CN107450551A - Method for allocating tasks, device and computer-readable recording medium based on AGV - Google Patents

Method for allocating tasks, device and computer-readable recording medium based on AGV Download PDF

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Publication number
CN107450551A
CN107450551A CN201710749856.2A CN201710749856A CN107450551A CN 107450551 A CN107450551 A CN 107450551A CN 201710749856 A CN201710749856 A CN 201710749856A CN 107450551 A CN107450551 A CN 107450551A
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China
Prior art keywords
agv
state
task
predeterminable area
website
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CN201710749856.2A
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Chinese (zh)
Inventor
彭天
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Guangdong Jaten Robot and Automation Co Ltd
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Guangdong Jaten Robot and Automation Co Ltd
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Priority to CN201710749856.2A priority Critical patent/CN107450551A/en
Publication of CN107450551A publication Critical patent/CN107450551A/en
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/028—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/0285—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using signals transmitted via a public communication network, e.g. GSM network

Abstract

The invention discloses a kind of method for allocating tasks based on AGV, it includes：When receiving call command, determine current with the presence or absence of the AGV for meeting preparatory condition in AGV control systems；When there is currently the AGV for meeting preparatory condition, it is determined that whether there is the AGV in preset state in meeting the AGV of preparatory condition；When the AGV in preset state in AGV be present, the state of the AGV in preset state is adjusted to lock-out state；When the task for the AGV being in the lock state is completed, AGV state is adjusted to released state, and the AGV in released state is sent to by task is called corresponding to the call command.The invention also discloses a kind of task allocation apparatus and computer-readable recording medium based on AGV.The present invention can lock when searching the AGV of suitable operation to it, and AGV utilization rate and operation beat greatly improved, make scheduling system more perfect and intelligent.

Description

Method for allocating tasks, device and computer-readable recording medium based on AGV
Technical field
The present invention relates to technical field of automatic control, more particularly to a kind of method for allocating tasks based on AGV, device and Computer-readable recording medium.
Background technology
At present, AGV (Automated Guided Vehicle, automatical pilot transportation vehicle) has been widely used for automating Logistic storage field, it is all kinds of materials of accumulating and logistic storage system as the important equipment in modernization industry logistics system System flexibility, integrated Effec-tive Function provide important guarantee.Simultaneously as AGV has intelligence degree height, travelling speed It hurry up, save the advantages that space, its application is more and more extensive.
It is one of main function of AGV control systems that task distribution is carried out to AGV.However, at present in actual applications, by It is with task in a status information just in the AGV of blanking in the controls, causes the website near the AGV to send During call command, the AGV can not be assigned the task to, so as to which the AGV called from targeted sites farther out comes to complete feeding task, In turn result in the waste of resource.Therefore, how job task reasonably is distributed to AGV according to current environment, to realize operation The optimization of journey seems necessary.
The above is only used for auxiliary and understands technical scheme, does not represent and recognizes that the above is existing skill Art.
The content of the invention
It is a primary object of the present invention to provide a kind of method for allocating tasks based on AGV, device and computer-readable deposit Storage media, it is intended to solve existing AGV control systems and the technical problem of the wasting of resources is caused to AGV unreasonable scheduling.
To achieve the above object, the present invention provides a kind of method for allocating tasks based on AGV, applied to AGV homing guidances Vehicle control is transported, the AGV control systems include multiple AGV, the described method comprises the following steps：
When receiving call command, determine that current whether there is meets preparatory condition in the AGV control systems AGV；
When there is currently the AGV for meeting the preparatory condition, it is determined that whether there is in meeting the AGV of the preparatory condition AGV in preset state；
When the AGV in preset state in the AGV be present, the state of the AGV in preset state is adjusted to lock Determine state, wherein, the AGV being in the lock state performs current task and does not receive calling task；
When task corresponding to the mission bit stream current AGV being in the lock state is completed, the state of the AGV is adjusted For released state, and the AGV in released state is sent to by task is called corresponding to the call command.
Preferably, it is described to determine that current the step of whether there is the AGV for meeting preparatory condition wraps in the AGV control systems Include：
Determine the first position information of targeted sites corresponding to the call command；
It is determined that it whether there is the AGV in idle condition corresponding to the first position information in the first predeterminable area；
When the AGV in idle condition is not present corresponding to the first position information in the first predeterminable area, it is determined that It is current with the presence or absence of the AGV for the website blanking gone in first predeterminable area or in first predeterminable area The AGV of website blanking, wherein, it there is currently the AGV for the website blanking gone in first predeterminable area or institute When stating the AGV of the website blanking in the first predeterminable area, determine to there is currently in the AGV control systems and meet preparatory condition AGV。
Preferably, it is described to determine in the first predeterminable area whether there is in the free time corresponding to the first position information After the step of AGV of state, methods described also includes：
When the AGV in idle condition corresponding to the first position information in the first predeterminable area be present, institute is obtained State calling mission bit stream corresponding to call command；
The calling mission bit stream got is sent to the AGV in idle condition, so that described be in idle shape The AGV of state performs calling task corresponding to the calling mission bit stream.
Preferably, it is described determine whether to exist the AGV of website blanking that goes in first predeterminable area or It is described to determine in the AGV control systems currently after the step of AGV of the website blanking in first predeterminable area The step of with the presence or absence of the AGV for meeting preparatory condition, also includes：
It there is currently no the AGV for the website blanking gone in first predeterminable area or described first presetting During the AGV of the website blanking in region, determine that interior whether there is of the second predeterminable area corresponding to the first position information is in The AGV of idle condition, wherein, second predeterminable area includes first predeterminable area；
When the AGV in idle condition is not present corresponding to the first position information in the second predeterminable area, it is determined that Whether there is the AGV for the website blanking gone in the second predeterminable area in second predeterminable area or just in the second preset areas The AGV of website blanking in domain, wherein, there is currently the AGV for the website blanking gone in second predeterminable area or During the AGV of the website blanking in second predeterminable area, determine that satisfaction is there is currently in the AGV control systems to be preset The AGV of condition.
Preferably, it is described when there is currently the AGV for meeting the preparatory condition, it is determined that meeting the preparatory condition The step of whether there is the AGV in preset state in AGV includes：
Obtain the status information for the AGV for meeting the preparatory condition；
Based on the status information, it is determined that whether there is the AGV in preset state in meeting the AGV of preparatory condition, its In, when the status information only includes meeting the current mission bit streams of the AGV of preparatory condition, determine described to meet preparatory condition AGV be in preset state.
Preferably, the AGV in preset state includes multiple AGV, the state by the AGV in preset state The step of being adjusted to lock-out state includes：
Obtain the first position information of targeted sites corresponding to the call command and each AGV in preset state Second place information；
Based on the first position information and the second place information, it is determined that the operating range to the targeted sites Most short AGV；
The most short AGV of operating range state is adjusted to lock-out state.
Preferably, it is characterised in that task corresponding to the mission bit stream current in the AGV being in the lock state is completed When, the state of the AGV is adjusted to released state, and be sent to task is called corresponding to the call command in unblock The step of AGV of state, includes：
When task corresponding to the mission bit stream current AGV being in the lock state is completed, the call command pair is obtained The calling mission bit stream answered；
The state for the AGV for completing current task is adjusted to released state；
The calling mission bit stream got is sent to the AGV in released state, so that described in unblock shape The AGV of state performs the calling task according to the calling mission bit stream.
In addition, to achieve the above object, the present invention also provides a kind of task allocation apparatus based on AGV, the task point Include with device：Memory, processor and be stored on the memory and can run on the processor based on AGV's Task distribution program, the task distribution program based on AGV realize any of the above-described based on AGV's when being performed by handled device The step of method for allocating tasks.
In addition, to achieve the above object, the present invention also provides a kind of computer-readable recording medium, described computer-readable The task distribution program based on AGV is stored with storage medium, when the task distribution program based on AGV is executed by processor The step of realizing method for allocating tasks of any of the above-described based on AGV.
The invention discloses a kind of method for allocating tasks based on AGV, by when receiving call command, it is determined that described It is current with the presence or absence of the AGV for meeting preparatory condition in AGV control systems；Then the preparatory condition is met there is currently During AGV, determine to whether there is the AGV in preset state in the AGV；Exist afterwards in the AGV and be in preset state AGV when, the state of the AGV in preset state is adjusted to lock-out state, wherein, the AGV be in locking shape During state, the AGV performs current task and does not receive calling task；Finally in task the letter current AGV being in the lock state When task corresponding to breath is completed, the state of the AGV is adjusted to released state, and calling corresponding to the call command is appointed Business is sent to the AGV.The present invention, which realizes, is locked the AGV closest from targeted sites when producing call command It is fixed, new task distribution is gone down again when it completes current task, the task method of salary distribution sought something far and wide when it is within reach is avoided, significantly carries High AGV utilization rate and operation beat, scheduling system is set more to improve and intelligent.
Brief description of the drawings
Fig. 1 is based on whole belonging to AGV task allocation apparatus in the hardware running environment that scheme of the embodiment of the present invention is related to The structural representation at end；
Fig. 2 is the schematic flow sheet of the method for allocating tasks first embodiment of the invention based on AGV；
Fig. 3 is to be determined in the method for allocating tasks second embodiment of the invention based on AGV in the AGV control systems currently The refinement schematic flow sheet of the step of with the presence or absence of the AGV for meeting preparatory condition；
Fig. 4 is the schematic flow sheet in the method for allocating tasks 3rd embodiment of the invention based on AGV.
Fig. 5 is to be determined in the method for allocating tasks fourth embodiment of the invention based on AGV in the AGV control systems currently The refinement schematic flow sheet of the step of with the presence or absence of the AGV for meeting preparatory condition；
Fig. 6 is to determine to whether there is in the AGV in method for allocating tasks the 5th embodiment of the invention based on AGV to be in The refinement schematic flow sheet of the step of AGV of preset state；
Fig. 7 is by the AGV's in preset state in the method for allocating tasks sixth embodiment of the invention based on AGV State is adjusted to the refinement schematic flow sheet of the step of lock-out state；
Fig. 8 is to work as described in method for allocating tasks the 7th embodiment of the invention based on AGV in the AGV being in the lock state When task corresponding to preceding mission bit stream is completed, the state of the AGV is adjusted to released state, and by the call command pair The schematic flow sheet for the step of calling task answered is sent to the AGV in released state.
The realization, functional characteristics and advantage of the object of the invention will be described further referring to the drawings in conjunction with the embodiments.
Embodiment
It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not intended to limit the present invention.
As shown in figure 1, Fig. 1 is the task distribution based on AGV in the hardware running environment that scheme of the embodiment of the present invention is related to The structural representation of the affiliated terminal of method.
Terminal of the embodiment of the present invention can be PC or smart mobile phone, tablet personal computer, E-book reader, MP3 (Moving Picture Experts Group Audio Layer III, dynamic image expert's compression standard audio aspect 3) Player, MP4 (Moving Picture Experts Group Audio Layer IV, dynamic image expert's compression standard sound Frequency aspect 4) player, pocket computer etc. have the packaged type terminal device of display function.
As shown in figure 1, the terminal can include：Processor 1001, such as CPU, network interface 1004, user interface 1003, memory 1005, communication bus 1002.Wherein, communication bus 1002 is used to realize the connection communication between these components. User interface 1003 can include display screen (Display), input block such as keyboard (Keyboard), optional user interface 1003 can also include wireline interface, the wave point of standard.Network interface 1004 can optionally connect including the wired of standard Mouth, wave point (such as WI-FI interfaces).Memory 1005 can be high-speed RAM memory or stable memory (non-volatile memory), such as magnetic disk storage.Memory 1005 optionally can also be independently of aforementioned processor 1001 storage device.
Alternatively, terminal can also include camera, RF (Radio Frequency, radio frequency) circuit, sensor, audio Circuit, WiFi module etc..Wherein, sensor ratio such as optical sensor, motion sensor and other sensors.Specifically, light Sensor may include ambient light sensor and proximity transducer, wherein, ambient light sensor can according to the light and shade of ambient light come The brightness of display screen is adjusted, proximity transducer can close display screen and/or backlight when mobile terminal is moved in one's ear.As One kind of motion sensor, gravity accelerometer can detect in all directions the size of (generally three axles) acceleration, quiet Size and the direction of gravity are can detect that when only, the application available for identification mobile terminal posture is (such as horizontal/vertical screen switching, related Game, magnetometer pose calibrating), Vibration identification correlation function (such as pedometer, tap) etc.；Certainly, mobile terminal can also match somebody with somebody The other sensors such as gyroscope, barometer, hygrometer, thermometer, infrared ray sensor are put, will not be repeated here.
It will be understood by those skilled in the art that the restriction of the terminal structure shown in Fig. 1 not structure paired terminal, can be wrapped Include than illustrating more or less parts, either combine some parts or different parts arrangement.
As shown in figure 1, it can lead to as in a kind of memory 1005 of computer-readable storage medium including operating system, network Believe module, Subscriber Interface Module SIM and the task distribution program based on AGV.
In the terminal shown in Fig. 1, network interface 1004 is mainly used in connecting background server, is carried out with background server Data communicate；User interface 1003 is mainly used in connecting client (user terminal), enters row data communication with client；And processor 1001 can be used for calling the task distribution program based on AGV stored in memory 1005.
In the present embodiment, the control device based on AGV includes：Memory 1005, processor 1001 and it is stored in described On memory 1005 and the control program based on AGV that can be run on the processor 1001, wherein, processor 1001 calls During the control program based on AGV stored in memory 1005, and perform following operate：
When receiving call command, determine that current whether there is meets preparatory condition in the AGV control systems AGV；
When there is currently the AGV for meeting the preparatory condition, it is determined that whether there is in meeting the AGV of the preparatory condition AGV in preset state；
When the AGV in preset state in the AGV be present, the state of the AGV in preset state is adjusted to lock Determine state, wherein, the AGV being in the lock state performs current task and does not receive calling task；
When task corresponding to the mission bit stream current AGV being in the lock state is completed, the state of the AGV is adjusted For released state, and the AGV in released state is sent to by task is called corresponding to the call command.
Further, processor 1001 can call the task distribution program based on AGV stored in memory 1005, also Perform following operate：
Determine the first position information of targeted sites corresponding to the call command；
It is determined that it whether there is the AGV in idle condition corresponding to the first position information in the first predeterminable area；
When the AGV in idle condition is not present corresponding to the first position information in the first predeterminable area, it is determined that It is current with the presence or absence of the AGV for the website blanking gone in first predeterminable area or in first predeterminable area The AGV of website blanking, wherein, it there is currently the AGV for the website blanking gone in first predeterminable area or institute When stating the AGV of the website blanking in the first predeterminable area, determine to there is currently in the AGV control systems and meet preparatory condition AGV。
Further, processor 1001 can call the task distribution program based on AGV stored in memory 1005, also Perform following operate：
When the AGV in idle condition corresponding to the first position information in the first predeterminable area be present, institute is obtained State calling mission bit stream corresponding to call command；
The calling mission bit stream got is sent to the AGV in idle condition, so that described be in idle shape The AGV of state performs calling task corresponding to the calling mission bit stream.
Further, processor 1001 can call the task distribution program based on AGV stored in memory 1005, also Perform following operate：
It there is currently no the AGV for the website blanking gone in first predeterminable area or described first presetting During the AGV of the website blanking in region, determine that interior whether there is of the second predeterminable area corresponding to the first position information is in The AGV of idle condition, wherein, second predeterminable area includes first predeterminable area；
When the AGV in idle condition is not present corresponding to the first position information in the second predeterminable area, it is determined that Whether there is the AGV for the website blanking gone in the second predeterminable area in second predeterminable area or just in the second preset areas The AGV of website blanking in domain, wherein, there is currently the AGV for the website blanking gone in second predeterminable area or During the AGV of the website blanking in second predeterminable area, determine that satisfaction is there is currently in the AGV control systems to be preset The AGV of condition.
Further, processor 1001 can call the task distribution program based on AGV stored in memory 1005, also Perform following operate：
Obtain the status information for the AGV for meeting the preparatory condition；
Based on the status information, it is determined that whether there is the AGV in preset state in meeting the AGV of preparatory condition, its In, when the status information only includes meeting the current mission bit streams of the AGV of preparatory condition, determine described to meet preparatory condition AGV be in preset state.
Further, processor 1001 can call the task distribution program based on AGV stored in memory 1005, also Perform following operate：
Obtain the first position information of targeted sites corresponding to the call command and each AGV in preset state Second place information；
Based on the first position information and the second place information, it is determined that the operating range to the targeted sites Most short AGV；
The most short AGV of operating range state is adjusted to lock-out state.
Further, processor 1001 can call the task distribution program based on AGV stored in memory 1005, also Perform following operate：
When task corresponding to the mission bit stream current AGV being in the lock state is completed, the call command pair is obtained The calling mission bit stream answered；
The state for the AGV for completing current task is adjusted to released state；
The calling mission bit stream got is sent to the AGV in released state, so that described in unblock shape The AGV of state performs the calling task according to the calling mission bit stream.
The present invention further provides a kind of method for allocating tasks based on AGV.Reference picture 2, Fig. 2 are based on AGV for the present invention Method for allocating tasks first embodiment schematic flow sheet.
In the present embodiment, it is somebody's turn to do the method for allocating tasks based on AGV and is applied to AGV control systems, the AGV control systems Including multiple AGV, it is somebody's turn to do the method for allocating tasks based on AGV and comprises the following steps：
Step S10, when receiving call command, determine current default with the presence or absence of meeting in the AGV control systems The AGV of condition；
Call command is generally sent by targeted sites, under specific circumstances, can also be sent in the case of manual control.
AGV automatical pilot transportation vehicle control systems are a kind of advanced materials conveying systems, it using rechargeable battery as power, Under the monitoring of AGV control systems, by the path and job requirements planned in advance, the website specified of accurately walking and be accommodated to, Complete specific job task, such as picking, delivery, charging.
AGV control systems generally can be divided into three class control mode, be central control computer, ground controller and car respectively Upper controller.Respectively, center-controlling computer is the control command centre of whole system, and it is controlled with the ground in each region Device is communicated, and each ground controller is managed；Ground controller is then responsible for being monitored the service conditions in region Management, as monitored the situation of field apparatus, the utilization rate for counting AGV, traffic control, tracking loading and unloading, setting objectives ground The type of AGV position and tote, quantity are simultaneously transferred to central control computer by location, the address of real-time storage dolly；Car Also chauffeur set controller, main task are to explain and perform from ground controller or make ground control station transmission to upper controller Instruction, record AGV position in real time, and monitor the safety device on car.Wherein, central control computer is AGV scheduling system The core of system, its major function just include task involved in the present invention and distributed, and therefore, the control program in the present invention is also main It is the supplement carried out on the basis of existing to it applied to AGV central management dispatcher softwares, what deserves to be explained is, central management Dispatcher software is applied to central control computer.
Many websites are dispersed with AGV control systems, these websites can be the station on production line in factory, mainly The position of feeding and blanking or charging station or the position at garage station during for operation.Wherein, each website can be with Corresponding to call command terrestrial reference virtual in an AGV control system.Need calling AGV to come to perform operation in current terrestrial reference to appoint During business, call command can be sent by wireless communication, when receiving the call command of website transmission, AGV controls System can determine whether position of the website on AGV maps, search the AGV for meeting preparatory condition.
The AGV for meeting preparatory condition refers to and sent AGV dollies within the website certain distance of call command.For upper Defining for distance is stated can generally to could be arranged to sending in a certain order by user's sets itself in the controls Searched around the website of call command on predetermined number website and be used for undertaking the AGV of this job task, this sequentially can be with With call command to be designated as origin, since the AGV nearest apart from it, according to from closely to remote order from call command Mark the AGV for being found in nearest predetermined number terrestrial reference and meeting operating condition.This sequentially can also be according to differently target Whether priority finds AGV, be exactly first to determine to have to have in limit priority other terrestrial reference to meet operating condition specifically AGV, when with it is multiple when,, can when can not temporarily find qualified AGV according still further to from closely being found to remote order Found with entering in next priority, untill finding and meeting the AGV of operating condition.Meet being meant that for operating condition AGV control systems need to find corresponding matched, the mesh with the AGV for completing task ability for specific call command task Preceding AGV on the market can simply be divided into 3 classes according to purposes and structure, be AGV automatic guided vehicles, the unmanned tractions of AGV respectively Car and AGV unmanned fork lifts, wherein, AGV automatic guided vehicles are mainly used in the operation of transport operation, are filled using manpower or automatic transferring Put on Freighting to dolly, dolly sets out walking to behind appointed place, then unloaded goods with manpower or automatic moving loader Under, to complete carrying task；The unmanned tractor major functions of AGV are automatic flat car of the traction equipped with goods, only provide traction Power, after trailer wagon drives cargo bed car place of arrival, disengaged automatically with cargo bed car；AGV unmanned fork lifts Basic function is similar with mechanical fork truck, and simply all actions automatically control by control system, is automatically performed various carry and appoints Business, it is not necessary to which manpower is participated.In view of function and goal task are also not quite similar possessed by above-mentioned different AGV dollies, It is therefore desirable to different job tasks is distributed for it according to different dolly types.
For example, a website have issued call command, control system is when receiving this call command, it is first determined should The position of website and its call command terrestrial reference in systems, then according to from closely to remote order or according to each website Whether there is the AGV for going to blanking in the sequential hunting of priority level 10 terrestrial references nearest from the call command terrestrial reference, if at this When individual scope searches out the AGV for best suiting operating condition, judge whether the current states of the AGV are with task, if herein just Begin not searching out in the range of setting, then expanding search area according to the preset multiple of initial range then proceedes to find, this In preset multiple can by user's sets itself, if the preset multiple that user sets as 1 times, is then searched in original 10 terrestrial references Seek on the basis of scope and expand as searching the AGV for meeting operating condition in 20 terrestrial references nearest from call command terrestrial reference, search Target-seeking order can be according to from closely to remote order, can also meeting work according to differently target priority orders until finding Untill the AGV of industry condition.
If however, not finding the AGV for meeting operating condition during being searched in first time, sent out to control system Information at the time of sending feedback information, including find suitable AGV search result information and the current feedback moment not successfully.It Afterwards, control system can decide whether to continue to search for AGV according to actual conditions.For example, continue to expand search area to find symbol Close the AGV of operating condition.
Step S20, when there is currently the AGV for meeting the preparatory condition, it is determined that meeting in the AGV of the preparatory condition With the presence or absence of the AGV in preset state；
Preset state includes idle condition and blanking state, refers to that AGV can currently receive AGV controls in preset state The state of the new task of system distribution.As long as an AGV is not locked in the controls, the AGV is at preset state, no It is current whether in the task of execution by it.For example, an AGV currently meets preparatory condition, and just going in the first predeterminable area A website blanking, because it is currently preset state, i.e., there is no other tasks after current task is completed, thus can connect Controlled system is the new task of its distribution, and AGV now is exactly an AGV for being in preset state.
Step S30, when the AGV in preset state in the AGV be present, by the state of the AGV in preset state Lock-out state is adjusted to, wherein, the AGV being in the lock state performs current task and does not receive calling task；
When searching the AGV for meeting preparatory condition and being in preset state, AGV control systems are above-mentioned by obtaining The current state information of AGV dollies, determine whether that it carries the situation of task at present.If obtained judged result is this AGV is currently in idle condition, that is to say, that it is without any task, then at once in the controls by the AGV and calling Task is bound, i.e., after above-mentioned job task is matched with the AGV dollies in task distribution program by control system, by wireless This task is sent to the Vehicle Controller being loaded into AGV trolleys by communication device, under the scheduling of Vehicle Controller Setting is driven towards by preassigned path according to job instruction automatically and carries out operation；If obtained judged result is the AGV It is currently in and carries task status, then in the case where not changing current task state, locks the AGV but do not interfere it to perform and work as Preceding task, it is kept current state until completing current task, afterwards again sent this task by wireless communication apparatus To the Vehicle Controller being loaded into AGV trolleys, according to job instruction by predesignated under the scheduling of Vehicle Controller Path drive towards automatically setting carry out operation.
Step S40, when task corresponding to the mission bit stream current AGV being in the lock state is completed, by the AGV's State is adjusted to released state, and is sent to the AGV in released state by task is called corresponding to the call command.
Generally, AGV gets out receive the state of new task, can be when locked AGV completes current task, Can be any required situation for stopping AGV current tasks, for example, control system is receiving the calling life of targeted sites transmission When making, one AGV according to conditional lockout, when this AGV completes current task, its state allow it receive one it is new Task, AGV now is the condition for meeting to receive new task；Either call command is very urgent, it is necessary to which AGV stops immediately Go to perform the order before current task；Or occur the problem of being difficult to expect needs in the implementation procedure of current task immediately Stop, the new task of AGV conditional acceptances can be made.
When task corresponding to the mission bit stream current AGV being in the lock state is completed, the state of the AGV is adjusted The AGV is sent to for released state and by task is called corresponding to the call command, i.e., by control system in a program After above-mentioned job task is matched with the AGV dollies, this task is sent to by wireless communication apparatus and is loaded into AGV dollies Vehicle Controller on car body, work is driven towards according to job instruction automatically by preassigned path under the scheduling of Vehicle Controller Industry point carries out operation.
The method for allocating tasks based on AGV proposed in the present embodiment, by when receiving call command, it is determined that described It is current with the presence or absence of the AGV for meeting preparatory condition in AGV control systems；Then the preparatory condition is met there is currently During AGV, determine to whether there is the AGV in preset state in the AGV；Exist afterwards in the AGV and be in preset state AGV when, the state of the AGV in preset state is adjusted to lock-out state, wherein, the AGV be in locking shape During state, the AGV performs current task and does not receive calling task；Finally in task the letter current AGV being in the lock state When task corresponding to breath is completed, the state of the AGV is adjusted to released state, and calling corresponding to the call command is appointed Business is sent to the AGV；This method can lock meeting preparatory condition when generating call command and be in preset state AGV, new task distribution is gone down again when it completes current task, avoids the task method of salary distribution sought something far and wide when it is within reach, greatly Width improves AGV utilization rate and operation beat, makes scheduling system more perfect and intelligent.
Based on first embodiment, the second embodiment of the method for allocating tasks of the invention based on AGV is proposed, reference picture 3, is walked Rapid S10 includes：
Step S11, determine the first position information of targeted sites corresponding to the call command；
One website have issued call command, and control system is when receiving this call command, it is first determined it is on ground Call command terrestrial reference on figure.When call command terrestrial reference is determined, because each website and call command terrestrial reference are one a pair Answer, so as to the first position information of the targeted sites according to corresponding to the determination of call command terrestrial reference.
Step S12, it is determined that being in idle shape whether there is corresponding to the first position information in the first predeterminable area The AGV of state；
Position based on targeted sites, it may be determined that meet the AGV of preparatory condition.First predeterminable area refers to and Target Station The operating range of point is less than the set of the point of the first pre-determined distance, and the size of first pre-determined distance can voluntarily be set by user It is fixed, represent the segment distance that AGV is travelled on planned orbit.For example, on AGV travel route, a targeted sites be present, The scope that the operating range along different directions traveling of user's setpoint distance targeted sites is 10 meters is the first predeterminable area, It can set using the website as starting point, be first default along the scope within 10 websites of AGV driving path different directions Region.Can generally it be could be arranged to according to first by user's sets itself in the controls for defining for above-mentioned distance Preset rules are being searched for undertaking this job task around the website for sending call command on predetermined number website AGV.For example, it may be using the position of targeted sites as origin, since the AGV nearest apart from it, according to from closely to remote suitable Sequence finds the AGV in idle condition in 10 terrestrial references nearest from call command terrestrial reference.This rule can also be according to Differently target priority finds AGV, is exactly first to determine there is in limit priority other terrestrial reference whether have place specifically In the AGV of idle condition, when with it is multiple when, according still further to from closely being found to remote order.
After the specific scope of the first predeterminable area is determined, it is in control according to the position of targeted sites, each AGV On map in system with the relative position of targeted sites and each AGV status information, it is determined that being in the first predeterminable area It is no to have the AGV in idle condition.
Step S13, the AGV in idle condition is being not present corresponding to the first position information in the first predeterminable area When, determine whether to have the AGV for the website blanking gone in first predeterminable area or described first preset The AGV of website blanking in region, wherein, there is currently the AGV for the website blanking gone in first predeterminable area or Person the AGV of the website blanking in first predeterminable area when, it is pre- to determine to there is currently satisfaction in the AGV control systems If the AGV of condition.
When being not on the AGV of idle condition, it is determined whether go in the first predeterminable area blanking or just The AGV of blanking in one predeterminable area, obtains their status information.
AGV can send the status information of itself to control system in real time by wireless communication apparatus in the process of running. Control system judges whether AGV is with task status when getting AGV status information, according to the information.AGV dollies can To send the position data of itself to control system in real time by wireless communication apparatus.
The method for allocating tasks based on AGV proposed in the present embodiment, by determining target corresponding to the call command The position of website；The first position information and the second place information are then based on, it is determined that believing in the first position It whether there is the AGV in idle condition in first predeterminable area corresponding to breath；Afterwards corresponding to the first position information When the AGV in idle condition being not present in the first predeterminable area, determine whether to exist and go to first predeterminable area Interior website blanking or AGV this method of the website blanking in first predeterminable area is made full use of in control system First position information；Position based on targeted sites and state determine to be best suitable for the AGV for performing task to be allocated, usually away from The AGV nearest from targeted sites, the efficiency of AGV scheduling systems is improved, saves scheduling time.
Based on second embodiment, the 3rd embodiment of the method for allocating tasks of the invention based on AGV is proposed, reference picture 4, is walked After rapid S12, methods described also includes：
Step S14, the AGV in idle condition corresponding to the first position information in the first predeterminable area be present When, obtain calling mission bit stream corresponding to the call command；
Corresponding to the positional information in the first predeterminable area exist in idle condition AGV when, can immediately by The calling task in the AGV of idle condition with should be bound.Associated call mission bit stream is obtained first, and system is controlled by AGV System, which is sent, obtains mission bit stream instruction, sends the targeted sites of call command when receiving the instruction for obtaining mission bit stream, leads to Cross wireless telecommunications system and above-mentioned mission bit stream is sent to AGV control systems.
Step S15, the calling mission bit stream got is sent to the AGV in idle condition, so that the place Performed in the AGV of idle condition and call task corresponding to the calling mission bit stream.
AGV control systems update AGV status information when receiving the mission bit stream of targeted sites transmission, will be above-mentioned Call mission bit stream to bind with the AGV, will call mission bit stream by wireless communication apparatus in the lump together with travel route afterwards sends out Deliver to controller on the car of the AGV；After task is received, controller goes to targeted sites to perform this and exhaled according to route on car Cry and task is called corresponding to mission bit stream.
The method for allocating tasks based on AGV proposed in the present embodiment, by pre- corresponding to the positional information first If the AGV in idle condition in region be present, calling mission bit stream corresponding to call command is obtained；Then will get The calling mission bit stream is sent to controller on the car of the AGV, so that controller is according to the calling mission bit stream on car AGV is controlled to perform calling task corresponding to the calling mission bit stream；, can when it is determined that there is the idle AGV for meeting operating condition So that above-mentioned AGV and current work task to be bound immediately, be sent to by wireless device on car after controller can make it is small Car starts execution task as early as possible, improves the execution efficiency of task distribution.
Based on second embodiment, the fourth embodiment of the method for allocating tasks of the invention based on AGV is proposed, reference picture 5, is walked After rapid S13, methods described also includes：
Step S16, it there is currently no the AGV for the website blanking gone in first predeterminable area or described During the AGV of the website blanking in the first predeterminable area, determine corresponding to the first position information in the second predeterminable area whether In the presence of the AGV in idle condition, wherein, second predeterminable area includes first predeterminable area；
Second predeterminable area expands to be formed based on the first predeterminable area, and the specific multiple that expands can controlled by user Sets itself in system processed, one is obtained including the first predeterminable area for example, the first preset multiple is expanded into after 2 times Scope, the second predeterminable area refers to be more than the first pre-determined distance with the operating range of targeted sites and is less than the second pre-determined distance Point set, first pre-determined distance and the second pre-determined distance can represent AGV in planned orbit by user's sets itself One segment distance of upper traveling.After the specific scope of the second predeterminable area determines, according to each AGV in the controls Position and status information on map, it is determined that whether there is the AGV in idle condition in the second predeterminable area.For example, one Website have issued call command, and control system is when receiving this call command, it is first determined the position of the website and its Call command terrestrial reference in systems, then searched according to from closely to remote order or according to the order of each website priority level Whether have the AGV that goes to blanking, most accorded with if being searched out in this scope if seeking in 10 terrestrial references nearest from the call command terrestrial reference When closing the AGV of operating condition, judge whether the current states of the AGV are with task, if nothing in the range of initial setting herein Method searches out, then expanding search area according to the preset multiple of initial range then proceedes to find, and preset multiple here can be with By user's sets itself, if the preset multiple that user sets as 1 times, then expands on the basis of original 10 terrestrial reference search areas Greatly search the AGV for meeting operating condition in 20 terrestrial references nearest from call command terrestrial reference, the order of search can be according to , can also be according to differently target priority orders, untill finding and meeting the AGV of operating condition from closely to remote order.
After the specific scope of the second predeterminable area is determined, it is in control according to the position of targeted sites, each AGV On map in system with the relative position of targeted sites and each AGV status information, it is determined that being in the second predeterminable area It is no to have the AGV in idle condition.AGV itself status information in the process of running can by wireless communication apparatus in real time to Control system is sent.Control system judges whether AGV is with task when getting AGV status information, according to the information State；The AGV dollies position data of itself can be sent to control system in real time by wireless communication apparatus.
Step S17, the institute in idle condition is being not present corresponding to the first position information in the second predeterminable area When stating AGV, it is determined that whether there is the AGV or just for the website blanking gone in the second predeterminable area in second predeterminable area The AGV of website blanking in the second predeterminable area, wherein, in the case where there is currently and go to the website in second predeterminable area When the AGV of material or the AGV of the website blanking in second predeterminable area, determine current in the AGV control systems In the presence of the AGV for meeting preparatory condition.
When being not on the AGV of idle condition, it is determined whether go in the first predeterminable area blanking or just The AGV of blanking in one predeterminable area, obtains their status information.AGV can pass through wireless communication apparatus in the process of running The status information of itself is sent to control system in real time.Control system is sentenced when getting AGV status information according to the information Whether disconnected AGV is with task status, specifically, when control system distributes task, when AGV status information is write into task When, add the judgement of one " whether with website task " duty cycle will be jumped out.Equivalent to without changing current task shape State, but and can finds optimal AGV and is ready to receive an assignment.Obtained judged result be AGV current states be with During task status, the instruction for updating AGV status informations in systems is sent, when receiving the instruction of the more new state information, Control system updates the status information of the AGV in software.
The method for allocating tasks based on AGV proposed in the present embodiment, by there is currently no go to it is described first pre- If when website blanking in region or the AGV of the website blanking in first predeterminable area, described first is determined It whether there is the AGV in idle condition in the second predeterminable area corresponding to confidence breath；Then in the first position information pair When the AGV in idle condition being not present in the second predeterminable area for answering, it is determined that in second predeterminable area whether There is the AGV of the website blanking gone in the second predeterminable area or the website blanking just in the second predeterminable area；Searching During the suitable AGV of condition, further determine that whether it can be immediately performed task at present, be lock out action or the binding of next step Action provides basis, avoids missing the AGV for the task of being adapted for carrying out, saves resource, improves the efficiency of task distribution.
Based on first embodiment, the 5th embodiment of the method for allocating tasks of the invention based on AGV is proposed, reference picture 6, is walked Rapid S20 includes：
Step S21, obtain the status information for the AGV for meeting the preparatory condition；
AGV can send the status information of itself to control system in real time by wireless communication apparatus in the process of running. When receiving the instruction for the acquisition AGV status informations that upper-level control system is sent, led to by the data transfer being loaded on car Dolly status information is sent to wireless telecommunications system by road, and then is sent by wireless network to upper control system, wherein Controller generally comprises PLC or single-chip microcomputer on car.For example, being equipped with wireless receiver DW-M1 on AGV dollies, it is used for Connected with vehicle-mounted PLC, the data on AGV status informations being stored on car in controller are passed through nothing by wireless receiver Gauze network is sent to Combining soft control software, so as to set up complete wireless telecommunication system.
Step S22, based on the status information of the AGV, it is determined that whether there is in meeting the AGV of preparatory condition in default The AGV of state, wherein, when the status information only includes meeting the current mission bit streams of the AGV of preparatory condition, it is determined that The AGV for meeting preparatory condition is in preset state.
When AGV is in locked state, AGV status information both includes mission bit stream, also including locking information, locking Information refers to the information that the mission bit stream corresponding to calling task obtains after being bound with AGV.When AGV is not at lock-out state When, that is, preset state, AGV status information only includes mission bit stream corresponding to current performed task, now AGV can receive the locking information of other tasks.
Preset state includes idle condition and blanking state, refers to that AGV can currently receive AGV controls in preset state The state of the new task of system distribution.As long as an AGV is not locked in the controls, the AGV is at preset state, no It is current whether in the task of execution by it.For example, an AGV currently meets preparatory condition, and just going in the first predeterminable area A website blanking, because it is currently preset state, i.e., there is no other tasks after current task is completed, thus can connect Controlled system is the new task of its distribution, and AGV now is exactly an AGV for being in preset state.
Control system judges whether AGV is idle condition when getting AGV status information, according to the information, that is, exists When getting AGV status information, add the judgement of one " whether in idle condition ", currently locate if judged result is the AGV In idle condition, then meet the second preparatory condition.In actual items, it can usually run into AGV and go to a website blanking During, the AGV destination websites to be gone initiate calling, it is necessary to existing material on station be taken away, conventional program meeting Judge that this is ready for the AGV of blanking with task so can not call again, the suitable AGV of searching can only be put at other. In the present embodiment, control system can by task distribute the thread locked AGV, but temporarily to the AGV do not send instruction with Exempt to influence current task, when the AGV reaches blanking website and completes task, AGV and calling will be ordered by assigning thread Order binding.
The method for allocating tasks based on AGV proposed in the present embodiment, meet the AGV's of the preparatory condition by obtaining Status information；The status information of the AGV is then based on, determines whether the AGV is in preset state, wherein, preset state Refer to that the AGV does not receive the new task of the AGV control systems distribution currently；After filtering out and meeting the AGV of preparatory condition It is also predefined whether it is locked at present, further the assigning process for task carries out place mat, improves task distribution program Integrality and reasonability.
Based on first embodiment, the sixth embodiment of the method for allocating tasks of the invention based on AGV is proposed, reference picture 7, is walked Rapid S30 includes：
Step S31, the first position information and each be in for obtaining targeted sites corresponding to the call command are preset The AGV of state second place information；
One website have issued call command, and control system is when receiving this call command, it is first determined it is on ground Call command terrestrial reference on figure.When call command terrestrial reference is determined, because each website and call command terrestrial reference are one a pair Answer, so as to the position of the targeted sites according to corresponding to the determination of call command terrestrial reference.
In the process of moving, AGV determines the position of itself by vehicle-mounted positioner in real time, and working path is led Navigate and correct the deviation of itself, so as to the precision for ensureing to walk and positioning.
When the AGV is in preset state, sends and obtain to AGV and targeted sites according to the instruction that control system is sent The instruction of positional information is taken, AGV and targeted sites can be sent certainly when receiving instruction by wireless device to control system The positional information of body.Except call command, each website can also send other information to control system, such as report itself shape State information.When it is call command that obtained judged result, which is the real time status information, sends and update targeted sites in systems The instruction of state, when receiving the instruction of the more new state information, control system updates the shape of the targeted sites in software State information.
Step S32, based on the first position information and the second place information, it is determined that to the targeted sites The most short AGV of operating range；
Based on targeted sites positional information corresponding to the call command, can be determined on map in the controls The AGV nearest apart from the targeted sites, using this AGV as the AGV that active calls task is first carried out.
Step S33, the most short AGV of operating range state is adjusted to lock-out state.
It is determined that after the AGV nearest apart from the targeted sites, it is entered in the case of not influenceing it and performing current task Row locking, obtains mission bit stream corresponding to the task that the AGV is currently executing, and the current mission bit stream and calling are ordered Locking information corresponding to order is packed, and is updated to AGV status information.
The method for allocating tasks based on AGV proposed in the present embodiment, by when the AGV is in preset state, obtaining Take the AGV positional information and the call command corresponding to targeted sites positional information；Ordered afterwards based on the calling Targeted sites positional information corresponding to order, it is determined that the AGV nearest apart from the targeted sites；Then by described apart from the target Locking information corresponding to the mission bit stream current nearest AGV of website and the call command is stored as the state of the AGV Information；The AGV and calling task are bound again when AGV is in preset state, it is possible to achieve to the Flexible Control of AGV system, are carried The high flexibility of system.
Based on first embodiment, the 7th embodiment of the method for allocating tasks of the invention based on AGV is proposed, reference picture 8, is walked Rapid S40 includes：
Step S41, when task corresponding to the mission bit stream current AGV being in the lock state is completed, exhaled described in acquisition Cry and mission bit stream is called corresponding to order；
When task corresponding to the mission bit stream current AGV being in the lock state is completed, the calling can be appointed immediately It is engaged in should be bound in the AGV of idle condition.Associated call mission bit stream is obtained first, is sent and obtained by AGV control systems Take mission bit stream to instruct, send the targeted sites of call command when receiving the instruction for obtaining mission bit stream, pass through channel radio Above-mentioned mission bit stream is sent to AGV control systems by news equipment.
Step S42, the state for the AGV for completing current task is adjusted to released state；
Released state refers to AGV when completing current task, can receive the state of the new task of control system distribution, when When AGV is in released state, the status information of the AGV is adjusted to only include calling mission bit stream corresponding to call command, and Locking information is will also include when being no longer in the lock state as AGV.
Step S43, the calling mission bit stream got is sent to the AGV in released state, so that the place The calling task is performed according to the calling mission bit stream in the AGV of released state.
AGV control systems update AGV status information when receiving the mission bit stream of targeted sites transmission, will be above-mentioned Call mission bit stream to bind with the AGV, will call mission bit stream by wireless communication apparatus in the lump together with travel route afterwards sends out Deliver to controller on the car of the AGV；After task is received, controller goes to targeted sites to perform this and exhaled according to route on car Cry and task is called corresponding to mission bit stream.
The method for allocating tasks based on AGV proposed in the present embodiment, by times current AGV being in the lock state When task is completed corresponding to information of being engaged in, calling mission bit stream corresponding to call command is obtained；Then the calling that will be got Mission bit stream is sent to controller on the car of the AGV, so that controller is held according to the calling mission bit stream control AGV on car Calling task corresponding to the row calling mission bit stream；Control system can be received when meeting the second preparatory condition by disclosing AGV System distribution new task, the degree of perfection of control system is improved, is more convenient for realizing monitoring and management to task allocation flow.
In addition, the present invention also proposes a kind of computer-readable recording medium, it is in the present embodiment, described computer-readable to deposit The task distribution program based on AGV is stored with storage media, it is real when the task distribution program based on AGV is executed by processor Now following operation：
When receiving call command, determine that current whether there is meets preparatory condition in the AGV control systems AGV；
When there is currently the AGV for meeting the preparatory condition, it is determined that whether there is in meeting the AGV of the preparatory condition AGV in preset state；
When the AGV in preset state in the AGV be present, the state of the AGV in preset state is adjusted to lock Determine state, wherein, the AGV being in the lock state performs current task and does not receive calling task；
When task corresponding to the mission bit stream current AGV being in the lock state is completed, the state of the AGV is adjusted For released state, and the AGV in released state is sent to by task is called corresponding to the call command.
Further, following operation is also realized when the task distribution program based on AGV is executed by processor：
Determine the first position information of targeted sites corresponding to the call command；
It is determined that it whether there is the AGV in idle condition corresponding to the first position information in the first predeterminable area；
When the AGV in idle condition is not present corresponding to the first position information in the first predeterminable area, it is determined that It is current with the presence or absence of the AGV for the website blanking gone in first predeterminable area or in first predeterminable area The AGV of website blanking, wherein, it there is currently the AGV for the website blanking gone in first predeterminable area or institute When stating the AGV of the website blanking in the first predeterminable area, determine to there is currently in the AGV control systems and meet preparatory condition AGV。
Further, following operation is also realized when the task distribution program based on AGV is executed by processor：
When the AGV in idle condition corresponding to the first position information in the first predeterminable area be present, institute is obtained State calling mission bit stream corresponding to call command；
The calling mission bit stream got is sent to the AGV in idle condition, so that described be in idle shape The AGV of state performs calling task corresponding to the calling mission bit stream.
Further, following operation is also realized when the task distribution program based on AGV is executed by processor：
It there is currently no the AGV for the website blanking gone in first predeterminable area or described first presetting During the AGV of the website blanking in region, determine that interior whether there is of the second predeterminable area corresponding to the first position information is in The AGV of idle condition, wherein, second predeterminable area includes first predeterminable area；
When the AGV in idle condition is not present corresponding to the first position information in the second predeterminable area, it is determined that Whether there is the AGV for the website blanking gone in the second predeterminable area in second predeterminable area or just in the second preset areas The AGV of website blanking in domain, wherein, there is currently the AGV for the website blanking gone in second predeterminable area or During the AGV of the website blanking in second predeterminable area, determine that satisfaction is there is currently in the AGV control systems to be preset The AGV of condition.
Further, following operation is also realized when the task distribution program based on AGV is executed by processor：
Obtain the status information for the AGV for meeting the preparatory condition；
Based on the status information, it is determined that whether there is the AGV in preset state in meeting the AGV of preparatory condition, its In, when the status information only includes meeting the current mission bit streams of the AGV of preparatory condition, determine described to meet preparatory condition AGV be in preset state.
Further, following operation is also realized when the task distribution program based on AGV is executed by processor：
Obtain the first position information of targeted sites corresponding to the call command and each AGV in preset state Second place information；
Based on the first position information and the second place information, it is determined that the operating range to the targeted sites Most short AGV；
The most short AGV of operating range state is adjusted to lock-out state.
Further, following operation is also realized when the task distribution program based on AGV is executed by processor：
When task corresponding to the mission bit stream current AGV being in the lock state is completed, the call command pair is obtained The calling mission bit stream answered；
The state for the AGV for completing current task is adjusted to released state；
The calling mission bit stream got is sent to the AGV in released state, so that described in unblock shape The AGV of state performs the calling task according to the calling mission bit stream.
It should be noted that herein, term " comprising ", "comprising" or its any other variant are intended to non-row His property includes, so that process, method, article or system including a series of elements not only include those key elements, and And also include the other element being not expressly set out, or also include for this process, method, article or system institute inherently Key element.In the absence of more restrictions, the key element limited by sentence "including a ...", it is not excluded that including this Other identical element also be present in the process of key element, method, article or system.
The embodiments of the present invention are for illustration only, do not represent the quality of embodiment.
Through the above description of the embodiments, those skilled in the art can be understood that above-described embodiment side Method can add the mode of required general hardware platform to realize by software, naturally it is also possible to by hardware, but in many cases The former is more preferably embodiment.Based on such understanding, technical scheme is substantially done to prior art in other words Going out the part of contribution can be embodied in the form of software product, and the computer software product is stored in one as described above In storage medium (such as ROM/RAM, magnetic disc, CD), including some instructions to cause a station terminal equipment (can be mobile phone, Computer, server, air conditioner, or network equipment etc.) perform method described in each embodiment of the present invention.
The preferred embodiments of the present invention are these are only, are not intended to limit the scope of the invention, it is every to utilize this hair The equivalent structure or equivalent flow conversion that bright specification and accompanying drawing content are made, or directly or indirectly it is used in other related skills Art field, is included within the scope of the present invention.

Claims (9)

  1. A kind of 1. method for allocating tasks based on AGV, applied to automatical pilot transportation vehicle AGV control systems, it is characterised in that institute Stating AGV control systems includes multiple AGV, and the method for allocating tasks based on AGV comprises the following steps：
    When receiving call command, determine current with the presence or absence of the AGV for meeting preparatory condition in the AGV control systems；
    When there is currently the AGV for meeting the preparatory condition, it is determined that with the presence or absence of being in meeting the AGV of the preparatory condition The AGV of preset state；
    When the AGV in preset state in the AGV be present, the state of the AGV in preset state is adjusted to lock shape State, wherein, the AGV being in the lock state performs current task and does not receive calling task；
    When task corresponding to the mission bit stream current AGV being in the lock state is completed, the state of the AGV is adjusted to solve Lock status, and it is sent to the AGV in released state by task is called corresponding to the call command.
  2. 2. the method for allocating tasks based on AGV as claimed in claim 1, it is characterised in that described to determine the AGV controls system It is current in system to include with the presence or absence of the step of AGV for meeting preparatory condition：
    Determine the first position information of targeted sites corresponding to the call command；
    It is determined that it whether there is the AGV in idle condition corresponding to the first position information in the first predeterminable area；
    When the AGV in idle condition is not present corresponding to the first position information in the first predeterminable area, it is determined that currently With the presence or absence of the AGV for going to the website blanking in the first predeterminable area or website in first predeterminable area The AGV of blanking, wherein, it there is currently the AGV for the website blanking gone in first predeterminable area or described During the AGV of the website blanking in one predeterminable area, determine to there is currently the AGV for meeting preparatory condition in the AGV control systems.
  3. 3. the method for allocating tasks based on AGV as claimed in claim 2, it is characterised in that the determination is at described first After the step of whether there is the AGV in idle condition in the first predeterminable area corresponding to confidence breath, methods described also includes：
    When the AGV in idle condition corresponding to the first position information in the first predeterminable area be present, exhaled described in acquisition Cry and mission bit stream is called corresponding to order；
    The calling mission bit stream got is sent to the AGV in idle condition, so that described in idle condition AGV performs calling task corresponding to the calling mission bit stream.
  4. 4. the method for allocating tasks based on AGV as claimed in claim 2, it is characterised in that described to determine whether exist Go to the AGV of the website blanking in first predeterminable area or the website blanking in first predeterminable area It is described to determine that current the step of whether there is the AGV for meeting preparatory condition is also in the AGV control systems after the step of AGV Including：
    It there is currently no the AGV for the website blanking gone in first predeterminable area or first predeterminable area During the AGV of interior website blanking, determine to whether there is in the free time in the second predeterminable area corresponding to the first position information The AGV of state, wherein, second predeterminable area includes first predeterminable area；
    When the AGV in idle condition is not present corresponding to the first position information in the second predeterminable area, it is determined that in institute State the AGV that whether has the website blanking gone in the second predeterminable area in the second predeterminable area or just in the second predeterminable area Website blanking AGV, wherein, there is currently the AGV for the website blanking gone in second predeterminable area or During the AGV of the website blanking in second predeterminable area, determine to there is currently in the AGV control systems and meet preparatory condition AGV.
  5. 5. the method for allocating tasks based on AGV as claimed in claim 1, it is characterised in that described to meet institute there is currently When stating the AGV of preparatory condition, it is determined that the step of whether there is the AGV in preset state in meeting the AGV of the preparatory condition Including：
    Obtain the status information for the AGV for meeting the preparatory condition；
    Based on the status information, it is determined that whether there is the AGV in preset state in meeting the AGV of preparatory condition, wherein, When the status information only includes meeting the AGV of preparatory condition current mission bit streams, the AGV for meeting preparatory condition is determined In preset state.
  6. 6. the method for allocating tasks based on AGV as claimed in claim 1, it is characterised in that the AGV in preset state Including multiple AGV, the step of state by the AGV in preset state is adjusted to lock-out state, includes：
    Obtain targeted sites corresponding to the call command first position information and each AGV in preset state Two positional informations；
    Based on the first position information and the second place information, it is determined that the operating range to the targeted sites is most short AGV；
    The most short AGV of operating range state is adjusted to lock-out state.
  7. 7. the method for allocating tasks based on AGV as described in any one of claim 1 to 6, it is characterised in that described in lock When determining that task is completed corresponding to the current mission bit streams of AGV of state, the state of the AGV is adjusted to released state, and will Calling task corresponding to the call command, which is sent to the step of AGV in released state, to be included：
    When task corresponding to the mission bit stream current AGV being in the lock state is completed, obtain corresponding to the call command Call mission bit stream；
    Released state will be adjusted in the state for the AGV being in the lock state；
    The calling mission bit stream got is sent to the AGV in released state, so that described in released state AGV performs the calling task according to the calling mission bit stream.
  8. 8. a kind of task allocation apparatus based on AGV, it is characterised in that the task allocation apparatus includes：Memory, processor And the task distribution program based on AGV that is stored on the memory and can run on the processor, it is described to be based on AGV Task distribution program the step of method as any one of claim 1 to 7 is realized during the computing device.
  9. 9. a kind of computer-readable recording medium, it is characterised in that be stored with the computer-readable recording medium based on AGV Task distribution program, when the task distribution program based on AGV is executed by processor realize as claim 1 to 7 it is any The method for allocating tasks based on AGV described in.
CN201710749856.2A 2017-08-25 2017-08-25 Method for allocating tasks, device and computer-readable recording medium based on AGV Pending CN107450551A (en)

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CN108133335A (en) * 2018-01-30 2018-06-08 共享智能铸造产业创新中心有限公司 A kind of logistics multitask control system and its control method based on AGV equipment
CN110309993B (en) * 2018-03-27 2022-04-05 杭州海康机器人技术有限公司 AGV task allocation method and device for automatic guided transport vehicle
CN110309993A (en) * 2018-03-27 2019-10-08 杭州海康机器人技术有限公司 A kind of automated guided vehicle AGV method for allocating tasks and device
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CN108946023A (en) * 2018-08-15 2018-12-07 东泰高科装备科技有限公司 Send processing method and system with charge free
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CN109561139A (en) * 2018-11-20 2019-04-02 上海交大智邦科技有限公司 AGV basic point formula communication system, the means of communication and computer readable storage medium
CN109948883A (en) * 2019-01-17 2019-06-28 芜湖智久机器人有限公司 A kind of station AGV point task distribution system and method
CN109857074A (en) * 2019-02-02 2019-06-07 宁波吉利汽车研究开发有限公司 Intelligent logistics system and workshop management system
CN110021189A (en) * 2019-04-26 2019-07-16 成都智狐科技有限公司 Intelligent parking method based on parallel access
CN110244648A (en) * 2019-06-13 2019-09-17 中国神华能源股份有限公司 Control method and control system for stockyard
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CN111596659A (en) * 2020-05-14 2020-08-28 福勤智能科技（昆山）有限公司 Automatic guided vehicle and system based on Mecanum wheels
CN111661197A (en) * 2020-06-08 2020-09-15 创铭智能信息科技(常州)有限公司 AGV instruction setting system, method, computer equipment and storage medium thereof
CN111897343A (en) * 2020-08-06 2020-11-06 上海联适导航技术有限公司 Automatic operation control method and device for unmanned agricultural machine
CN111930086A (en) * 2020-08-06 2020-11-13 安徽江淮汽车集团股份有限公司 Automatic guided vehicle scheduling method, device, storage medium and device
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