation trolley; the automatic guided vehicle continues to receive the materials and transfer the material container to a target position. According to the material tray warehousing method and system guaranteeing accurate material receiving by the automatic guided vehicle, it is guaranteed that the AGV does not receive the material incorrectly in the material receiving process, an extra guarantee is provided for conformance between system record information and reality after the container is warehoused, and therefore production quality accidents caused by container warehousing dislocation can be avoided as far as possible.
Description
Technical field
The present invention relates to Automatic Tobacco Logistic System field, particularly to a kind of thing guaranteeing that automatic Guided Vehicle accurately connects goods
Material torr disk storage method and system.
Background technology
Development with production of cigarettes and the raising of material flows automation degree, automatic Guided Vehicle AGV (Automated
Guided Vehicle, AGV) have become as important handbarrow in logistics system, traditional with AGV for main handbarrow
Automation logistic warehousing and storaging system in, the storage method of AGV transport operation generally includes：
Step 101, be placed with material container reach warehouse-in application platform, to storehouse management platform send warehouse-in request,
Storehouse management platform receives and produces AGV carrying warehouse-in mission bit stream.
Step 102, container certain the caching platform of arrival that continues to move ahead waits AGV to connect goods.
Step 103, warehouse dispatching platform obtain warehouse-in mission bit stream, carrying information are issued to AGV control platform, by it
Distribute an AGV dolly therein and execute carrying task.
Step 104, AGV control platform feed back the call number information of AGV to warehouse dispatching platform, will by warehouse dispatching platform
It is bound with carrying task number.
Step 105, AGV self-navigation to warehouse-in connect goods station platform, picking and by container handling to target location, complete to carry
Task.
Step 106, warehouse dispatching platform update carrying mission bit stream according to the call number of AGV, and execution AGV carrying completes to grasp
Make.
Step 107, container continue will by other conveying equipment (if there is) such as shuttle, chain-linked conveyer, piler etc.
Container handling, to shelf magazine goods yard, is finally completed whole input work.
The method also has the regular hour to starting carrying from reception task in the AGV picking link of step 105, AGV
Every period connects goods station station information it may happen that change, and the in-track platform picking priority time of each AGV also cannot be with the application of task
Time matches, and AGV, in picking, not verifying information of container again, having container just to take as long as connecing goods station platform, thus this
Mechanism cannot ensure that the container that AGV gets every time is exactly that container of the original distribution of system, easily produce misconnection phenomenon, lead
After causing container warehouse-in, the actual material information of container is not inconsistent phenomenon with system record information, and container is in outbound it is possible to cause
Quality production accident.
Content of the invention
In view of above technical problem, the invention provides a kind of guarantee that automatic Guided Vehicle accurately connects the material tray of goods and enters
Storehouse method and system it can be ensured that AGV not wrong goods when connecing goods, be after container warehouse-in system record information with actual be consistent carry
Ensure for many one layers, thus avoiding the quality of production accident leading to due to container warehouse-in dislocation as far as possible.
According to an aspect of the present invention, provide a kind of material tray warehouse-in side guaranteeing that automatic Guided Vehicle accurately connects goods
Method, including：
Automatic Guided Vehicle reaches when connecing goods station platform preparation picking, sends to warehouse dispatching platform and connects goods information checking Shen
Please；
Warehouse dispatching platform obtains call number Index1 of current automatic Guided Vehicle, and searches correspondence according to this call number
Predistribution carrying task number task1；
The current carrying task number task2 that warehouse dispatching platform provides to task1 and ECU compares, wherein
Task2 is currently to connect material container corresponding carrying task number on the platform of goods station；
If task1 is equal with task2, warehouse dispatching platform sends to verify to automatic Guided Vehicle and successfully instructs；
Automatic Guided Vehicle continues to connect goods, and material container is transported to target location.
In a preferred embodiment of the invention, methods described also includes：
If task1 is unequal with task2, storehouse management platform updates the binding of carrying task according to task1, task2
Call number and target location address information；
ECU judges the call number of carrying task binding and the renewal whether success of target location address information；
If the call number of carrying task binding and being updated successfully of target location address information, warehouse dispatching platform is held
Row sends, to automatic Guided Vehicle, the step verifying successfully instruction.
In a preferred embodiment of the invention, described storehouse management platform updates carrying according to task1, task2 and appoints
The step of the call number of business binding and target location address information includes：By call number Index1 of current automatic Guided Vehicle,
Carrying task number task2 and task2 corresponding target location corresponding with currently connecing material container on the platform of goods station address information is entered
Row binding.
In a preferred embodiment of the invention, methods described also includes：If carrying task binding call number and
The renewal of target location address information is unsuccessful, then automatic Guided Vehicle is out of service, and warning device is externally reported to the police simultaneously.
In a preferred embodiment of the invention, the step that described warning device is externally reported to the police includes：Buzzer is external
Sounding alarm；And/or, the external luminous alarm of alarm lamp.
In a preferred embodiment of the invention, material container is transported to behind target location by automatic Guided Vehicle, institute
Method of stating also includes：
Warehouse dispatching platform releases call number Index1 of automatic Guided Vehicle, with current carrying task number task2 and
The binding of task2 corresponding target location address information；
Warehouse dispatching platform is that the automatic Guided Vehicle of call number Index1 distributes new carrying task, and completes Index1
Binding with new carrying task number and its target location address information.
According to a further aspect in the invention, provide a kind of material tray warehouse-in system guaranteeing that automatic Guided Vehicle accurately connects goods
System, including automatic Guided Vehicle, warehouse dispatching platform and ECU, wherein：
Automatic Guided Vehicle, for when arrival connects goods station platform preparation picking, sending to warehouse dispatching platform and connecing goods information
Verification application；And after the verification receiving the transmission of warehouse dispatching platform successfully instructs, continue to connect goods, and material container is carried
To target location；
Warehouse dispatching platform, for receiving when connecing goods information checking application of automatic Guided Vehicle transmission, obtains and works as
Call number Index1 of front automatic Guided Vehicle, and corresponding predistribution carrying task number task1 is searched according to this call number；Right
The current carrying task number task2 of task1 and ECU offer compares；When task1 is equal with task2, to automatic
Navigation dolly sends to verify and successfully instructs；
ECU, is currently to connect for providing current carrying task number task2, wherein task2 to warehouse dispatching platform
Material container corresponding carrying task number on the platform of goods station.
In a preferred embodiment of the invention, described material tray Input System also includes storehouse management platform, its
In：
Storehouse management platform, for when task1 and task2 is unequal, updating carrying task according to task1, task2 and tying up
Fixed call number and target location address information；
ECU is additionally operable to judge whether the call number of carrying task binding becomes with the renewal of target location address information
Work(；
Warehouse dispatching platform is additionally operable to the judged result according to ECU, in call number and the target of carrying task binding
When being updated successfully of location address information, executes and sends, to automatic Guided Vehicle, the operation verifying successfully instruction.
In a preferred embodiment of the invention, storehouse management platform is updating carrying task according to task1, task2
The call number of binding and during the address information of target location, storehouse management platform is specifically for by the index of current automatic Guided Vehicle
Number Index1, carrying task number task2 and task2 corresponding target location corresponding with currently connecing material container on the platform of goods station
Address information is bound.
In a preferred embodiment of the invention, described material tray Input System also includes warning device, wherein：
Automatic Guided Vehicle is additionally operable to the judged result according to ECU, in call number and the target of carrying task binding
When the renewal of location address information is unsuccessful, out of service；
Warning device, for the judged result according to ECU, in call number and the target location of carrying task binding
When the renewal of address information is unsuccessful, externally report to the police.
In a preferred embodiment of the invention, described warning device includes buzzer and/or alarm lamp, its
In：
Buzzer, for the judged result according to ECU, on call number and the target location ground of carrying task binding
When the renewal of location information is unsuccessful, external sounding alarm；
Alarm lamp, for the judged result according to ECU, in call number and the target position of carrying task binding
Put address information renewal unsuccessful when, external luminous alarm.
In a preferred embodiment of the invention, material container is transported to target location by described automatic Guided Vehicle
Afterwards, warehouse dispatching platform is additionally operable to release call number Index1 of automatic Guided Vehicle, with current carrying task number task2, with
And the binding of task2 corresponding target location address information；For the new carrying of the automatic Guided Vehicle distribution of call number Index1
Task, and complete Index1 and the binding of new carrying task number and its target location address information.
The present invention passes through when AGV reaches every time and connects goods station platform preparation picking, the data of newly-increased AGV and warehouse dispatching platform
Cross-check mechanism, system corrects the AGV picking information of mistake automatically it is ensured that each picking of AGV can be accurate；Even if
In the case of system cannot automatically process, AGV also can stop continuing running and alert notice manual intervention is processed, it is to avoid container is wrong
Position warehouse-in, for the one layer guarantee many with the actual offer that is consistent of system record information after container warehouse-in.
Brief description
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
Have technology description in required use accompanying drawing be briefly described it should be apparent that, drawings in the following description be only this
Some embodiments of invention, for those of ordinary skill in the art, without having to pay creative labor, also may be used
So that other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 connects the signal of one embodiment of material tray storage method of goods for prior art based on automatic Guided Vehicle
Figure.
Fig. 2 is present invention ensure that automatic Guided Vehicle accurately connects the signal of one embodiment of material tray storage method of goods
Figure.
Fig. 3 is present invention ensure that automatic Guided Vehicle accurately connects the signal of another embodiment of material tray storage method of goods
Figure.
Fig. 4 is present invention ensure that automatic Guided Vehicle accurately connects the schematic diagram of one embodiment of material tray system of goods.
Fig. 5 is present invention ensure that automatic Guided Vehicle accurately connects the schematic diagram of another embodiment of material tray system of goods.
Fig. 6 is the schematic flow sheet of material vanning warehouse-in in one embodiment of the invention.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation description is it is clear that described embodiment is only a part of embodiment of the present invention, rather than whole embodiments.Below
Description only actually at least one exemplary embodiment is illustrative, and never conduct to the present invention and its application or makes
Any restriction.Based on the embodiment in the present invention, those of ordinary skill in the art are not making creative work premise
Lower obtained every other embodiment, broadly falls into the scope of protection of the invention.
Unless specifically stated otherwise, the part otherwise illustrating in these embodiments and positioned opposite, the digital table of step
Reach formula and numerical value does not limit the scope of the invention.
Simultaneously it should be appreciated that for the ease of description, the size of the various pieces shown in accompanying drawing is not according to reality
Proportionate relationship draw.
May be not discussed in detail for technology, method and apparatus known to person of ordinary skill in the relevant, but suitable
When in the case of, described technology, method and apparatus should be considered authorize description a part.
In all examples with discussion shown here, any occurrence should be construed as merely exemplary, and not
It is as restriction.Therefore, the other examples of exemplary embodiment can have different values.
It should be noted that：Similar label and letter represent similar terms in following accompanying drawing, therefore, once a certain Xiang Yi
It is defined in individual accompanying drawing, then do not need it is further discussed in subsequent accompanying drawing.
Fig. 2 is present invention ensure that automatic Guided Vehicle accurately connects the signal of one embodiment of material tray storage method of goods
Figure.Preferably, the present embodiment can accurately connect the material tray Input System execution of goods by guaranteeing automatic Guided Vehicle.The method bag
Include following steps：
Step 201, automatic Guided Vehicle reaches when connecing goods station platform preparation picking, sends to warehouse dispatching platform and connects goods information
Verification application.
Step 202, warehouse dispatching platform obtains call number Index1 of current automatic Guided Vehicle, and according to this call number
Search corresponding predistribution carrying task number task1.
Step 203, the current carrying task number task2 that warehouse dispatching platform provides to task1 and ECU compares
Right, wherein task2 is currently to connect material container corresponding carrying task number on the platform of goods station.
Step 204, if task1 is equal with task2, warehouse dispatching platform sends to verify to automatic Guided Vehicle and successfully refers to
Order.
Step 205, automatic Guided Vehicle continues to connect goods, and material container is transported to target location.
In a preferred embodiment of the invention, after step 204, methods described can also include：
If task1 is unequal with task2, storehouse management platform updates the binding of carrying task according to task1, task2
Call number and target location address information.
ECU judges the call number of carrying task binding and the renewal whether success of target location address information.
If the call number of carrying task binding and being updated successfully of target location address information, warehouse dispatching platform is held
Row sends, to automatic Guided Vehicle, the step verifying successfully instruction.
Guarantee that automatic Guided Vehicle accurately connects the material tray storage method of goods based on what the above embodiment of the present invention provided,
By when AGV reaches every time and connects goods station platform and prepare picking, the data interaction verification scheme of newly-increased AGV and warehouse dispatching platform,
System corrects the AGV picking information of mistake automatically it is ensured that each picking of AGV can be accurate, is system note after container warehouse-in
The one layer guarantee many with the actual offer that is consistent of record information, avoids the quality of production accident leading to due to container warehouse-in dislocation as far as possible.
In a preferred embodiment of the invention, when task1 and task2 is unequal, described storehouse management platform root
The step of the call number and target location address information that update the binding of carrying task according to task1, task2 specifically can include：Will
Call number Index1 of current automatic Guided Vehicle, carrying task number task2 corresponding with currently connecing material container on the platform of goods station,
And task2 corresponding target location address information bound, such that it is able to correct the AGV picking information of mistake, will mistake
AGV picking information (task1 and its corresponding target location address information) be updated to correct AGV picking information and (currently connect
Material container corresponding carrying task number task2 and its corresponding target location address information on the platform of goods station).
In a preferred embodiment of the invention, methods described can also include：If the index of carrying task binding
Number and target location address information renewal unsuccessful, then automatic Guided Vehicle is out of service, and warning device is externally reported to the police simultaneously
And wait and manually carry out abnormality processing.
Preferably, described abnormality processing can include artificial correction document information, or even manually first container is moved away from scene,
Post analysis process etc..
The above embodiment of the present invention can ensure that each picking of AGV can be accurate, even if cannot be automatic in system
Under disposition, AGV can stop continuing running and alert notice manual intervention is processed, it is to avoid container dislocation warehouse-in, is container
System record information one layer guarantee many with the actual offer that is consistent after warehouse-in.
In a preferred embodiment of the invention, the step that described warning device is externally reported to the police can include：Buzzer
Externally sounding alarm；And/or, the external luminous alarm of alarm lamp.
Fig. 3 is present invention ensure that automatic Guided Vehicle accurately connects the signal of another embodiment of material tray storage method of goods
Figure.Compared with embodiment described in Fig. 2, the method described in Fig. 3 after step 205, can also include：
Step 301, warehouse dispatching platform releases call number Index1 of automatic Guided Vehicle, with current carrying task number
The binding of task2 and task2 corresponding target location address information.
Step 302, warehouse dispatching platform is that the automatic Guided Vehicle of call number Index1 distributes new carrying task, and complete
Become Index1 and the binding of new carrying task number and its target location address information.
By the above embodiment of the present invention, warehouse dispatching platform updates carrying mission bit stream according to the call number of AGV, holds
Row AGV carrying completes to operate.
Preferably, after step 302, methods described can also include：Container continue by other conveying equipments (if
Have) as shuttle, chain-linked conveyer, piler etc. by container handling to shelf magazine goods yard, be finally completed whole input work.
Fig. 4 is present invention ensure that automatic Guided Vehicle accurately connects the schematic diagram of one embodiment of material tray system of goods.
As shown in figure 4, described material tray Input System includes automatic Guided Vehicle 401, warehouse dispatching platform 402 and ECU
403, wherein：
Automatic Guided Vehicle 401, for when arrival connects goods station platform preparation picking, sending to warehouse dispatching platform 402 and connecing
Goods information checking application；And after the verification receiving warehouse dispatching platform 402 transmission successfully instructs, continue to connect goods, and by thing
Material container is transported to target location.
Warehouse dispatching platform 402, for receive automatic Guided Vehicle 401 transmission when connecing goods information checking application,
Obtain call number Index1 of current automatic Guided Vehicle 401, and corresponding predistribution is searched according to this call number and carry task
Number task1；The current carrying task number task2 that task1 and ECU 403 are provided compares；In task1 and task2
When equal, verify to automatic Guided Vehicle 401 transmission and successfully instruct.
ECU 403, currently carries task number task2 for providing to warehouse dispatching platform 402, and wherein task2 is
Currently connect material container corresponding carrying task number on the platform of goods station.
Guarantee that automatic Guided Vehicle accurately connects the material tray Input System of goods based on what the above embodiment of the present invention provided,
By when AGV reaches every time and connects goods station platform and prepare picking, the data interaction verification scheme of newly-increased AGV and warehouse dispatching platform,
System corrects the AGV picking information of mistake automatically it is ensured that each picking of AGV can be accurate, is system note after container warehouse-in
The one layer guarantee many with the actual offer that is consistent of record information, avoids the quality of production accident leading to due to container warehouse-in dislocation as far as possible.
Fig. 5 is present invention ensure that automatic Guided Vehicle accurately connects the schematic diagram of another embodiment of material tray system of goods.
Compared with embodiment illustrated in fig. 4, in the embodiment shown in fig. 5, described material tray Input System can also include storehouse management
Platform 501, wherein：
Storehouse management platform 501, for when task1 and task2 is unequal, updating carrying according to task1, task2 and appointing
The call number of business binding and target location address information.
Whether ECU 403 is additionally operable to judge the renewal of the call number of carrying task binding and target location address information
Success.
Warehouse dispatching platform 402 is additionally operable to the judged result according to ECU 403, in the call number of carrying task binding
With target location address information when being updated successfully, execute and send, to automatic Guided Vehicle 401, the operation verifying successfully instruction.
In a preferred embodiment of the invention, storehouse management platform 501 is updating carrying times according to task1, task2
When the call number of business binding and target location address information, storehouse management platform 501 specifically can be used for current self-navigation
Call number Index1 of dolly 401, carrying task number task2 and task2 pair corresponding with currently connecing material container on the platform of goods station
The target location address information answered is bound, such that it is able to correct mistake AGV picking information, will mistake AGV picking
Information (task1 and its corresponding target location address information) is updated to correct AGV picking information and (currently connects thing on the platform of goods station
Material container corresponding carrying task number task2 and its corresponding target location address information).
As shown in figure 5, in a preferred embodiment of the invention, described material tray Input System can also include reporting
Alert equipment 502, wherein：
Automatic Guided Vehicle 401 is additionally operable to the judged result according to ECU 403, in the call number of carrying task binding
When unsuccessful with the renewal of target location address information, out of service；
Warning device 502, for the judged result according to ECU 403, in call number and the mesh of carrying task binding
When the renewal of cursor position address information is unsuccessful, externally reports to the police and wait and manually carry out abnormality processing.
Preferably, described abnormality processing can include artificial correction document information, or even manually first container is moved away from scene,
Post analysis process etc..
The above embodiment of the present invention can ensure that each picking of AGV can be accurate, even if cannot be automatic in system
Under disposition, AGV can stop continuing running and alert notice manual intervention is processed, it is to avoid container dislocation warehouse-in, is container
System record information one layer guarantee many with the actual offer that is consistent after warehouse-in.
In a preferred embodiment of the invention, described warning device 502 can include buzzer and/or police instruction
Lamp, wherein：
Buzzer, for the judged result according to ECU 403, in call number and the target location of carrying task binding
When the renewal of address information is unsuccessful, external sounding alarm.
Alarm lamp, for the judged result according to ECU 403, in call number and the target of carrying task binding
When the renewal of location address information is unsuccessful, external luminous alarm.
In a preferred embodiment of the invention, material container is transported to target position by described automatic Guided Vehicle 401
Postpone, warehouse dispatching platform 402 can be also used for releasing call number Index1 of automatic Guided Vehicle 401, appoint with current carrying
The binding of business task2 and task2 corresponding target location address information；Automatic Guided Vehicle for call number Index1
The new carrying task of 401 distribution, and complete Index1 and the binding of new carrying task number and its target location address information.
By the above embodiment of the present invention, warehouse dispatching platform updates carrying mission bit stream according to the call number of AGV, holds
Row AGV carrying completes to operate.
Below by specific example, the present invention will be described：
Fig. 6 is the schematic flow sheet of the material such as fine work line finished cut tobacco vanning warehouse-in in one embodiment of the invention.
As shown in fig. 6, in figure one conveying platform of each box indicating, the numerical value on square frame represents that platform is numbered, and arrow represents appearance
The direction of motion of device.Empty van is transported to 2001 empty vans by AGV from tiered warehouse facility outbound and supplements platform, through 2002,2003,2004
Deliver to vanning platform 1 or vanning platform 2 on conveying platform, weigh 2044 after filling finished cut tobacco and write RFID (radio frequency
Identification, radio frequency identification) information, put in storage in 2047 platform applications, if applying for successfully, this cigarette
Silk case will bind a carrying task number, and AGV control system comes to connect goods by distributing an AGV, before this tobacco shred box continues simultaneously
OK, it is transported to farthest sky platform (farthest can only reach 2050 platforms), wait AGV to connect goods.
2047th, 2048,2049,2050 is the caching platform that AGV connects goods, and system occurs that at most 4 AGV of wait hold simultaneously
Row connects the phenomenon of goods task, because AGV is distributed in each point in warehouse, so AGV be likely to cannot according to the application of task first
Order reaches 2050 platform pickings it is likely that causing wrong tobacco shred box phenomenon afterwards.
System is being controlled when AGV reaches when 2050 platforms prepare and connect goods, and now AGV initiates to connect to warehouse dispatching platform
Goods information checking application, through system check or correction, the only carrying task number task1 of AGV and 2050 current carrying
In the case that task number task2 is consistent, AGV just may proceed to connect goods, and otherwise AGV will report to the police before being parked in 2050 platforms, waits artificial
Intervention is processed, and this method can be prevented effectively from the generation of AGV wrong tobacco shred box accident.
The concrete conditions including 4 carrying tasks with warehouse-in mission bit stream below are introduced：
Warehouse dispatching platform obtains warehouse-in mission bit stream, and wherein said warehouse-in information includes carrying 4 successively and is placed with thing
The carrying task of the container of material, respectively task 1, task 2, task 3 and task 4.
Carrying information is issued to AGV control platform by warehouse dispatching platform, by its a distribution AGV dolly therein execution
Carrying task；AGV control platform to warehouse dispatching platform feed back AGV call number information, by warehouse dispatching platform by its with remove
Fortune task number binding.Corresponding task is as shown in table 1 with the corresponding relation of AGV dolly.
Table 1
| Carrying task number | Dolly call number |
| Task 1 | No. 1 dolly |
| Task 2 | No. 2 dollies |
| Task 3 | No. 3 dollies |
| Task 4 | No. 4 dollies |
Reach when 2050 platforms prepare and connect goods in No. 1 dolly and proceed by control, reach 2050 platforms etc. in task 1 waiting
During goods, warehouse dispatching platform is obtained by ECU and currently connects material container corresponding carrying task number on goods station platform 2050,
If currently connecing carrying task number on goods station platform 2050 is task 1, that is, the carrying task number task1 of AGV with 2050 current
Carrying task number task2 is consistent, then automatic Guided Vehicle (No. 1 dolly) continues to connect goods, and material container is transported to target position
Put.
Because AGV is distributed in each point in warehouse, AGV is likely to reach 2050 according to the application sequencing of task
Platform picking, if the carrying task number on currently connecing goods station platform 2050 is task 1, if No. 2 dollies arrive first at
When 2050 platforms prepare to connect goods, the carrying task number task1 of AGV is consistent with 2050 current carrying task number task2, then as table
Shown in 2, the carrying task number task1 of No. 2 dollies binding (No. 2 dolly corresponding task 2) can be updated to currently carry and appoint
Business task2 (task 1), afterwards automatic Guided Vehicle (No. 2 dollies) continue to connect goods, and material container is transported to target position
Put.
Wherein, then by the carrying task number task1 of No. 2 dollies binding (No. 2 dolly corresponding task 2) it is updated to currently remove
After fortune task number task2 (task 1), also accordingly adjust to dolly and abortive corresponding relation.As shown in table 2,
The task 1 and 2 of No. 1, No. 2 dolly binding can directly be exchanged；The far and near weight of goods station platform can also be connect according to dolly current distance
It is newly assigned to 1,3, No. 4 dollies with corresponding task (task 2,3,4).
Table 2
| Carrying task number | Dolly call number |
| Task 2 | No. 1 dolly |
| Task 1 | No. 2 dollies |
| Task 3 | No. 3 dollies |
| Task 4 | No. 4 dollies |
If the task of No. 2 dolly bindings can not be updated to task 1, that is, update unsuccessful, then No. 2 dollies will be parked in 2050
Before platform, warning device is reported to the police simultaneously, waits manual intervention to process, this method can be prevented effectively from AGV wrong tobacco shred
The generation of case accident.
So far, it is described in detail present invention ensure that automatic Guided Vehicle accurately connects the material tray method of goods and is
System.In order to avoid covering the design of the present invention, some details known in the field are not described.Those skilled in the art according to
Above description, completely it can be appreciated how implementing technical scheme disclosed herein.
One of ordinary skill in the art will appreciate that all or part of step realizing above-described embodiment can pass through hardware
To complete it is also possible to the hardware being instructed correlation by program is completed, described program can be stored in a kind of computer-readable
In storage medium, storage medium mentioned above can be read only memory, disk or CD etc..
Description of the invention is given for the sake of example and description, and is not exhaustively or by the present invention
It is limited to disclosed form.Many modifications and variations are obvious for the ordinary skill in the art.Select and retouch
Stating embodiment is in order to the principle of the present invention and practical application are more preferably described, and so that those of ordinary skill in the art is managed
The solution present invention is thus design is suitable to the various embodiments with various modifications of special-purpose.
Claims (10)
1. a kind of guarantee automatic Guided Vehicle accurately connect goods material container storage method it is characterised in that include：
Automatic Guided Vehicle reaches when connecing goods station platform preparation picking, sends to warehouse dispatching platform and connects goods information checking application；
Warehouse dispatching platform obtains call number Index1 of current automatic Guided Vehicle, and is searched corresponding pre- according to this call number
Distribution carrying task number task1；
The current carrying task number task2 that warehouse dispatching platform provides to task1 and ECU compares, wherein task2
For currently connecing material container corresponding carrying task number on the platform of goods station；
If task1 is equal with task2, warehouse dispatching platform sends to verify to automatic Guided Vehicle and successfully instructs；
Automatic Guided Vehicle continues to connect goods, and material container is transported to target location；
Wherein, methods described also includes：
If task1 is unequal with task2, storehouse management platform updates the index of carrying task binding according to task1, task2
Number and target location address information；
ECU judges the call number of carrying task binding and the renewal whether success of target location address information；
If the call number of carrying task binding and being updated successfully of target location address information, warehouse dispatching platform execute to
Automatic Guided Vehicle sends the step verifying successfully instruction.
2. method according to claim 1 is it is characterised in that described storehouse management platform updates according to task1, task2
The step of the call number of carrying task binding and target location address information includes：
By call number Index1 of current automatic Guided Vehicle, and currently connect material container corresponding carrying task number on the platform of goods station
Task2 and task2 corresponding target location address information is bound.
3. method according to claim 1 is it is characterised in that also include：
If the renewal of the call number of carrying task binding and target location address information is unsuccessful, automatic Guided Vehicle stops
Run, warning device is externally reported to the police simultaneously.
4. method according to claim 3 is it is characterised in that the step that warning device is externally reported to the police includes：
The external sounding alarm of buzzer；
And/or, the external luminous alarm of alarm lamp.
5. method according to claim 2 is it is characterised in that material container is transported to target location by automatic Guided Vehicle
Afterwards, methods described also includes：
Warehouse dispatching platform releases call number Index1 of automatic Guided Vehicle, with current carrying task number task2 and
The binding of task2 corresponding target location address information；
Warehouse dispatching platform is that the automatic Guided Vehicle of call number Index1 distributes new carrying task, and completes Index1 with newly
Carrying task number and its binding of target location address information.
6. a kind of guarantee automatic Guided Vehicle accurately connect goods material container Input System it is characterised in that include self-navigation
Dolly, ECU and warehouse dispatching platform, wherein：
Automatic Guided Vehicle, for when arrival connects goods station platform preparation picking, sending to warehouse dispatching platform and connecing goods information checking
Application；And after the verification receiving the transmission of warehouse dispatching platform successfully instructs, continue to connect goods, and material container is transported to mesh
Cursor position；
Warehouse dispatching platform, for receiving when connecing goods information checking application of automatic Guided Vehicle transmission, obtains currently certainly
Call number Index1 of dynamic navigation dolly, and corresponding predistribution carrying task number task1 is searched according to this call number；Right
The current carrying task number task2 of task1 and ECU offer compares；When task1 is equal with task2, to automatic
Navigation dolly sends to verify and successfully instructs；
ECU, is currently to connect goods station for providing current carrying task number task2, wherein task2 to warehouse dispatching platform
Material container corresponding carrying task number on platform；
Wherein, described system also includes storehouse management platform, wherein：
Storehouse management platform, for when task1 and task2 is unequal, updating the binding of carrying task according to task1, task2
Call number and target location address information；
ECU is additionally operable to judge the renewal whether success of the call number of carrying task binding and target location address information；
Warehouse dispatching platform is additionally operable to the judged result according to ECU, in call number and the target location of carrying task binding
When being updated successfully of address information, executes and sends, to automatic Guided Vehicle, the operation verifying successfully instruction.
7. material container Input System according to claim 6 it is characterised in that storehouse management platform according to task1,
When task2 updates call number and the target location address information of carrying task binding,
Storehouse management platform specifically for by call number Index1 of current automatic Guided Vehicle, and currently connects material on the platform of goods station
Container corresponding carrying task number task2 and task2 corresponding target location address information is bound.
8. material container Input System according to claim 6 is it is characterised in that also include warning device, wherein：
Automatic Guided Vehicle is additionally operable to the judged result according to ECU, in call number and the target location of carrying task binding
When the renewal of address information is unsuccessful, out of service；
Warning device, for the judged result according to ECU, in call number and the target location address of carrying task binding
When the renewal of information is unsuccessful, externally report to the police.
9. material container Input System according to claim 8 it is characterised in that warning device include buzzer and/or
Alarm lamp, wherein：
Buzzer, for the judged result according to ECU, in call number and the target location address letter of carrying task binding
When the renewal of breath is unsuccessful, external sounding alarm；
Alarm lamp, for the judged result according to ECU, on call number and the target location ground of carrying task binding
When the renewal of location information is unsuccessful, external luminous alarm.
10. material container Input System according to claim 7 is it is characterised in that automatic Guided Vehicle is by material container
After being transported to target location,
Warehouse dispatching platform is additionally operable to release call number Index1 of automatic Guided Vehicle, with current carrying task number task2, with
And the binding of task2 corresponding target location address information；For the new carrying of the automatic Guided Vehicle distribution of call number Index1
Task, and complete Index1 and the binding of new carrying task number and its target location address information.
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| CN106127417A (en) * | 2016-07-12 | 2016-11-16 | 国网甘肃省电力公司电力科学研究院 | A kind of tiered warehouse facility haulage equipment dispatching method and system |
| CN109426250B (en) * | 2017-08-25 | 2022-04-15 | 杭州海康机器人技术有限公司 | Method, device and system for controlling AGV to transmit goods |
| CN109683504B (en) * | 2017-10-18 | 2021-08-10 | 北京京东乾石科技有限公司 | Warehouse-out control method and device, electronic equipment and storage medium |
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