CN106485434A - The dispatching method of automatic conveying device and system - Google Patents
The dispatching method of automatic conveying device and system Download PDFInfo
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- CN106485434A CN106485434A CN201510528408.0A CN201510528408A CN106485434A CN 106485434 A CN106485434 A CN 106485434A CN 201510528408 A CN201510528408 A CN 201510528408A CN 106485434 A CN106485434 A CN 106485434A
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Abstract
The present invention provides a kind of dispatching method of automatic conveying device and system, and according to methods described, described system generates task list according to the mission requirements of the client from each work station；According to the current task situation of each automatic conveying device, currently unappropriated at least part of task list is distributed at least one described automatic conveying device；Obtain the positional information that each described automatic conveying device is passed through, and in the target position information that described positional information is in task list, update the current task situation of corresponding described automatic conveying device.Present invention achieves the mode of operation of a car multitask, substantially increase the work efficiency of automatic conveying device.
Description
Technical field
The present invention relates to vehicle dispatching technology, the dispatching method particularly to automatic conveying device and system.
Background technology
Automatic conveying device be refer to scheduled system control, according to default Automatic Program travel and
Device by material handling to specified location.Wherein, common are, automatic guided vehicle (Automated
Guided Vehicle, abbreviation AGV), refer to the vehicle that electricity magnetically or optically waits homing guidance device is installed,
It can travel along the guide path of regulation, has safeguard protection and various transfer function.
Although current AGV scheduling system and the client communication being arranged on each work station, can obtain
Take the mission requirements of each client.But, distribute automatic conveying device when using by the way of
It is：It is only idle automatic conveying device distribution mission requirements.Work efficiency with each work station is more next
Higher, above-mentioned scheduling mode will be unable to adapt to the growth of the mission requirements of each work station.
Accordingly, it would be desirable to improve to existing scheduling mode.
Content of the invention
It is an object of the invention to provide a kind of dispatching method of automatic conveying device and system, for solving
Scheduling mode of the prior art cannot adapt to the problem of the growth of the mission requirements of each work station.
For solving above-mentioned technical problem, embodiments of the present invention provide a kind of tune of automatic conveying device
Degree method, comprises：Mission requirements according to the client from each work station generate task list；According to
The current task situation of each automatic conveying device, currently unappropriated at least part of task list is distributed to
At least one described automatic conveying device；Obtain the positional information that each described automatic conveying device is passed through,
And in the target position information that described positional information is in task list, update corresponding described automatic transporting
The current task situation of device.
Based on above-mentioned purpose, the present invention also provides a kind of scheduling system of automatic conveying device, comprises：Appoint
Business generation module, generates task list for the mission requirements according to the client from each work station；Appoint
Business distribute module, for the current task situation according to each automatic conveying device, will currently unappropriated extremely
Small part task list distributes at least one described automatic conveying device；Task update module, is used for obtaining
Take the positional information that each described automatic conveying device is passed through, and be in task list in described positional information
Target position information when, update the current task situation of corresponding described automatic conveying device.
Embodiment of the present invention in terms of existing technologies, by mission requirements are converted into generation standard
The task list changed, and be allocated according to the current task situation of each automatic conveying device.Achieve one
The mode of operation of car multitask, substantially increases the work efficiency of automatic conveying device.Meanwhile, with appoint
Business inventory execution complete, the current task situation of each automatic conveying device of real-time update, can and the time-division
The task list sending out new.
In addition, in order to improve efficiency further, determine also comprise in described task list the generation time and
Priority, during reallocation task list, considers this two factor further it can be ensured that executing more urgent as early as possible
The task list cut, to avoid the delay of critical process.
In addition, will during in limited time in do not give the priority of the task list completing to be improved, be also for
Avoid the mission requirements of corresponding work station cannot to timely respond to.
In addition, using the product yield of each work station as the priority Provisioning Policy of task list, Neng Gouyou
First ensure the mission requirements of the high work station of product yield.
In addition, according to the task list design travel route being distributed, automatic conveying device can be allowed efficient
Transmit each work station needed for material.
In addition, the task list currently being completed to execute is deleted, service end can be reduced and safeguard each
The burden of business inventory, improves the work efficiency of service end.
Brief description
Fig. 1 is the flow chart of the dispatching method of the automatic conveying device of first embodiment of the invention；
Fig. 2 is the structural representation of the scheduling system of the automatic conveying device of second embodiment of the present invention
Figure.
Specific embodiment
For making the object, technical solutions and advantages of the present invention clearer, below in conjunction with accompanying drawing to this
Bright each embodiment is explained in detail.However, it will be understood by those skilled in the art that
In each embodiment of the present invention, in order that reader more fully understand the application and propose many technology thin
Section.But, even if there is no these ins and outs and the many variations based on following embodiment and modification,
The each claim of the application technical scheme required for protection can also be realized.
As shown in figure 1, the first embodiment of the present invention is related to a kind of dispatching method of automatic conveying device.
Described dispatching method mainly to be executed by scheduling system.Described scheduling system includes being arranged on each removes automatically
Service end that communication control unit on shipping unit is communicated with each automatic conveying device and being arranged on
The client of each work station.Wherein, described service end can be communicated with each automatic conveying device,
With indicate each automatic conveying device along the track being laid between each work station between each described work station
Travel.Each described client is also communicated to connect with described scheduling system.
Described client provides a task panel for operator.In described task panel, described operator
Incoming task demand can be needed according to place work station.Wherein, described task panel includes mesh
The code name of mark work station, task definition option, material type option, material quantity option etc..Wherein,
Described task definition option can also include：Loading options, send option with charge free, obtain option etc..For example,
Operator's operation is located at the task panel of client b1 of work station B1, presses respectively：Target operation station
B2 OptionButton, send task button, material type A button with charge free, and correspondence is pressed on numeric keypad
Quantity n1 of material type A, finally presses submitting button, then described client b1 execution step S0：
According to default demand form by acquired target operation station code name be B2, task definition be send with charge free, thing
Material type is material A, material quantity is n1, and itself place work station code name of acquiescence seals for B1
Dress up mission requirements, and send to described service end.Wherein, described demand form includes but is not limited to：
With the text formatting of default symbol segmentation, with XML format of default head segmentation etc..
When described service end gets described mission requirements, execution step S1, that is, according to from each client
The mission requirements at end generate task list.
Specifically, described service end, also according to default demand form, acquired mission requirements is entered
Row parsing, to obtain each several part of corresponding task list, and the form according to task list, by described
Business demand is converted into task list.Wherein, described task list can be the data of tabular mission requirements
Table, the every a line in described tables of data corresponds to a task list.Wherein, described task list not only wraps
Include the content of mission requirements, also include the letter that task status, priority etc. are used to help scheduler task demand
Breath.
Wherein, described task status includes but is not limited to：Be carrying out, arrive at, etc. pending etc..Its
In, it is pending that the task status of the task list not distributed by described service end is etc.；By described service
The task status of the task list of end distribution is to be carrying out；Described service end monitors automatic conveying device
When arriving at the distributed target position information of a task list, its task status is changed to arrive at.
Described priority is segmented into acquiescence and high priority.The priority of the task list being conventionally produced is
Default priority, described task list can be because of the artificial promotion condition operating or meeting priority, by institute
State service end and be upgraded to high priority.Preferably, described priority can be divided into 4 gears, is defaulted as
a1；Because the product manufactured by certain work station fraction defective be higher than preset value when, corresponding work station is sent
The task list corresponding to mission requirements the low one-level of priority ratio default value be a0；Because of mission requirements no
When method completed within the default time limit, the priority of corresponding task list is compared default value by described service end
High one-level is a2；When certain task list is by human intervention, corresponding highest priority is a3.
For example, the mission requirements acquired in described service end are：B1, B2, send with charge free, A, n1, then press
According to described demand form, the data that described service end obtains a line in the tables of data correspond to task list is：
Application location information：Work station B1, target position information：Work station B2, task definition：Send with charge free,
Material type：A, material quantity：N1, task status：Etc. pending, priority：A1 etc..
Then, in step s 2, described service end is according to the current task situation of each automatic conveying device,
Currently unappropriated at least part of task list is distributed at least one described automatic conveying device.
Here, the including but not limited to following at least one or combination in any of described current task situation：1)
The task situation of each task list being carrying out of each described automatic conveying device.It includes but does not limit
In：The quantity of the task list being carrying out of each described automatic conveying device, each described removes automatically
The material type of the task list being carrying out of shipping unit, distribute to each described automatic conveying device
The priority of task list etc..For example, described service end is in the case of having unappropriated task list,
The each automatic conveying device of real-time monitoring, and the task list being carrying out when the residue having automatic conveying device
Quantity be less than default numerical lower limits when, currently unappropriated task list is distributed to these and automatically removes
Shipping unit, until the task list quantity of these automatic conveying devices reaches default transformation.And for example,
When the task list quantity having multiple automatic conveying devices is respectively less than default numerical lower limits, described service
End can also be with reference to the material type of the task list being carrying out of these automatic conveying devices, will be current
Unappropriated task list distributes to the automatic conveying device comprising beyond default material type, until this from
The task list quantity of dynamic Handling device reaches default transformation.Wherein, described default material type
Refer to that corresponding volume of material is larger, quality is overweight etc. automatic conveying device haul can be caused to transfinite,
Or the material type of overload.For another example, unappropriated task list is distributed to and is not had height by described service end
The automatic conveying device of priority tasks inventory.
2) the current driving situation of each described automatic conveying device and travel route.Described travel situations
Including but not limited to：Just in transport condition, halted state etc..Described travel route includes：It is currently located
Positional information, each position information between current location information to final position information and present bit
Confidence manner of breathing step number away from final position information etc..For example, described service end monitors each automatic conveying device
The each position information to final position information for the current location information, unappropriated target location is believed
Breath belong to the wanted approach of certain automatic conveying device positional information task list, distribute to corresponding oneself
Dynamic Handling device.And for example, unappropriated task list is distributed to step number and is less than default step by described service end
The automatic conveying device of number lower limit.
3) implementation status of each described automatic conveying device scheduled instruction.Described dispatch command includes
Assign according to manually operating the dispatch command assigned and the priority according to allocated task list
Dispatch command.For example, unappropriated task list is distributed to and is not carrying out dispatching by described service end
The automatic conveying device of instruction.
It should be noted that it should be appreciated by those skilled in the art that described service end can be individually according to upper
A certain current task situation is stated to distribute task list for each automatic conveying device.Can also be according to bag
Combination in any containing above-mentioned each current task situation is distributed task list for each automatic conveying device.Also
Above-mentioned each current task situation can be carried out prioritization, and appoint for the distribution of each automatic conveying device
Business inventory.Will not be described in detail herein.
As a kind of preferred version, described service end is in the current task situation with reference to each automatic conveying device
On the basis of, to distribute each unappropriated task list always according to the priority in unappropriated task list.
For example, described service end is defined as automatic conveying device Truck1 according to each described current task situation
Distribute unappropriated task list, meanwhile, always according to described unappropriated task list medium priority by height
It is ranked up to low, and at least one task list after sequence is distributed to this automatic conveying device
Truck1.
As another preferred version, also include in described task list：The generation time.Described step S2
Also include：Described service end is according to when the current task situation of each automatic conveying device and described generation
Between, currently unappropriated at least part of task list is distributed at least one described automatic conveying device.
Specifically, described service end designs distribution in the current task inventory according to each automatic conveying device
It is also contemplated that the generation time of each task list when tactful, completed by estimating each automatic conveying device
The duration that one task list is consumed, to distribute each task list, to guarantee within the default time limit,
Complete each task list of generation as far as possible.
Wherein, described service end estimate that each automatic conveying device completes that a task list consumed when
Long mode can be by way of a length of fixed value when default consumption.Preferably, described service end is estimated
The mode that each automatic conveying device completes the duration that a task list is consumed can execute according to history
The duration meansigma methodss of task list complete, as estimation, the duration that a task list is consumed.
For example, during generation in each task list of nearest 10 days in described service end statistical history record
Between and the automatic conveying device of execution corresponding task inventory arrive at the time difference of respective target locations information,
And the time difference being counted is averaging processing, estimate the duration completing that a task list is consumed.
Here, the described default time limit can adjust according to the quantity of currently unappropriated task list,
It can be a fixed value.
For example, described service end determines that the quantity of the task list of automatic conveying device Truck3 is less than and presets
Numerical lower limits, and according to the duration completing each task list pre-estimated, estimate this automatic transporting
The quantity of the task list that device Truck3 can be done by within the default time limit, then according to the number estimated
Amount is distributed some task lists for described automatic conveying device Truck3.
Preferably, described service end also monitors the task list that each does not complete, and when in the default time limit
When comprising undone task list, the priority raising improving described undone task list does not complete
Task list priority.
For example, described service end monitors in the described default time limit that task list C1 starts when generating,
Its task status is still to be carrying out, then by default value, the priority of this task list C1 is improved one-level.
Or, described service end obtains application location information or target location in each described task list
The product yield of the work station corresponding to information, and when described product yield is less than default yield threshold value,
Reduce the priority of corresponding each task list, until the product yield at acquired relevant work station is more than etc.
In described default yield threshold value, improve the priority of corresponding task list.
Specifically, described service end is also connected with the products detection system of each work station, described Product checking
The product yield that each work station of system detectio is produced, and the product yield being detected is sent to described
Service end.The product yield of certain work station acquired in when described service end is less than default yield threshold value
When, described service end search from task list that is being generated and not giving execution application location information,
Or target position information is the work station that this product yield is less than default yield threshold value, and will appoint accordingly
The priority of business inventory is degraded (can drop one-level or be down to lowermost level), degraded task list
The default time limit will not be exceeded because of generating duration and be enhanced.Only when the product getting described work station
Product yield is more than or equal to described default yield threshold value, improves the priority (lifting one of corresponding task list
Level or be promoted to default value).
It should be noted that it should be appreciated by those skilled in the art that described service end can also be according to each
The current task situation of dynamic Handling device, and combine the generation time in described task list and described
Priority in business inventory, currently unappropriated at least part of task list is distributed at least one institute
State automatic conveying device.Will not be described in detail herein.
In step s3, described service end travels road according at least one task list design being distributed
Line, and described travel route is supplied to corresponding automatic conveying device.
Specifically, described service end can be according to the target position information of each task list being distributed, task
Content, material type and built-in Map Design travel route, and described travel route is supplied to accordingly
Automatic conveying device.
For example, described service end is distributed to the task list of automatic conveying device Truck2 and is included：Task is clear
Single 1 { target position information：Work station B2, task definition：Send with charge free, material type：A1 }, task is clear
Single 2 { target position informations：Work station B1, task definition：Loading, material type：A1 }, then described
Service end, according to the default principle first loading and sending with charge free afterwards, by inquiring about built-in map, sets by current
Positional information Bi-1 first passes through positional information Bi-2, Bi-3 and reaches work station B1, again through positional information
Bi-4, Bi-5, Bi-6 reach the travel route of work station B2, and described travel route are supplied to described
Automatic conveying device Truck2, so that described automatic conveying device Truck2 enters according to described travel route
Every trade is sailed.
It should be noted that described step S3 can also be executed by described automatic conveying device.For example,
Described automatic conveying device can according to the target position information of each task list being distributed, task definition,
Material type and built-in Map Design travel route, and travelled according to described travel route, and will
Described travel route feeds back to described service end, to back up.
When described automatic conveying device runs over the terrestrial reference that is marked with positional information, described automatically remove
Shipping unit execution step S4, i.e. positional information in the terrestrial reference on travel route for the scan setting, and by institute
Scan the positional information obtaining and be actively sent to described service end.Wherein, described terrestrial reference includes but is not limited to：
Bar code, Quick Response Code, RF Receiving Device etc..Corresponding, described automatic conveying device is provided with
Corresponding identifying device and wireless launcher.When described automatic conveying device is along track (or travel route)
When crossing terrestrial reference, described identifying device can obtain the positional information included in it, and by described nothing
Line discharger is sent to described service end.Described service end can be according to acquired each automatic transporting dress
The positional information put labelling on its map each moves the traveling-position of Handling device, so that monitor in real time.
Target in the task list that the positional information that described automatic conveying device is provided is corresponding
During positional information, described service end execution step S5, that is, update the current of corresponding described automatic conveying device
Task situation.
Specifically, described service end is in monitoring certain automatic conveying device corresponding task list of arrival
Target position information when, by the task status of described task list by being carrying out being changed to arrive at.Work as institute
State service end and monitor that this automatic conveying device moves to the next position information of described target position information
When, described task status is changed to complete to execute, and according to corresponding of the task list adjustment being completed
Business situation.
For example, the task status of completed task list is being changed to complete the same of execution by described service end
When, increase/delete, always according to its task definition, the material quantity that corresponding automatic conveying device is carried, again
Determine current location information to the step number etc. of final position information.
Described service end can also extract at least one task follow-up distributing to described automatic conveying device
Inventory, and according to present position information and each task list execution step S3 of being extracted, come again
Design travel route.
Preferably, in order to reduce the system load of described service end, described service end is currently completed to execute
Task list deleted, and execution step S2 again.
For example, the positional information that described service end is provided according to described automatic conveying device determine described oneself
When dynamic Handling device arrives at the distributed target position information of a task list, appointing this task list
Business state is changed to arrive at, and after described automatic conveying device leaves described target position information, by this
The task status of business inventory is changed to complete again, and is deleted, and execution step S2 again.
As shown in Fig. 2 second embodiment of the present invention is related to a kind of scheduling system of automatic conveying device.
The communication control unit that described scheduling system includes being arranged on each automatic conveying device is automatic with each
The service end of Handling device communication and the client being arranged on each work station.Wherein, described service
End can be communicated with each automatic conveying device, each along being laid on to indicate each automatic conveying device
Track between work station travels between each described work station.Each described client also dispatches system with described
System communication connection.
Described client provides a task panel for operator.In described task panel, described operator
Incoming task demand can be needed according to place work station.Wherein, described task panel includes mesh
The code name of mark work station, task definition option, material type option, material quantity option etc..Wherein,
Described task definition option can also include：Loading options, send option with charge free, obtain option etc..For example,
Operator's operation is located at the task panel of client b1 of work station B1, presses respectively：Target operation station
B2 OptionButton, send task button, material type A button with charge free, and correspondence is pressed on numeric keypad
Quantity n1 of material type A, finally presses submitting button, then described client b1 is according to default need
Ask form by acquired target operation station code name be B2, task definition be send with charge free, material type be material
A, material quantity are n1, and itself place work station code name of acquiescence is packaged into a task for B1 and needs
Ask, and send to described service end.Wherein, described demand form includes but is not limited to：With default symbol
Number segmentation text formatting, with XML format of default head segmentation etc..
Described service end includes：Task generation module, task allocating module, task update module.Preferably
Ground, also includes：Travel route design module (being unillustrated).
When described service end gets described mission requirements, start described task generation module.
The mission requirements that described task generation module is used for according to the client from each work station generate appoints
Business inventory.
Specifically, described task generation module is also according to default demand form, by acquired task
Demand is parsed, to obtain each several part of corresponding task list, and the form according to task list, will
Described mission requirements are converted into task list.Wherein, described task list can be tabular mission requirements
Tables of data, the every a line in described tables of data corresponds to a task list.Wherein, described task list
Not only include the content of mission requirements, also include task status, priority etc. and be used to help scheduler task need
The information asked.
Wherein, described task status includes but is not limited to：Be carrying out, arrive at, etc. pending etc..Its
In, it is pending that the task status of the task list not distributed by described task generation module is etc.；By institute
The task status stating the task list of task generation module distribution is to be carrying out；Described task generation module
When monitoring that automatic conveying device arrives at the distributed target position information of a task list, by its task
State is changed to arrive at.
Described priority is segmented into acquiescence and high priority.The priority of the task list being conventionally produced is
Default priority, described task list can be because of the artificial promotion condition operating or meeting priority, by institute
State task generation module and be upgraded to high priority.Preferably, described priority can be divided into 4 gears,
It is defaulted as a1；Because the product manufactured by certain work station fraction defective be higher than preset value when, corresponding work station
The low one-level of priority ratio default value of the task list corresponding to mission requirements being sent is a0；Because of task
When demand cannot complete within the default time limit, described task generation module is preferential by corresponding task list
It is a2 that level compares the high one-level of default value；When certain task list is by human intervention, corresponding highest priority is
a3.
For example, the mission requirements acquired in described task generation module are：B1, B2, send with charge free, A, n1,
Then according to described demand form, described task generation module obtains a line in the tables of data correspond to task list
Data be：Application location information：Work station B1, target position information：In work station B2, task
Hold：Send with charge free, material type：A, material quantity：N1, task status：Etc. pending, priority：
A1 etc..
Then, described task allocating module is used for the current task situation according to each automatic conveying device, will
Currently unappropriated at least part of task list distributes at least one described automatic conveying device.
Here, the including but not limited to following at least one or combination in any of described current task situation：1)
The task situation of each task list being carrying out of each described automatic conveying device.It includes but does not limit
In：The quantity of the task list being carrying out of each described automatic conveying device, each described removes automatically
The material type of the task list being carrying out of shipping unit, distribute to each described automatic conveying device
The priority of task list etc..For example, described task allocating module is having unappropriated task list
In the case of, each automatic conveying device of real-time monitoring, and work as what the residue having automatic conveying device was carrying out
When the quantity of task list is less than default numerical lower limits, currently unappropriated task list is distributed to this
A little automatic conveying devices, until the task list quantity of these automatic conveying devices reaches in default quantity
Limit.And for example, when the task list quantity having multiple automatic conveying devices is respectively less than default numerical lower limits,
Described task allocating module can also be with reference to the thing of the task list being carrying out of these automatic conveying devices
Material type, currently unappropriated task list is distributed to the automatic transporting comprising beyond default material type
Device, until the task list quantity of this automatic conveying device reaches default transformation.Wherein, institute
State default material type and refer to that corresponding volume of material is larger, quality is overweight etc. and can cause automatic transporting
The material type that device haul transfinites or transships.For another example, described task allocating module is by unappropriated
The automatic conveying device without high-priority task inventory distributed to by business inventory.
2) the current driving situation of each described automatic conveying device and travel route.Described travel situations
Including but not limited to：Just in transport condition, halted state etc..Described travel route includes：It is currently located
Positional information, each position information between current location information to final position information and present bit
Confidence manner of breathing step number away from final position information etc..For example, described task allocating module monitoring is each removes automatically
The each position information to final position information for the current location information of shipping unit, by unappropriated target
Positional information belongs to the task list of the positional information of the wanted approach of certain automatic conveying device, distributes to phase
The automatic conveying device answered.And for example, unappropriated task list is distributed to step by described task allocating module
Number is less than the automatic conveying device of default step number lower limit.
3) implementation status of each described automatic conveying device scheduled instruction.Described dispatch command includes
Assign according to manually operating the dispatch command assigned and the priority according to allocated task list
Dispatch command.For example, unappropriated task list is distributed to and is not held by described task allocating module
The automatic conveying device of row dispatch command.
It should be noted that it should be appreciated by those skilled in the art that described task allocating module can be independent
Distribute task list according to above-mentioned a certain kind current task situation for each automatic conveying device.Can also
Distribute task according to the combination in any comprising above-mentioned each current task situation for each automatic conveying device clear
Single.Above-mentioned each current task situation can also be carried out prioritization, and be each automatic conveying device
Distribution task list.Will not be described in detail herein.
As a kind of preferred version, described task allocating module is former with reference to working as of each automatic conveying device
On the basis of business situation, to distribute each unappropriated always according to the priority in unappropriated task list
Business inventory.
For example, described task allocating module is defined as automatic conveying device according to each described current task situation
Truck1 distributes unappropriated task list, meanwhile, always according to preferential in described unappropriated task list
Level is ranked up from high to low, and at least one task list after sequence is distributed to this automatic transporting dress
Put Truck1.
As another preferred version, also include in described task list：The generation time.Described step S2
Also include：Described task allocating module is according to the current task situation of each automatic conveying device and described
The generation time, currently unappropriated at least part of task list is distributed at least one described automatic transporting
Device.
Specifically, described task allocating module sets in the current task inventory according to each automatic conveying device
It is also contemplated that the generation time of each task list during meter allocation strategy, filled by estimating each automatic transporting
Put the duration completing that a task list is consumed, to distribute each task list, to guarantee when default
In limit, complete each task list of generation as far as possible.
Wherein, described task allocating module estimates that each automatic conveying device completes a task list and disappeared
The mode of the duration of consumption can be by way of a length of fixed value when default consumption.Preferably, described task
Distribute module estimate each automatic conveying device complete the duration that a task list is consumed mode permissible
According to history execute the duration meansigma methodss of task list as estimate to complete a task list consumed when
Long.
For example, in each task list of nearest 10 days in described task allocating module statistical history record
The generation time and execution corresponding task inventory automatic conveying device arrive at respective target locations information when
Between poor, and the time difference being counted is averaging processing, estimates and complete a task list and consumed
Duration.
Here, the described default time limit can adjust according to the quantity of currently unappropriated task list,
It can be a fixed value.
For example, described task allocating module determines that the quantity of the task list of automatic conveying device Truck3 is little
In default numerical lower limits, and according to the duration completing each task list pre-estimated, estimate this certainly
The quantity of the task list that dynamic Handling device Truck3 can be done by within the default time limit, then according to pre-
The quantity estimated to distribute some task lists for described automatic conveying device Truck3.
Preferably, described task allocating module also monitors the task list that each does not complete, and when default
When comprising undone task list in the time limit, the priority improving described undone task list improves
The priority of undone task list.
For example, to monitor that task list C1 starts when generating described default for described task allocating module
In time limit, its task status is still to be carrying out, then by the priority of this task list C1 by default value
Improve one-level.
Or, described task allocating module obtains application location information or mesh in each described task list
The product yield of the work station corresponding to cursor position information, and when described product yield is less than default yield threshold
During value, reduce the priority of accordingly each task list, until the product yield at acquired relevant work station
More than or equal to described default yield threshold value, improve the priority of corresponding task list.
Specifically, described task allocating module is also connected with the products detection system of each work station, described product
Product examine examining system detects the product yield that each work station is produced, and the product yield being detected is sent
To described task allocating module.Product yield acquired in when described task allocating module is less than default good
During rate threshold value, described task allocating module searches Shen from task list that is being generated and not giving execution
Please positional information or target position information be the work station that this product yield is less than default yield threshold value,
And the priority of corresponding task list is degraded (can drop one-level or be down to lowermost level), dropped
The task list of level will not exceed the default time limit because of generating duration and be enhanced.Only when getting
The product yield stating work station is more than or equal to described default yield threshold value, improves the excellent of corresponding task list
First level (lift one-level or be promoted to default value).
It should be noted that it should be appreciated by those skilled in the art that described task allocating module can also root
According to the current task situation of each automatic conveying device, and combine generation time in described task list and
Priority in described task list, currently unappropriated at least part of task list is distributed at least
One described automatic conveying device.Will not be described in detail herein.
Described travel route designs module and is used for according at least one task list design traveling distributed
Route, and described travel route is supplied to corresponding automatic conveying device.
Specifically, described travel route design module can be according to the target location of each task list being distributed
Information, task definition, material type and built-in Map Design travel route, and by described travel route
It is supplied to corresponding automatic conveying device.
For example, described travel route designs the task list bag to automatic conveying device Truck2 for the module assignment
Include：Task list 1 { target position information：Work station B2, task definition：Send with charge free, material type：
A1 }, task list 2 { target position information：Work station B1, task definition：Loading, material type：
A1 }, then described travel route designs module according to the default principle first loading and sending with charge free afterwards, by inquiry
Built-in map, sets and first passes through positional information Bi-2, Bi-3 arrival work by current location information Bi-1
Stand B1, again through positional information Bi-4, Bi-5, Bi-6 reach work station B2 travel route, and will
Described travel route is supplied to described automatic conveying device Truck2, so that described automatic conveying device
Truck2 is travelled according to described travel route.
It should be noted that described travel route design module can also be held by described automatic conveying device
OK.For example, when described travel route design module is located in described automatic conveying device, described traveling
Highway route design module can be according to the target position information of each task list being distributed, task definition, material
Type and built-in Map Design travel route, and travelled according to described travel route, and will be described
Travel route feeds back to described service end, to back up.
When described automatic conveying device runs over the terrestrial reference that is marked with positional information, described automatically remove
Positional information in the terrestrial reference on travel route for the shipping unit scan setting, and the position obtaining will be scanned
Information is actively sent to described task update module.Wherein, described terrestrial reference includes but is not limited to：Bar code,
Quick Response Code, RF Receiving Device etc..Corresponding, corresponding knowledge is provided with described automatic conveying device
Other device and wireless launcher.When described automatic conveying device crosses institute along track (or travel route)
When stating terrestrial reference, described identifying device can obtain the positional information included in it, and by described wireless
Discharger is sent to described service end.Described task update module each can be removed automatically according to acquired
The positional information of shipping unit labelling on its map each moves the traveling-position of Handling device, so that real-time supervise
Control.
Target in the task list that the positional information that described automatic conveying device is provided is corresponding
During positional information, described task update module updates the current task situation of corresponding described automatic conveying device.
Specifically, described task update module is monitoring certain automatic conveying device corresponding task of arrival
During target position information in inventory, by the task status of described task list by being carrying out being changed to arrive at.
When described task update module monitors that this automatic conveying device moves to next of described target position information
During positional information, described task status is changed to complete to execute, and according to the task list adjustment being completed
Corresponding task situation.
For example, the task status of completed task list is being changed to complete to hold by described task update module
While row, increase/delete, always according to its task definition, the material number that corresponding automatic conveying device is carried
Amount, redefines current location information to the step number etc. of final position information.
Described task update module can also be extracted and distribute to follow-up at least the one of described automatic conveying device
Individual task list, and indicate that described travel route design module according to present position information and is extracted
Each task list, to redesign travel route.
Preferably, in order to reduce the system load of described task update module, described task update module will
The task list currently completing to execute is deleted, and re-executes described task allocating module.
For example, described task update module determines according to the positional information that described automatic conveying device is provided
When described automatic conveying device arrives at the distributed target position information of a task list, will be clear for this task
Single task status is changed to arrive at, and after described automatic conveying device leaves described target position information,
The task status of this task list is changed to complete again, and is deleted, and re-execute described appointing
Business distribute module.
It is noted that involved each module in present embodiment and unit be logic module and
Logical block, in actual applications, a logical block can be a physical location or one
A part for individual physical location, can also be realized with the combination of multiple physical locations.Additionally, in order to prominent
The innovative part of the present invention, not by the technical problem proposed by the invention with solution in present embodiment
The less close unit of relation introduces, but this is not intended that in present embodiment there are not other units.
It will be understood by those skilled in the art that the respective embodiments described above are realize the present invention concrete
Embodiment, and in actual applications, can to it, various changes can be made in the form and details, and not inclined
From the spirit and scope of the present invention.
Claims (10)
1. a kind of dispatching method of automatic conveying device is it is characterised in that comprise：
Mission requirements according to the client from each work station generate task list；
According to the current task situation of each automatic conveying device, will currently unappropriated at least part of task clear
Singly distribute at least one described automatic conveying device；
Obtain the positional information that each described automatic conveying device is passed through, and be task in described positional information
During target position information in inventory, update the current task situation of corresponding described automatic conveying device.
2. the dispatching method of automatic conveying device according to claim 1 is it is characterised in that institute
State the current task situation according to each automatic conveying device, will current unappropriated at least part of task list
The mode distributing at least one described automatic conveying device also includes：
According to the current task situation of each automatic conveying device, and when combining the generation in described task list
Between, at least one in the priority in described task list, will current unappropriated at least part of task
At least one described automatic conveying device distributed to by inventory.
3. the dispatching method of automatic conveying device according to claim 2 is it is characterised in that go back
Including：Monitor each undone task list, and clear when comprising undone task in the default time limit
Dan Shi, improves the priority of described undone task list
Or, obtain the product yield of each described work station, and when the product yield obtaining is good less than default
During rate threshold value, reduce application location information or target position information excellent for the task list at relevant work station
First level, until the product yield at acquired relevant work station is more than or equal to described default yield threshold value, carries
The priority of high corresponding task list.
4. automatic conveying device according to claim 1 dispatching method it is characterised in that
Before obtaining the positional information that each described automatic conveying device is passed through, described dispatching method also includes：
According at least one task list design travel route being distributed, and described travel route is provided
To corresponding automatic conveying device.
5. the dispatching method of automatic conveying device according to claim 1 is it is characterised in that institute
The mode stating the positional information that each described automatic conveying device of acquisition is passed through includes：
Positional information in the terrestrial reference on travel route for the described automatic conveying device scan setting, and by institute
Scan the positional information active obtaining to be sent.
6. the dispatching method of automatic conveying device according to claim 1 is it is characterised in that institute
The mode stating the current task situation updating corresponding described automatic conveying device includes：
The task list currently being completed to execute is deleted.
7. the dispatching method of automatic conveying device according to claim 1 is it is characterised in that institute
State current task situation and include following at least one or combination in any：
The task situation of each task list being carrying out of each described automatic conveying device；
The current driving situation of each described automatic conveying device and travel route；
The implementation status of each described automatic conveying device scheduled instruction.
8. a kind of scheduling system of automatic conveying device is it is characterised in that comprise：
Task generation module, generates task for the mission requirements according to the client from each work station clear
Single；
Task allocating module, for the current task situation according to each automatic conveying device, will currently not divide
At least part of task list joined distributes at least one described automatic conveying device；
Task update module, for obtaining the positional information that each described automatic conveying device is passed through, and
When described positional information is the target position information in task list, update corresponding described automatic conveying device
Current task situation.
9. the scheduling system of automatic conveying device according to claim 8 is it is characterised in that go back
Including：Travel route designs module, for travelling road according at least one task list design being distributed
Line, and described travel route is supplied to corresponding automatic conveying device.
10. according to Claim 8 described in automatic conveying device scheduling system it is characterised in that
Described task allocating module is used for the current task situation according to each automatic conveying device, and combines described
At least one in priority in generation time in business inventory, described task list, will currently not divide
At least part of task list joined distributes at least one described automatic conveying device.
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| CN108227654A (en) * | 2017-12-28 | 2018-06-29 | 顺丰科技有限公司 | A kind of dispatch service end, dispatching device, robot system and dispatching method |
| CN109063140A (en) * | 2018-08-03 | 2018-12-21 | 福州麦辽自动化设备有限公司 | A kind of data query method, transfer server and computer readable storage medium |
| CN109165834A (en) * | 2018-08-14 | 2019-01-08 | 上海海勃物流软件有限公司 | A kind of automated guided vehicle task matching process and system |
| CN109409646A (en) * | 2018-09-07 | 2019-03-01 | 中国铁路北京局集团有限公司天津动车客车段 | A kind of task management method and device and readable storage medium storing program for executing |
| US11481725B2 (en) | 2018-09-21 | 2022-10-25 | Chongqing Boe Optoelectronics Technology Co., Ltd. | Apparatus, system and method for controlling logistics, and non-transitory computer readable medium |
| CN109324578A (en) * | 2018-09-21 | 2019-02-12 | 京东方科技集团股份有限公司 | A kind of logistics management-control method and computer-readable medium |
| CN110458500A (en) * | 2019-08-15 | 2019-11-15 | 中建协筑(福建)供应链有限公司 | A kind of intelligent management and device of unmanned warehouse |
| CN111273667A (en) * | 2020-02-18 | 2020-06-12 | 唐山鼎信电器仪表工程有限公司 | Navigation control method and system for unmanned carrying vehicle |
| CN113469477A (en) * | 2020-03-31 | 2021-10-01 | 东元电机股份有限公司 | Multi-mobile platform task distribution system |
| WO2022156440A1 (en) * | 2021-01-25 | 2022-07-28 | 青岛港国际股份有限公司 | Agv scheduling method based on time estimation model |
| CN113034081A (en) * | 2021-04-08 | 2021-06-25 | 上海运城制版有限公司 | AGV trolley-based product transportation method and system and storage medium |
| CN113534755A (en) * | 2021-06-21 | 2021-10-22 | 深圳远荣智能制造股份有限公司 | Material storing and taking method and device based on rail shuttle trolley and intelligent equipment |
| CN114493156A (en) * | 2021-12-30 | 2022-05-13 | 深圳云天励飞技术股份有限公司 | Logistics carrying method and device, electronic equipment and storage medium |
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Application publication date: 20170308 |