CN107703891A - Flow control method, device and computer-readable recording medium based on AGV - Google Patents
Flow control method, device and computer-readable recording medium based on AGV Download PDFInfo
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- CN107703891A CN107703891A CN201710788337.7A CN201710788337A CN107703891A CN 107703891 A CN107703891 A CN 107703891A CN 201710788337 A CN201710788337 A CN 201710788337A CN 107703891 A CN107703891 A CN 107703891A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM]
- G05B19/41865—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM] characterised by job scheduling, process planning, material flow
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/60—Electric or hybrid propulsion means for production processes
Abstract
The invention discloses a kind of flow control method based on AGV, by the job task of AGV completion current stations, determining next aiming station corresponding to production procedure；It is then determined that whether next aiming station, which is in, is completely expected state；Afterwards when next aiming station is in completely material state, the AGV is set to enter standby mode.The invention also discloses a kind of flow control device and computer-readable recording medium based on AGV.The present invention can adapt to the production line of multiple product, enhance the flexibility of AGV dispatching flows, improve AGV utilization rate and the productivity ratio of production line, optimize AGV scheduling process by dynamically adjusting next aiming station in production procedure.
Description
Technical field
The present invention relates to technical field of automatic control, more particularly to a kind of flow control method 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
Production and processing field, it is all kinds of materials of accumulating and industrial production system as the important equipment in modernization industry production system
System flexibility, integrated Effec-tive Function provide important guarantee.Meanwhile with the development in pluralism of user's request, factory's life
The characteristics of species of production product increases increasingly, and the mode of production of factory shows multi items, small lot.However, traditional material
Means of distribution can not meet the growing needs of enterprise.
At present, when AGV operations on a production line, after the job task on a station is completed, it will usually return to straight
Next station on production line is connect, rather than removes corresponding next station in production procedure, therefore, for different product
Production line can only all use same route, that is, judge successively according to the station order on production line, can not adapt to not
With the different production procedures of product.
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 flow control method based on AGV, device and computer-readable deposit
Storage media, it is intended to solve the problems, such as that existing AGV flow control methods can not adapt to different production procedures.
To achieve the above object, the present invention provides a kind of flow control method based on AGV, is transported applied to homing guidance
Car AGV control systems, the AGV control systems include the production line provided with multiple stations, the described method comprises the following steps：
When AGV completes the job task of current station, next aiming station corresponding to production procedure is determined；
Determine whether next aiming station is in and completely expect state；
When next aiming station is in completely material state, the AGV is set to enter standby mode.
Preferably, it is described in the job task of AGV completion current stations, determine next target work corresponding to production procedure
The step of position, includes：
When receiving task completed information corresponding to job task, the next station of current station on a production line is determined
Whether disabled status is in；
When next station is not at disabled status, next station is defined as next aiming station.
Preferably, it is described when receiving task completed information corresponding to job task, determine current station in production line
On next station the step of whether being in disabled status after, methods described also includes：
When next station is in disabled status, next station is defined as to disable station, wherein, disabling station is
Station corresponding to the disabled status；
Determine to disable whether the subsequent work stations of station on a production line are in disabled status successively according to preset order, by institute
State first station for being not at the disabled status in subsequent work stations and be defined as next aiming station, wherein, the follow-up work
Position includes multiple stations.
Preferably, it is described when receiving task completed information corresponding to job task, determine current station in production line
On next station the step of whether being in disabled status include：
When AGV completes the job task of current station, the task completed information that the current station is sent is received, its
In, task completed information includes station information and mission bit stream；
The instruction for going to the next station of current station on a production line is sent to AGV based on the task completed information；
The status information of next station is obtained, determines whether next station is in disabled status.
Preferably, it is described to determine whether next aiming station includes in the step of completely expecting state：
Obtain the status information of next aiming station；
Determine whether next aiming station is in based on the status information and completely expect state.
Preferably, described to determine next aiming station whether after the step of completely expecting state, methods described is also
Including：
When next aiming station is in idle condition, the current station and the state of next aiming station are updated
Information；
Mission bit stream corresponding to next aiming station is obtained, the mission bit stream is sent to the AGV, so that described
AGV performs task corresponding to the mission bit stream.
Preferably, it is described next aiming station be in completely expect state when, the step of making AGV enter standby mode it
Afterwards, methods described also includes：
When AGV is in standby mode, the status information of next aiming station is obtained in real time, determines next mesh
Whether mark station is in idle condition；
When next aiming station is in idle condition, the current station and the state of next aiming station are updated
Information；
Mission bit stream corresponding to next aiming station is obtained, the mission bit stream is sent to the AGV, so that described
AGV performs task corresponding to the mission bit stream.
Preferably, the status information includes completely expecting state, idle condition, disabled status, malfunction.
In addition, to achieve the above object, the present invention also provides a kind of flow control device based on AGV, described to be based on AGV
Flow control device include：Memory, processor and it is stored on the memory and can runs on the processor
Row control program based on AGV, realized when the Row control program based on AGV is by the computing device any of the above-described
The step of flow control method based on AGV.
In addition, to achieve the above object, the present invention also provides a kind of computer-readable recording medium, described computer-readable
The Row control program based on AGV is stored with storage medium, when the Row control program based on AGV is executed by processor
The step of realizing flow control method of any of the above-described based on AGV.
The present invention program, by the job task of AGV completion current stations, determining next mesh corresponding to production procedure
Mark station；It is then determined that whether next aiming station, which is in, is completely expected state；It is in full in next aiming station afterwards
During material state, the AGV is set to enter standby mode.The present invention by dynamically adjusting next aiming station in production procedure,
The production line of multiple product is can adapt to, enhances the flexibility of AGV dispatching flows, improves AGV utilization rate and production line
Productivity ratio, optimize AGV scheduling process.
Brief description of the drawings
Fig. 1 is the affiliated terminal of flow path device in the hardware running environment that scheme of the embodiment of the present invention is related to based on AGV
Structural representation；
Fig. 2 is the schematic flow sheet of the flow control method first embodiment of the invention based on AGV；
Fig. 3 is that the operation for completing current station in the flow control method second embodiment of the invention based on AGV in AGV is appointed
During business, the refinement schematic flow sheet for the step of determining next aiming station corresponding to production procedure；
Fig. 4 is that the operation for completing current station in the flow control method 3rd embodiment of the invention based on AGV in AGV is appointed
During business, the refinement schematic flow sheet for the step of determining next aiming station corresponding to production procedure；
Fig. 5 is to appoint in the flow control method fourth embodiment based on AGV of the invention corresponding to job task receiving
When information is completed in business, the refinement flow for the step of whether next station of current station on a production line is in disabled status determined
Schematic diagram；
Fig. 6 is whether to determine next aiming station in flow control method the 5th embodiment of the invention based on AGV
The refinement schematic flow sheet of the step of in full material state；
Fig. 7 is the schematic flow sheet in the flow control method sixth embodiment of the invention based on AGV；
Fig. 8 is the schematic flow sheet in flow control method the 7th embodiment of the invention based on AGV.
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 terminal structure schematic diagram for the hardware running environment that scheme of the embodiment of the present invention is related to.
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 Row control 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 Row control program based on AGV stored in memory 1005.
In the present embodiment, the flow control device based on AGV includes：Memory 1005, processor 1001 and it is stored in
On the memory 1005 and the Row control program based on AGV that can be run on the processor 1001, wherein, processor
During the Row control program based on AGV stored in 1001 calling memories 1005, following operate is performed：
When AGV completes the job task of current station, next aiming station corresponding to production procedure is determined；
Determine whether next aiming station is in and completely expect state；
When next aiming station is in completely material state, the AGV is set to enter standby mode.
Further, processor 1001 can call the Row control program based on AGV stored in memory 1005, also
Perform following operate：
When receiving task completed information corresponding to job task, the next station of current station on a production line is determined
Whether disabled status is in；
When next station is not at disabled status, next station is defined as next aiming station.
Further, processor 1001 can call the Row control program based on AGV stored in memory 1005, also
Perform following operate：
When next station is in disabled status, next station is defined as to disable station, wherein, disabling station is
Station corresponding to the disabled status；
Determine to disable whether the subsequent work stations of station on a production line are in disabled status successively according to preset order, by institute
State first station for being not at the disabled status in subsequent work stations and be defined as next aiming station, wherein, the follow-up work
Position includes multiple stations.
Further, processor 1001 can call the Row control program based on AGV stored in memory 1005, also
Perform following operate：
When AGV completes the job task of current station, the task completed information that the current station is sent is received, its
In, task completed information includes station information and mission bit stream；
The instruction for going to the next station of current station on a production line is sent to AGV based on the task completed information；
The status information of next station is obtained, determines whether next station is in disabled status.
Further, processor 1001 can call the Row control program based on AGV stored in memory 1005, also
Perform following operate：
Obtain the status information of next aiming station；
Determine whether next aiming station is in based on the status information and completely expect state.
Further, processor 1001 can call the Row control program based on AGV stored in memory 1005, also
Perform following operate：
When next aiming station is in idle condition, the current station and the state of next aiming station are updated
Information；
Mission bit stream corresponding to next aiming station is obtained, the mission bit stream is sent to the AGV, so that described
AGV performs task corresponding to the mission bit stream.
Further, processor 1001 can call the Row control program based on AGV stored in memory 1005, also
Perform following operate：
When AGV is in standby mode, the status information of next aiming station is obtained in real time, determines next mesh
Whether mark station is in idle condition；
When next aiming station is in idle condition, the current station and the state of next aiming station are updated
Information；
Mission bit stream corresponding to next aiming station is obtained, the mission bit stream is sent to the AGV, so that described
AGV performs task corresponding to the mission bit stream.
The present invention further provides a kind of method for allocating tasks based on AGV, reference picture 2, Fig. 2 is based on AGV for the present invention
Flow control method first embodiment schematic flow sheet.
In the present embodiment, it is somebody's turn to do the flow control method based on AGV and is applied to automatical pilot transportation vehicle AGV control systems,
The AGV control systems include the production line provided with multiple stations, are somebody's turn to do the flow control method based on AGV and comprise the following steps：
Step S100, when AGV completes the job task of current station, determine next target work corresponding to production procedure
Position；
In the present embodiment, next station on the next aiming station and production line in production procedure is different general
Read.Because the production line in actual production is fixed, therefore the position for being arranged at each station of production line is also fixed
, when a station is determined, the next station of the station on a production line also determines therewith, that is, in physics
It is located at the next station of the station on a production line in space；And for next aiming station in production procedure, by
It is that station used in incomplete same therefore different production procedure is also not in the production procedure corresponding to every kind of product
Identical to the greatest extent, for example, certain production line shares 11 stations, its A product produced needs to use all 11 stations, and B is produced
Product only need to use 8 stations, and for B products, it is the work in disabled status to have 3 stations in 11 stations
Position, for the previous station on a production line that this 3 disable station, their next stations on a production line are
Above-mentioned disabling station, and next aiming station in production procedure then needs to be determined according to actual production flow, if
The numbering of 11 stations is successively from No. 1 to No. 11 in this example, and it is No. 2 stations to disable station, No. 5 and No. 6 stations, then No. 1
Station corresponding next aiming station in production procedure is No. 3 stations, and next station on a production line is still No. 2 works
Position, No. 4 stations corresponding next aiming station in production procedure is No. 7 stations, and next station on a production line is still
It is No. 5 stations.
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.
After AGV is in current station completion task, the station sends task by wireless communication apparatus to AGV control systems
Information is completed, and the task completed information also includes the next station for allowing AGV the material of current station is transported on production line
Instruction, AGV control systems are after receiving this and including the task completed information for transporting instruction, according to storage in the controls
Information judges whether next station is next aiming station, if next station is next aiming station, then judged
Mission bit stream is sent into AGV when as a result makes it that the material of current station is transported into the past, if next station is not next mesh
Mark station, then the position of next aiming station is determined when obtaining judged result, obtain next aiming station position it
Afterwards, mission bit stream is sent to AGV so that the material of current station is transported to next aiming station by it.
Step S200, determine whether next aiming station is in and completely expect state；
When AGV goes to next aiming station to perform task, it is next that AGV control systems can send acquisition before AGV startups
The instruction of aiming station status information, the status information of station corresponding to instruction is obtained when receiving the instruction, based on the shape
Whether state information determines next aiming station in state is completely expected, the station in full material state can not typically receive other things again
Material, because the next individual station of normal conditions can only process a material.
The status information of one station can be full material state, idle condition, disabled status or malfunction.Completely expect shape
State refers to that the station is in normal operating conditions, and the job task of the station is performed according to fixed program, and material here is exactly
Refer to material, the meaning completely expected namely has processed material on the station；Idle condition refers to that the station is in and normally awaited orders
State, the new task of AGV control systems transmission can be immediately subjected to, the station in idle condition is probably just to complete one
Individual task, it is also possible to the disabling station of a upper product, just started working in current production procedure, or other may
The situation that can immediately begin to execution task；Disabled status refers to that not including the station in the production procedure of current production performs
Operation, have different production procedures for different products, and an incomplete phase of station used required for each production procedure
Together, if for a kind of material, the state of the station is disabled status, then it represents that this material can skip the station
Manufacturing procedure and the state for judging ensuing station, determine which station gone to below according to judgement afterwards；Failure shape
State refers to that the station can not normally perform the operation of the station, needs technical staff's on-call maintenance when failure state, because
This prompt message can occur in AGV control systems, to cause the attention of technical staff to make production system extensive so as to repair as early as possible
Multiple normal operating condition.
Step S300, when next aiming station is in completely material state, the AGV is set to enter standby mode.
When the status information for obtaining next aiming station is completely expects the result of state, AGV control systems pass through channel radio
News device sends the instruction for making AGV enter standby mode to the AGV, after AGV receives the instruction, by being arranged on AGV car
Controller controls drive device, allows the AGV to continue waiting in situ, while AGV positional information is passed through into wireless communication apparatus
It is sent to AGV control systems in real time.
The method for allocating tasks based on AGV proposed in the present embodiment, by complete current station job task when,
Determine next aiming station corresponding to production procedure；It is then determined that whether next aiming station, which is in, is completely expected state；Afterwards
When next aiming station is in completely material state, AGV is set to enter standby mode；By dynamically adjusting in production procedure
Next aiming station, the production line of multiple product is can adapt to, enhance the flexibility of AGV dispatching flows, improve AGV profit
With rate and the productivity ratio of production line, AGV scheduling process is optimized.
Based on first embodiment, the second embodiment of the flow control method of the invention based on AGV is proposed, reference picture 3, is walked
Rapid S100 includes：
Step S110, when receiving task completed information corresponding to job task, determine current station on a production line
Next station whether be in disabled status；
After AGV is in current station completion task, the station sends task by wireless communication apparatus to AGV control systems
Information is completed, and the task completed information also includes the next station for allowing AGV the material of current station is transported on production line
Instruction is transported, AGV control systems are after receiving this and including the task completed information for transporting instruction, the basis before AGV startups
The information of storage in the controls judges whether next station is in disabled status, if next station is next target work
Position, then state of next station in AGV control systems should not be disabled status, because only that in the production of current production
Flow need not be when the station be processed, and the state of the station is only disabled status.
Step S120, when next station is not at disabled status, next station is defined as next target
Station.
When next station on a production line is not at disabled status, illustrate that the work flow of next station belongs to current production
A part for the production procedure of product, therefore next station directly can be defined as next aiming station by AGV control system,
Mission bit stream is sent into AGV when obtaining the judged result of the station state information makes it be transported to down the material of current station
One aiming station.
The method for allocating tasks based on AGV proposed in the present embodiment, by the task corresponding to job task that receives
When completing information, determine whether the next station of current station on a production line is in disabled status；Then in next work
When position is not at disabled status, next station is defined as next aiming station；Under being determined according to the state of next station
One aiming station, the process of control production procedure is simplified, improves production efficiency so that AGV control systems are simply being sentenced
Can accurately sends instruction to AGV after disconnected.
Based on second embodiment, the 3rd embodiment of the flow control method of the invention based on AGV is proposed, reference picture 4, is walked
After rapid S110, methods described also includes：
Step S130, when next station is in disabled status, next station is defined as to disable station, wherein,
Disabling station is station corresponding to the disabled status；
When next station on a production line is in disabled status, for the production procedure of current production, the station
It is disabling station, for example, sharing 11 stations on certain production line, numbering is No. 1 to No. 11 successively, is produced on this production line
A products need to use wherein 10 stations, wherein No. 5 stations need not be used, the operation of No. 4 stations is completed in AGV
During task, No. 4 stations, which can send instruction, allows AGV that the material of No. 4 stations is transported into next station, and AGV control systems receive
During the instruction sent to No. 4 stations, the state of No. 5 stations can be judged, if obtained result is the state of No. 5 stations
For disabled status, then No. 5 stations are defined as the disabling station in disabled status in the production procedure of this product.
Step S140, whether determine to disable the subsequent work stations of station on a production line successively according to preset order in disabling
State, first station for being not at the disabled status in the subsequent work stations is defined as next aiming station, wherein, institute
Stating subsequent work stations includes multiple stations.
Completing disabling station, timing, AGV control systems can be sent from trend AGV before the disabling station really every time
Toward the transport instruction of disabling station next station on a production line, AGV control systems after transport instruction is received,
Judge whether next station is in disabled status according to the information of storage in the controls before AGV startups, described next
When station is not at disabled status, next station is defined as next aiming station.If next station is next target
Station, then state of next station in AGV control systems should not be disabled status, it may be possible to idle condition, completely expect shape
State or malfunction, AGV control systems can take different counter-measures according to the different conditions of next aiming station, such as
Fruit just directly should be bound mission bit stream corresponding to the station and AGV in idle condition, be then issued to AGV so that it as early as possible before
Task is performed toward the aiming station；If AGV state is then adjusted to standby mode by completely material state；If malfunction
Prompt message is then sent by forms such as sound and images, to cause the attention of technical staff to make production system so as to repair as early as possible
Recover normal operating condition.
If next station of above-mentioned disabling station is still disabling station, according to the station order on production line successively
Judge whether the subsequent work stations of the station are in disabled status, if being in disabled status, the station is defined as to disable work
Position, AGV control systems, which can send instruction, before the state of a station is judged makes AGV go to the disabling from current disabling station
The next station of station on a production line.Once it is determined that when having the station for being not at disabled status, the station is defined as producing
Next aiming station in flow, that is, in the subsequent work stations after disabling station, it is determined that first be not at disabling
The station of state.For example, sharing 11 stations on certain production line, numbering is No. 1 to No. 11 successively, is produced on this production line
A products need to use wherein 9 stations, wherein 5, No. 6 stations need not be used, the operation of No. 4 stations is completed in AGV
During task, No. 4 stations, which can send instruction, allows AGV that the material of No. 4 stations is transported into next station, and AGV control systems receive
During the instruction sent to No. 4 stations, the state of No. 5 stations can be judged, if obtained result is the state of No. 5 stations
For disabled status, then No. 5 stations are defined as the disabling station in disabled status in the production procedure of this product.Afterwards
AGV control systems can send the instruction that No. 6 stations are gone to from No. 5 stations to AGV, before AGV startups, AGV control system meetings
First judge the state of No. 6 stations, if the state that obtained result is No. 6 stations is disabled status, No. 6 stations are defined as
Disable station.Repeat the above steps afterwards, when the state for obtaining No. 7 stations is not at disabled status, under No. 7 stations are determined
One aiming station.
The method for allocating tasks based on AGV proposed in the present embodiment, by being in disabled status in next station
When, next station is defined as to disable station, wherein, disabling station is station corresponding to the disabled status；Then according to pre-
If order determines whether disabling station subsequent work stations on a production line are in disabled status successively, by the subsequent work stations the
One station for being not at the disabled status is defined as next aiming station；Propose a kind of for different production procedures determination
The method of next aiming station on production line, can directly be judged by the program in control system, first be driven to without AGV
Await orders a little, specified station gone to further according to mission bit stream, save time intervals of the AGV between different station execution task,
Improve AGV production efficiency.
Based on second embodiment, the fourth embodiment of the flow control method of the invention based on AGV is proposed, reference picture 5, is walked
Rapid S110 includes：
Step S111, when AGV completes the job task of current station, receive the task that the current station is sent and complete
Information, wherein, task completed information includes station information and mission bit stream；
When AGV completes the task of current station, the station can be sent out task completed information by wireless communication apparatus
Give AGV control systems, the task letter that task completed information includes the station information of the station and AGV is performed on the station
Breath.Station information mainly includes positional information, in the present embodiment, can be indicated with the terrestrial reference card numbering of each station.
The species of mission bit stream mainly includes feeding task, blanking task, and material is transported into the station and in the station pair
Next website is sent in the removing material when machining of material.Generally, whether AGV waits the thing after a station blanking
Material machines the process time for depending primarily on material on this station, because the work flow on a station is fixed
, therefore process time of the material on a station is also fixation,
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.Each website corresponding one
Individual terrestrial reference card numbering, it needs to be determined that some station position when, terrestrial reference card corresponding to the station can be obtained and numbered, it is possible to
Know the position of the station.
Step S112, sent based on the task completed information to AGV and go to the next work of current station on a production line
The instruction of position；
While task completed information is sent to AGV control systems by current station, send one make AGV by material from
Current station is transported to the instruction of next station on production line.
Step S113, the status information of next station is obtained, determines whether next station is in disabled status.
Before AGV startups, AGV control systems send the instruction for the status information for obtaining next station, in the case where getting
During the status information of one station, determine whether next station is in disabled status.
The method for allocating tasks based on AGV proposed in the present embodiment, by the job task that current station is completed in AGV
When, the task completed information that the current station is sent is received, wherein, task completed information includes station information and task is believed
Breath；It is then based on the task completed information and the finger for going to current station corresponding next station on a production line is sent to AGV
Order；The status information of next station is obtained afterwards, determines whether next station is in disabled status；Current station exists
AGV completes that during task the task completion status of itself can be sent in real time by wireless network, and sending one goes to AGV
Based on first embodiment, the 5th embodiment of the flow control method of the invention based on AGV is proposed, reference picture 6, is walked
Rapid S200 includes：
Step S210, obtain the status information of next aiming station；
Completing to the timing really of next aiming station, AGV control systems are obtained respectively in real time by wireless communication apparatus
The status information of individual station, so as to the state according to each station of state information updating got in AGV control systems.
Step S220, determine whether next aiming station is in based on the status information and completely expect state.
The status information of one station can be full material state, idle condition, disabled status or malfunction.Completely expect shape
State refers to that the station is in normal operating conditions, and the job task of the station is performed according to fixed program, and material here is exactly
Refer to material, the meaning completely expected namely has processed material on the station.
Before AGV startups, AGV control systems can send the instruction for obtaining next aiming station status information, receive
The status information of station corresponding to instruction is obtained during the instruction, determines next aiming station whether in full based on the status information
Material state, the station in full material state can not typically receive unclassified stores again, because the next individual station of normal conditions can only add
One material of work.
The method for allocating tasks based on AGV proposed in the present embodiment, by the status information for obtaining next aiming station；
Whether be then based on the status information determines next aiming station in completely expecting state；Next target work is gone in AGV
Judge whether the aiming station has material before position, can avoid going to when next aiming station also has material, cause
The material of next station can not be transported normally, ensure that the normal work of production line, improve the intelligence degree of production procedure.
Based on first embodiment, the sixth embodiment of the flow control method of the invention based on AGV is proposed, reference picture 7, is walked
After rapid S200, methods described also includes：
Step S400, when next aiming station is in idle condition, update the current station and next target
The status information of station；
When AGV goes to next aiming station to perform task, it is next that AGV control systems can send acquisition before AGV startups
The instruction of aiming station status information, the status information of station corresponding to instruction is obtained when receiving the instruction, based on the shape
State information determines whether next aiming station is in idle condition.
When next aiming station is in idle condition, the state of current station can be changed into the free time by AGV control systems
State, while the state of next aiming station is changed into full material state.The status information of one station can be full material state,
Idle condition, disabled status or malfunction.Idle condition refers to that the station is in normal armed state, can be immediately subjected to
The new task that AGV control systems are sent, the station in idle condition is probably just to have completed a task, it is also possible on
The disabling station of one product, has just started working in current production procedure, or other possible can immediately begin to hold
The situation of row task.
Step S500, mission bit stream corresponding to next aiming station is obtained, the mission bit stream is sent to the AGV,
So that the AGV performs task corresponding to the mission bit stream.
The serial server being arranged on AGV can efficiently be connected to main frame by wireless network, while will be based on RS-
232/422/485 serial data is transferred to AGV control systems and is monitored, the finger that can also send AGV control systems
Order is transmitted to Vehicle Controller.AGV vehicle communication systems are made up of WAP, serial server, configuration software three parts.It is logical
News network uses radio communication, and configuration software includes by ethernet line connecting in AGV control systems, and with WAP
Connect；WAP is connected by WiFi with the serial server being arranged on AGV dollies, it is ensured that communication is i.e. stable and convenient.
Wireless serial server wherein one end connects AGV Vehicle Controllers by serial bus, and other end is using WiFi with being distributed in
Multiple WAPs in AGV trolley travellings region are communicated, wherein, AGV related data is passed through by Vehicle Controller
Serial bus based on RS-232/422/485 is transmitted to serial server.
When AGV control systems complete the renewal operation to current station and next aiming station status information, AGV controls
System is by obtaining mission bit stream corresponding to above-mentioned next aiming station, at once in the controls by AGV and the mission bit stream
Binding, i.e., after above-mentioned job task is matched with the AGV dollies in task distribution program by control system, pass through wireless telecommunications
This task is sent to the Vehicle Controller being loaded into AGV trolleys by device, the basis under the scheduling of Vehicle Controller
Job instruction drives towards setting by preassigned path and carries out operation automatically.
The method for allocating tasks based on AGV proposed in the present embodiment, by being in the free time in next aiming station
During state, the current station and the status information of next aiming station are updated；Then obtain and appoint corresponding to next aiming station
Business information, the mission bit stream is sent to the AGV, so that the AGV performs task corresponding to the mission bit stream；Under
When one aiming station is in idle condition, the task of the station is sent to AGV according to normal procedure, ensure that in operating condition
Make AGV go to aiming station to perform task as early as possible in the case of permission, improve production efficiency.
Based on first embodiment, the 7th embodiment of the flow control method of the invention based on AGV is proposed, reference picture 8, is walked
After rapid S300, methods described also includes：
Step S600, when AGV is in standby mode, the status information of next aiming station is obtained in real time, it is determined that
Whether next aiming station is in idle 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.
Completely expect state because next aiming station is in before AGV starts, therefore the AGV and AGV that enter standby mode are born
The material of load needs to continue waiting for until the state of next aiming station is changed into idle condition.When AGV is in standby mode,
AGV control systems obtain the status information of next aiming station in real time, when getting the status information, determine next target work
Whether position is in idle condition.
Step S700, when next aiming station is in idle condition, update the current station and next target
The status information of station.
When next aiming station is in idle condition, the state of current station can be changed into the free time by AGV control systems
State, while the state of next aiming station is changed into full material state.The status information of one station can be full material state,
Idle condition, disabled status or malfunction.Idle condition refers to that the station is in normal armed state, can be immediately subjected to
The new task that AGV control systems are sent, the station in idle condition is probably just to have completed a task, it is also possible on
The disabling station of one product, has just started working in current production procedure, or other possible can immediately begin to hold
The situation of row task.
Step S800, mission bit stream corresponding to next aiming station is obtained, the mission bit stream is sent to the AGV,
So that the AGV performs task corresponding to the mission bit stream.
The serial server being arranged on AGV can efficiently be connected to main frame by wireless network, while will be based on RS-
232/422/485 serial data is transferred to AGV control systems and is monitored, the finger that can also send AGV control systems
Order is transmitted to Vehicle Controller.AGV vehicle communication systems are made up of WAP, serial server, configuration software three parts.It is logical
News network uses radio communication, and configuration software includes by ethernet line connecting in AGV control systems, and with WAP
Connect；WAP is connected by WiFi with the serial server being arranged on AGV dollies, it is ensured that communication is i.e. stable and convenient.
Wireless serial server wherein one end connects AGV Vehicle Controllers by serial bus, and other end is using WiFi with being distributed in
Multiple WAPs in AGV trolley travellings region are communicated, wherein, AGV related data is passed through by Vehicle Controller
Serial bus based on RS-232/422/485 is transmitted to serial server.
When AGV control systems complete the renewal operation to current station and next aiming station status information, AGV controls
System is by obtaining mission bit stream corresponding to above-mentioned next aiming station, at once in the controls by AGV and the mission bit stream
Binding, i.e., after above-mentioned job task is matched with the AGV dollies in task distribution program by control system, pass through wireless telecommunications
This task is sent to the Vehicle Controller being loaded into AGV trolleys by device, the basis under the scheduling of Vehicle Controller
Job instruction drives towards setting by preassigned path and carries out operation automatically.
The method for allocating tasks based on AGV proposed in the present embodiment, by when AGV is in standby mode, obtaining in real time
Take the status information of next aiming station；Then when getting the status information every time, next target is determined
Whether station is in idle condition；Finally when next aiming station is in idle condition, update the current station and
The status information of next aiming station；Judge whether the aiming station has material before AGV goes to next aiming station, can be with
Avoid going to when next aiming station also has material, cause the material of next station can not normally to transport, ensure that life
The normal work of producing line, improve the intelligence degree of production procedure.
In addition, the embodiment of the present invention also proposes a kind of computer-readable recording medium, the computer-readable recording medium
On be stored with the Row control program based on AGV, when the Row control program based on AGV is executed by processor realize it is as follows
Operation：
When AGV completes the job task of current station, next aiming station corresponding to production procedure is determined；
Determine whether next aiming station is in and completely expect state；
When next aiming station is in completely material state, the AGV is set to enter standby mode.
Further, following operation is also realized when the Row control program based on AGV is executed by processor：
When receiving task completed information corresponding to job task, the next station of current station on a production line is determined
Whether disabled status is in；
When next station is not at disabled status, next station is defined as next aiming station.
Further, following operation is also realized when the Row control program based on AGV is executed by processor：
When next station is in disabled status, next station is defined as to disable station, wherein, disabling station is
Station corresponding to the disabled status；
Determine to disable whether the subsequent work stations of station on a production line are in disabled status successively according to preset order, by institute
State first station for being not at the disabled status in subsequent work stations and be defined as next aiming station, wherein, the follow-up work
Position includes multiple stations.
Further, following operation is also realized when the Row control program based on AGV is executed by processor：
When AGV completes the job task of current station, the task completed information that the current station is sent is received, its
In, task completed information includes station information and mission bit stream；
The instruction for going to the next station of current station on a production line is sent to AGV based on the task completed information；
The status information of next station is obtained, determines whether next station is in disabled status.
Further, following operation is also realized when the Row control program based on AGV is executed by processor：
Obtain the status information of next aiming station；
Determine whether next aiming station is in based on the status information and completely expect state.
Further, following operation is also realized when the Row control program based on AGV is executed by processor：
When next aiming station is in idle condition, the current station and the state of next aiming station are updated
Information；
Mission bit stream corresponding to next aiming station is obtained, the mission bit stream is sent to the AGV, so that described
AGV performs task corresponding to the mission bit stream.
Further, following operation is also realized when the Row control program based on AGV is executed by processor：
When AGV is in standby mode, the status information of next aiming station is obtained in real time, determines next mesh
Whether mark station is in idle condition；
When next aiming station is in idle condition, the current station and the state of next aiming station are updated
Information；
Mission bit stream corresponding to next aiming station is obtained, the mission bit stream is sent to the AGV, so that described
AGV performs task corresponding to the 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 (10)
- A kind of 1. flow control method based on AGV, applied to automatical pilot transportation vehicle AGV control systems, it is characterised in that institute Stating AGV control systems includes the production line provided with multiple stations, and the flow control method based on AGV comprises the following steps：When AGV completes the job task of current station, next aiming station corresponding to production procedure is determined；Determine whether next aiming station is in and completely expect state；When next aiming station is in completely material state, the AGV is set to enter standby mode.
- 2. the flow control method based on AGV as claimed in claim 1, it is characterised in that described to complete current station in AGV Job task when, the step of determining next aiming station corresponding to production procedure, includes：When receiving task completed information corresponding to job task, whether the next station of current station on a production line is determined In disabled status；When next station is not at disabled status, next station is defined as next aiming station.
- 3. the flow control method based on AGV as claimed in claim 2, it is characterised in that described to receive job task During corresponding task completed information, determine the step of whether next station of current station on a production line is in disabled status it Afterwards, methods described also includes：When next station is in disabled status, next station is defined as to disable station, wherein, disabling station is described Station corresponding to disabled status；Determine to disable whether the subsequent work stations of station on a production line are in disabled status successively according to preset order, after described First station for being not at the disabled status is defined as next aiming station in continuous station, wherein, the subsequent work stations bag Include multiple stations.
- 4. the flow control method based on AGV as claimed in claim 2, it is characterised in that described to receive job task During corresponding task completed information, determine that the step of whether next station of current station on a production line is in disabled status is wrapped Include：When AGV completes the job task of current station, the task completed information that the current station is sent is received, wherein, appoint Information is completed in business includes station information and mission bit stream；The instruction for going to the next station of current station on a production line is sent to AGV based on the task completed information；The status information of next station is obtained, determines whether next station is in disabled status.
- 5. the flow control method based on AGV as claimed in claim 1, it is characterised in that described to determine next target Whether station includes in the step of completely expecting state：Obtain the status information of next aiming station；Determine whether next aiming station is in based on the status information and completely expect state.
- 6. the flow control method based on AGV as claimed in claim 1, it is characterised in that described to determine next target Whether after the step of completely expecting state, methods described also includes station：When next aiming station is in idle condition, the state letter of the current station and next aiming station is updated Breath；Mission bit stream corresponding to next aiming station is obtained, the mission bit stream is sent to the AGV, so that the AGV is held Task corresponding to the row mission bit stream.
- 7. the flow control method based on AGV as claimed in claim 1, it is characterised in that described in next target work After the step of when completely expecting state, making AGV enter standby mode, methods described also includes for position：When AGV is in standby mode, the status information of next aiming station is obtained in real time, determines next target work Whether position is in idle condition；When next aiming station is in idle condition, the state letter of the current station and next aiming station is updated Breath；Mission bit stream corresponding to next aiming station is obtained, the mission bit stream is sent to the AGV, so that the AGV is held Task corresponding to the row mission bit stream.
- 8. the flow control method based on AGV as described in claim 4 to 7, it is characterised in that the status information includes full Material state, idle condition, disabled status, malfunction.
- 9. a kind of flow control device based on AGV, it is characterised in that the flow control device based on AGV includes：Storage Device, processor and the Row control program based on AGV that is stored on the memory and can run on the processor, institute State the Row control program based on AGV by during the computing device realize as any one of claim 1 to 8 based on The step of AGV flow control method.
- 10. a kind of computer-readable recording medium, it is characterised in that be stored with and be based on the computer-readable recording medium AGV Row control program, realized when the Row control program based on AGV is executed by processor as in claim 1 to 8 The step of flow control method based on AGV described in any one.
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