CN107703891B - Flow control method, device and computer readable storage medium based on AGV - Google Patents
Flow control method, device and computer readable storage medium based on AGV Download PDFInfo
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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] or 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] or computer integrated manufacturing [CIM] characterised by job scheduling, process planning, material flow
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- 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
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- 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
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Abstract
The invention discloses a kind of flow control methods based on AGV, by determining the corresponding next aiming station of production procedure in the job task of AGV completion current station；Then determine whether next aiming station is in full material state；Later when next aiming station is in completely material state, the AGV is made to enter standby mode.The invention also discloses a kind of flow control device and computer readable storage medium based on AGV.The present invention can adapt to the production line of multiple product, enhance the flexibility of AGV dispatching process, improve the utilization rate of AGV and the productivity of production line, optimize the scheduling process of AGV 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 storage medium.
Background technique
Currently, AGV (Automated Guided Vehicle, automated guided vehicle) has been widely used for automating
Production and processing field is all kinds of materials of storage and transportation and industrial production system as the important equipment in modernization industry production system
System flexibility, integrated efficient operation provide important guarantee.Meanwhile with the development in pluralism of user demand, factory is raw
The characteristics of type for producing product increases increasingly, and the production method of factory shows multi items, small lot.However, traditional material
Means of distribution has been unable to meet the increasingly developed needs of enterprise.
Currently, when AGV operation in the production line, after completing the job task on a station, 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 all can only use the same route, that is, according on production line station sequence successively judge, can not adapt to not
With the different production procedures of product.
Above content is only used to facilitate the understanding of the technical scheme, and is not represented and is recognized that above content is existing skill
Art.
Summary of the invention
The main purpose of the present invention is 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 method 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 applied to homing guidance and transports
Vehicle AGV control system, the AGV control system include the production line equipped with multiple stations, be the described method comprises the following steps:
When AGV completes the job task of current station, the corresponding next aiming station of production procedure is determined；
Determine whether next aiming station is in full material state；
When next aiming station is in completely material state, the AGV is made to enter standby mode.
Preferably, when the job task for completing current station in AGV, the corresponding next target work of production procedure is determined
Position the step of include:
When receiving the corresponding task completed information of job task, the next station of current station in the production line is determined
Whether disabled status is in；
When next station is not at disabled status, next station is determined as next aiming station.
Preferably, described when receiving the corresponding task completed information of job task, determine current station in production line
On next station the step of whether being in disabled status after, the method also includes:
When next station is in disabled status, next station is determined as to disable station, wherein disabling station is
The corresponding station of the disabled status；
Successively determine whether the subsequent work stations of disabling station in the production line are in disabled status according to preset order, by institute
It states first station for being not at the disabled status in subsequent work stations and is determined as next aiming station, wherein the subsequent work
Position includes multiple stations.
Preferably, described when receiving the corresponding task completed information of 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,
In, task completed information includes station information and mission bit stream；
The instruction for going to the next station of current station in the production line is issued to AGV based on the task completed information；
The status information for obtaining next station, determines whether next station is in disabled status.
Preferably, the step of whether determination next aiming station is in full material state include:
Obtain the status information of next aiming station；
Determine whether next aiming station is in full material state based on the status information.
Preferably, after the step of whether determination next aiming station is in full material state, the method is also
Include:
When next aiming station is in idle condition, the state of the current station and next aiming station is updated
Information；
The corresponding mission bit stream of next aiming station is obtained, the mission bit stream is sent to the AGV, so that described
AGV executes the corresponding task of the mission bit stream.
Preferably, described when next aiming station is in completely material state, the step of making AGV enter standby mode it
Afterwards, the method 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 state of the current station and next aiming station is updated
Information；
The corresponding mission bit stream of next aiming station is obtained, the mission bit stream is sent to the AGV, so that described
AGV executes the corresponding task of the mission bit stream.
Preferably, the status information includes completely expecting state, idle state, disabled status, malfunction.
In addition, to achieve the above object, it is described to be based on AGV the present invention also provides a kind of flow control device based on AGV
Flow control device include: memory, processor and be stored on the memory and can run on the processor
Row control program based on AGV, the Row control program based on AGV are realized any of the above-described when being executed by the processor
The step of flow control method based on AGV.
In addition, to achieve the above object, it is described computer-readable the present invention also provides a kind of computer readable storage medium
The Row control program based on AGV is stored on 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 determining the corresponding next mesh of production procedure in the job task of AGV completion current station
Mark station；Then determine whether next aiming station is in full material state；It is in full in next aiming station later
When material state, the AGV is made to enter standby mode.The present invention passes through the next aiming station dynamically adjusted in production procedure,
The production line that can adapt to multiple product enhances the flexibility of AGV dispatching process, improves the utilization rate and production line of AGV
Productivity, optimize the scheduling process of AGV.
Detailed description of the invention
Fig. 1 is the affiliated terminal of flow path device based on AGV in hardware running environment that the embodiment of the present invention is related to
Structural schematic diagram；
Fig. 2 is that the present invention is based on the flow diagrams of the flow control method first embodiment of AGV；
Fig. 3 is that the present invention is based on appoint in the flow control method second embodiment of AGV in the operation that AGV completes current station
When business, the refinement flow diagram for the step of determining production procedure corresponding next aiming station；
Fig. 4 is that the present invention is based on appoint in the flow control method 3rd embodiment of AGV in the operation that AGV completes current station
When business, the refinement flow diagram for the step of determining production procedure corresponding next aiming station；
Fig. 5 is that the present invention is based on receiving job task corresponding in the flow control method fourth embodiment of AGV
When information is completed in business, the refinement process for the step of whether next station of current station in the production line is in disabled status is determined
Schematic diagram；
Fig. 6 is that the present invention is based on whether determine next aiming station in the 5th embodiment of flow control method of AGV
The refinement flow diagram of the step of in full material state；
Fig. 7 is that the present invention is based on the flow diagrams in the flow control method sixth embodiment of AGV；
Fig. 8 is that the present invention is based on the flow diagrams in the 7th embodiment of flow control method of AGV.
The embodiments will be further described with reference to the accompanying drawings for the realization, the function and the advantages of the object of the present invention.
Specific 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 the embodiment of the present invention is related to.
The terminal of that embodiment of the invention can be PC, be also possible to smart phone, tablet computer, E-book reader, MP3
(Moving Picture Experts Group Audio Layer III, dynamic image expert's compression standard audio level 3)
Player, MP4 (Moving Picture Experts Group Audio Layer IV, dynamic image expert's compression standard sound
Frequency level 4) the packaged type terminal device having a display function such as player, portable computer.
As shown in Figure 1, the terminal may include: processor 1001, such as CPU, network interface 1004, user interface
1003, memory 1005, communication bus 1002.Wherein, communication bus 1002 is for realizing the connection communication between these components.
User interface 1003 may include display screen (Display), input unit such as keyboard (Keyboard), optional user interface
1003 can also include standard wireline interface and wireless interface.Network interface 1004 optionally may include that the wired of standard connects
Mouth, wireless interface (such as WI-FI interface).Memory 1005 can be high speed RAM memory, be also possible to stable memory
(non-volatile memory), such as magnetic disk storage.Memory 1005 optionally can also be independently of aforementioned processor
1001 storage device.
Optionally, terminal can also include camera, RF (Radio Frequency, radio frequency) circuit, sensor, audio
Circuit, WiFi module etc..Wherein, sensor such as optical sensor, motion sensor and other sensors.Specifically, light
Sensor may include ambient light sensor and proximity sensor, wherein ambient light sensor can according to the light and shade of ambient light come
The brightness of display screen is adjusted, proximity sensor 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 the size of (generally three axis) acceleration in all directions, quiet
Size and the direction that can detect that gravity when only, the application that can be used to identify mobile terminal posture are (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
The other sensors such as gyroscope, barometer, hygrometer, thermometer, infrared sensor are set, details are not described herein.
It will be understood by those skilled in the art that the restriction of the not structure paired terminal of terminal structure shown in Fig. 1, can wrap
It includes than illustrating more or fewer components, perhaps combines certain components or different component layouts.
As shown in Figure 1, as may include that operating system, network are logical in a kind of memory 1005 of computer storage medium
Believe module, Subscriber Interface Module SIM and the Row control program based on AGV.
In terminal shown in Fig. 1, network interface 1004 is mainly used for connecting background server, carries out with background server
Data communication；User interface 1003 is mainly used for connecting client (user terminal), carries out 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 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
When the Row control program based on AGV stored in 1001 calling memories 1005, following operation is executed:
When AGV completes the job task of current station, the corresponding next aiming station of production procedure is determined；
Determine whether next aiming station is in full material state；
When next aiming station is in completely material state, the AGV is made to enter standby mode.
Further, processor 1001 can call the Row control program based on AGV stored in memory 1005, also
Execute following operation:
When receiving the corresponding task completed information of job task, the next station of current station in the production line is determined
Whether disabled status is in；
When next station is not at disabled status, next station is determined as next aiming station.
Further, processor 1001 can call the Row control program based on AGV stored in memory 1005, also
Execute following operation:
When next station is in disabled status, next station is determined as to disable station, wherein disabling station is
The corresponding station of the disabled status；
Successively determine whether the subsequent work stations of disabling station in the production line are in disabled status according to preset order, by institute
It states first station for being not at the disabled status in subsequent work stations and is determined as next aiming station, wherein the subsequent work
Position includes multiple stations.
Further, processor 1001 can call the Row control program based on AGV stored in memory 1005, also
Execute following operation:
When AGV completes the job task of current station, the task completed information that the current station is sent is received,
In, task completed information includes station information and mission bit stream；
The instruction for going to the next station of current station in the production line is issued to AGV based on the task completed information；
The status information for obtaining next station, 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
Execute following operation:
Obtain the status information of next aiming station；
Determine whether next aiming station is in full material state based on the status information.
Further, processor 1001 can call the Row control program based on AGV stored in memory 1005, also
Execute following operation:
When next aiming station is in idle condition, the state of the current station and next aiming station is updated
Information；
The corresponding mission bit stream of next aiming station is obtained, the mission bit stream is sent to the AGV, so that described
AGV executes the corresponding task of the mission bit stream.
Further, processor 1001 can call the Row control program based on AGV stored in memory 1005, also
Execute following operation:
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 state of the current station and next aiming station is updated
Information；
The corresponding mission bit stream of next aiming station is obtained, the mission bit stream is sent to the AGV, so that described
AGV executes the corresponding task of the mission bit stream.
The present invention further provides a kind of method for allocating tasks based on AGV, are that the present invention is based on AGV referring to Fig. 2, Fig. 2
Flow control method first embodiment flow diagram.
In the present embodiment, automated guided vehicle AGV control system should be applied to based on the flow control method of AGV,
The AGV control system includes the production line equipped with multiple stations, should flow control method based on AGV the following steps are included:
Step S100 determines the corresponding next target work of production procedure when AGV completes the job task of current station
Position；
In the present embodiment, next aiming station in production procedure and next station on production line are different generally
It reads.Due to production line in actual production be it is fixed, it is also fixed for being set to the position of each station of production line
, when a station has been determined, the next station of the station in the production line also determines therewith, that is, in physics
It is located at the next station of the station in the production line in space；And for next aiming station in production procedure, by
The production procedure corresponding to every kind of product is that station used in not exactly the same therefore different production procedure is also not
Identical to the greatest extent, for example, certain production line shares 11 stations, A product needs produced use all 11 stations, and B is produced
Product only need to use 8 stations, and for B product, having 3 stations in 11 stations is the work in disabled status
Position, for the previous station in the production line that this 3 disable station, their next stations in the production line are
Above-mentioned disabling station, and next aiming station in production procedure then needs to be determined according to actual production process, if
The number of 11 stations is successively from No. 1 to No. 11 in this example, and disabling station is No. 2 stations, No. 5 and No. 6 stations, then No. 1
Station corresponding next aiming station in production procedure is No. 3 stations, and next station in the 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 in the production line is still
It is No. 5 stations.
AGV automated guided vehicle control system is a kind of advanced materials conveying system, it using rechargeable battery as power,
Under the monitoring of AGV control system, by the path and job requirements planned in advance, accurately walks and is accommodated to specified website,
Complete specific job task, such as picking, delivery, charging.
AGV control system generally can be divided into three class control mode, be central control computer, ground controller and vehicle respectively
Upper controller.Respectively, center-controlling computer is the control command centre of whole system, it is controlled with the ground in each region
Device is communicated, and is managed to each ground controller；Ground controller is then responsible for being monitored the service conditions in region
Management such as the situation of monitoring field device, the utilization rate for counting AGV, traffic control, tracking loading and unloading, sets objectives ground
The type of the position of AGV and tote, quantity are simultaneously transferred to central control computer by location, the address of real-time storage trolley；Vehicle
Also chauffeur set controller, main task are to explain and execute from ground controller or ground control station transmission is made to upper controller
Instruction, record the position of AGV in real time, and monitor the safety device on vehicle.Wherein, central control computer is AGV scheduling system
The core of system, major function just include task distribution according to the present invention, 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 software, it is worth noting that, central management
Dispatcher software is applied to central control computer.
When AGV is after current station completion task, which issues task to AGV control system by wireless communication apparatus
Information is completed, which further includes the next station for allowing AGV the material of current station is transported on production line
Instruction, AGV control system is after receiving this and including to transport task completed information of instruction, in the controls according to storage
Information judges whether next station is next aiming station, if next station is next aiming station, is being judged
Mission bit stream, which is sent to AGV, when as a result makes it that the material of current station is transported the past, if next station is not next mesh
Mark station, then determine the position of next aiming station when obtaining judging result, the position for obtaining next aiming station 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, determines whether next aiming station is in full material state；
When AGV goes to next aiming station to execute task, it is next that AGV control system can issue acquisition before AGV starting
The instruction of aiming station status information, the status information of the corresponding station of acquisition instruction when receiving the instruction are based on the shape
State information determines whether next aiming station is in full material state, and the station in full material state can not generally receive other objects again
Material, because lower station of usual situation can only process a material.
The status information of one station can be full material state, idle state, 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 executed according to fixed program, and material here is exactly
Refer to material, has processed material on the meaning namely station completely expected；Idle state refers to that the station is in and normally awaits orders
State can be immediately subjected to the new task of AGV control system transmission, and the station being in idle condition may be just to complete one
A task, it is also possible to which the disabling station of a upper product has just started to work in current production procedure or other may
The case where can immediately beginning to execution task；Disabled status refers in the production procedure of current production do not include that the station executes
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 next station determine which station gone to below according to judgement later；Failure shape
State refers to that the station can not normally execute the operation of the station, needs technical staff's on-call maintenance when failure state, because
This prompt information can occur in AGV control system, to cause the attention of technical staff to keep production system extensive to repair as early as possible
Multiple normal operating condition.
Step S300 makes the AGV enter standby mode when next aiming station is in completely material state.
When the status information for obtaining next aiming station is completely to expect the result of state, AGV control system passes through channel radio
News device issues the instruction for making AGV enter standby mode to the AGV, after AGV receives the instruction, by being set on the vehicle of AGV
Controller controls driving device, allows the AGV to continue waiting in situ, while the location information of AGV is passed through wireless communication apparatus
It is sent to AGV control system in real time.
The method for allocating tasks based on AGV proposed in the present embodiment, by complete current station job task when,
Determine the corresponding next aiming station of production procedure；Then determine whether next aiming station is in full material state；Later
When next aiming station is in completely material state, AGV is made to enter standby mode；By dynamically adjusting in production procedure
Next aiming station can adapt to the production line of multiple product, enhances the flexibility of AGV dispatching process, improves the benefit of AGV
With the productivity of rate and production line, the scheduling process of AGV is optimized.
Based on first embodiment, propose the present invention is based on the second embodiment of the flow control method of AGV, referring to Fig. 3, step
Suddenly S100 includes:
Step S110 determines current station in the production line when receiving the corresponding task completed information of job task
Next station whether be in disabled status；
When AGV is after current station completion task, which issues task to AGV control system by wireless communication apparatus
Information is completed, which further includes the next station for allowing AGV the material of current station is transported on production line
Instruction is transported, AGV control system is after receiving this and including to transport the task completed information of instruction, the basis before AGV starting
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 system should not be disabled status, because only that in the production of current production
Process is not needed when the station is processed, and the state of the station is only disabled status.
Next station is determined as next target when next station is not at disabled status by step S120
Station.
When next station in the production line is not at disabled status, illustrate that the processing flow of next station belongs to current production
A part of the production procedure of product, therefore next station directly can be determined as next aiming station by the control system of AGV,
Mission bit stream, which is sent to AGV, when obtaining the judging result of the station state information is transported to down it by the material of current station
One aiming station.
The method for allocating tasks based on AGV proposed in the present embodiment, by receiving the corresponding task of job task
When completing information, determine whether the next station of current station in the production line is in disabled status；Then in next work
When position is not at disabled status, next station is determined as next aiming station；Under being determined according to the state of next station
One aiming station simplifies the process of control production procedure, production efficiency is improved, so that AGV control system is simply being sentenced
Instruction can be accurately issued to AGV after disconnected.
Based on second embodiment, propose the present invention is based on the 3rd embodiment of the flow control method of AGV, referring to Fig. 4, step
After rapid S110, the method also includes:
Next station is determined as disabling station by step S130 when next station is in disabled status, wherein
Disabling station is the corresponding station of the disabled status；
When next station in the 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, number is successively No. 1 to No. 11, is produced on this production line
A product needs use wherein 10 stations, wherein No. 5 stations do not need to use, complete the operation of No. 4 stations in AGV
When task, No. 4 stations, which can issue instruction, allows AGV that the material of No. 4 stations is transported to next station, and AGV control system receives
To No. 4 stations send instruction when, the state of No. 5 stations can be judged, if obtain the result is that the state of No. 5 stations
For disabled status, then No. 5 stations are determined as being in the disabling station of disabled status in the production procedure of this product.
Step S140, successively determines whether the subsequent work stations of disabling station in the production line are in disabling according to preset order
First station for being not at the disabled status in the subsequent work stations is determined as next aiming station, wherein institute by state
Stating subsequent work stations includes multiple stations.
The timing really of disabling station is being completed every time, AGV control system can issue before the disabling station from trend AGV
Toward the transport instruction of disabling station next station in the production line, AGV control system after receiving transport instruction,
Judge whether next station is in disabled status according to the information of storage in the controls before AGV starting, described next
When station is not at disabled status, next station is determined as next aiming station.If next station is next target
Station, then state of next station in AGV control system should not be disabled status, it may be possible to which idle state completely expects shape
State or malfunction, AGV control system can take different counter-measures according to the different conditions of next aiming station, such as
This is in idle condition and just directly binds the corresponding mission bit stream of the station and AGV fruit, be then issued to AGV so that it as early as possible before
Task is executed toward the aiming station；The state of AGV is then adjusted to standby mode if it is full material state；If it is malfunction
Prompt information then is issued by forms such as sound and images, to cause the attention of technical staff to make production system to repair as early as possible
Restore normal operating condition.
If next station of above-mentioned disabling station is still disabling station, successively according to the station sequence on production line
Judge whether the subsequent work stations of the station are in disabled status, if being in disabled status, which is determined as to disable work
Position, AGV control system, which can issue instruction, before the state for judging a station makes AGV go to the disabling from current disabling station
The next station of station in the production line.Once it is determined that the station is determined as producing when having the station for being not at disabled status
Next aiming station in process, that is, in disabling the subsequent work stations after station, first determined is not at disabling
The station of state.For example, sharing 11 stations on certain production line, number is successively No. 1 to No. 11, is produced on this production line
A product needs use wherein 9 stations, wherein 5, No. 6 stations do not need to use, complete the operation of No. 4 stations in AGV
When task, No. 4 stations, which can issue instruction, allows AGV that the material of No. 4 stations is transported to next station, and AGV control system receives
To No. 4 stations send instruction when, the state of No. 5 stations can be judged, if obtain the result is that the state of No. 5 stations
For disabled status, then No. 5 stations are determined as being in the disabling station of disabled status in the production procedure of this product.Later
AGV control system can issue the instruction that No. 6 stations are gone to from No. 5 stations, before AGV starting, AGV control system meeting to AGV
First judge the state of No. 6 stations, if obtain the result is that the state of No. 6 stations be disabled status, No. 6 stations are determined as
Disable station.It repeats the above steps later, 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 determined as to disable station, wherein disabling station is the corresponding station of the disabled status；Then according to pre-
If sequence successively determines whether disabling station subsequent work stations in the production line are in disabled status, by the subsequent work stations the
One station for being not at the disabled status is determined as next aiming station；It proposes a kind of determining for different production procedures
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
It awaits orders a little, goes to specified station further according to mission bit stream, save time interval of the AGV between different station execution task,
Improve the production efficiency of AGV.
Based on second embodiment, propose the present invention is based on the fourth embodiment of the flow control method of AGV, referring to Fig. 5, step
Suddenly S110 includes:
Step S111 receives the task that the current station is sent and completes when AGV completes the job task of current station
Information, wherein task completed information includes station information and mission bit stream；
When AGV completes the task of current station, which can be sent out task completed information by wireless communication apparatus
AGV control system is given, task completed information includes the station information of the station and the task letter that AGV is executed on the station
Breath.Station information mainly includes location information, in the present embodiment, can be numbered and is indicated with the terrestrial reference card of each station.
The type of mission bit stream mainly includes feeding task, blanking task, and material is transported to the station and in the station pair
Next website is sent in the removing material when completing the process of material.In general, whether AGV waits the object after a station blanking
Material completes the process the process time for depending primarily on material on this station, since the processing flow on a station is fixed
, therefore process time of the material on a station is also fixation,
Many websites are dispersed in AGV control system, these websites can be the station in factory on production line, mainly
Feeding and blanking when for operation are also possible to the position of charging station or the position at garage station.Each website corresponding one
A terrestrial reference card number, it needs to be determined that some station position when, the corresponding terrestrial reference card number of the available station, so that it may
Know the position of the station.
Step S112 goes to the next work of current station in the production line to AGV sending based on the task completed information
The instruction of position；
While task completed information is sent to AGV control system 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 obtains the status information of next station, determines whether next station is in disabled status.
Before AGV starting, AGV control system issues the instruction for obtaining the status information of next station, in the case where getting
When 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 for completing current station in AGV
When, receive the task completed information that the current station is sent, wherein task completed information includes station information and task letter
Breath；It is then based on the task completed information and issues the finger for going to current station corresponding next station in the production line to AGV
It enables；The status information for obtaining next station later, determines whether next station is in disabled status；Current station exists
AGV completes that the task completion status of itself can be sent when task in real time by wireless network, and issuing one goes to AGV
Based on first embodiment, propose the present invention is based on the 5th embodiment of the flow control method of AGV, referring to Fig. 6, step
Suddenly S200 includes:
Step S210 obtains the status information of next aiming station；
It is completing to the timing really of next aiming station, AGV control system is obtained respectively in real time by wireless communication apparatus
The status information of a station, thus the state according to each station of the state information updating got in AGV control system.
Step S220 determines whether next aiming station is in full material state based on the status information.
The status information of one station can be full material state, idle state, 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 executed according to fixed program, and material here is exactly
Refer to material, has processed material on the meaning namely station completely expected.
Before AGV starting, AGV control system can issue the instruction for obtaining next aiming station status information, receive
The status information of the corresponding station of acquisition instruction when the instruction determines whether next aiming station is in full based on the status information
Material state, the station in full material state can not generally receive unclassified stores again, because lower station of usual situation 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；
It is then based on the status information and determines whether next aiming station is in full material state；Next target work is gone in AGV
Judge whether the aiming station has material before position, there are also being gone to when material, can cause to avoid in next aiming station
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, propose the present invention is based on the sixth embodiment of the flow control method of AGV, referring to Fig. 7, step
After rapid S200, the method also includes:
Step S400 updates the current station and next target when next aiming station is in idle condition
The status information of station；
When AGV goes to next aiming station to execute task, it is next that AGV control system can issue acquisition before AGV starting
The instruction of aiming station status information, the status information of the corresponding station of acquisition instruction when receiving the instruction are 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 system
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 state, disabled status or malfunction.Idle state refers to that the station is in normal armed state, can be immediately subjected to
The new task that AGV control system is sent, the station being in idle condition may be just to have completed a task, it is also possible on
The disabling station of one product, has just started to work in current production procedure or other are possible can to immediately begin to hold
The case where row task.
Step S500, obtains the corresponding mission bit stream of next aiming station, and the mission bit stream is sent to the AGV,
So that the AGV executes the corresponding task of the mission bit stream.
The serial server being set on AGV can efficiently be connected to host by wireless network, while will be based on RS-
232/422/485 serial data is transferred to AGV control system and is monitored, the finger that AGV control system can also be sent
Order is transmitted to Vehicle Controller.AGV vehicle communication system is made of wireless access point, serial server, configuration software three parts.It is logical
Network is interrogated using wireless communication, configuration software includes connecting in AGV control system, and with wireless access point by ethernet line
It connects；Wireless access point is connect by WiFi with the serial server being set on AGV trolley, it is ensured that communication is i.e. stable and convenient.
Wherein by serial bus connection AGV Vehicle Controller, other end is using WiFi and is distributed in for one end for wireless serial server
Multiple wireless access point in AGV trolley travelling region are communicated, wherein the related data of AGV is passed through by Vehicle Controller
Serial bus based on RS-232/422/485 is transmitted to serial server.
When AGV control system completes the update operation to current station and next aiming station status information, AGV control
System is by obtaining the corresponding mission bit stream of above-mentioned next aiming station, at once in the controls by AGV and the mission bit stream
Binding, i.e., after being matched above-mentioned job task with the AGV trolley in task distribution program by control system, pass through wireless telecommunications
This task is sent to the Vehicle Controller being loaded into AGV trolley by device, the basis under the scheduling of Vehicle Controller
Job instruction drives towards setting by preassigned path automatically and carries out operation.
The method for allocating tasks based on AGV proposed in the present embodiment, by being in the free time in next aiming station
When state, the status information of the current station and next aiming station is updated；Then next aiming station corresponding is obtained
Business information, is sent to the AGV for the mission bit stream, so that the AGV executes the corresponding task of 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 that aiming station be gone to execute task as early as possible in the case where permission, improves production efficiency.
Based on first embodiment, propose the present invention is based on the 7th embodiment of the flow control method of AGV, referring to Fig. 8, step
After rapid S300, the method also includes:
Step S600 obtains the status information of next aiming station when AGV is in standby mode in real time, determines
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.
In the instruction of acquisition AGV status information for receiving upper-level control system sending, transmitted by the data being loaded on vehicle logical
Trolley status information is transmitted to wireless telecommunications system by road, and then upper control system is sent to by wireless network, wherein
Controller generally comprises PLC or single-chip microcontroller on vehicle.For example, being equipped with wireless receiver DW-M1 on AGV trolley, it is used for
It is connected with vehicle-mounted PLC, the data about AGV status information being stored on vehicle in controller are passed through nothing by wireless receiver
Gauze network is sent to Combining soft control software, to set up complete wireless telecommunication system.
State is completely expected since next aiming station is in front of AGV starting, and the AGV and AGV for entering standby mode are negative
The material needs of load continue waiting for becoming idle state until the state of next aiming station.When AGV is in standby mode,
AGV control system obtains the status information of next aiming station in real time, when getting the status information, determines next target work
Whether position is in idle condition.
Step S700 updates the current station and next target when next aiming station is in idle condition
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 system
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 state, disabled status or malfunction.Idle state refers to that the station is in normal armed state, can be immediately subjected to
The new task that AGV control system is sent, the station being in idle condition may be just to have completed a task, it is also possible on
The disabling station of one product, has just started to work in current production procedure or other are possible can to immediately begin to hold
The case where row task.
Step S800, obtains the corresponding mission bit stream of next aiming station, and the mission bit stream is sent to the AGV,
So that the AGV executes the corresponding task of the mission bit stream.
The serial server being set on AGV can efficiently be connected to host by wireless network, while will be based on RS-
232/422/485 serial data is transferred to AGV control system and is monitored, the finger that AGV control system can also be sent
Order is transmitted to Vehicle Controller.AGV vehicle communication system is made of wireless access point, serial server, configuration software three parts.It is logical
Network is interrogated using wireless communication, configuration software includes connecting in AGV control system, and with wireless access point by ethernet line
It connects；Wireless access point is connect by WiFi with the serial server being set on AGV trolley, it is ensured that communication is i.e. stable and convenient.
Wherein by serial bus connection AGV Vehicle Controller, other end is using WiFi and is distributed in for one end for wireless serial server
Multiple wireless access point in AGV trolley travelling region are communicated, wherein the related data of AGV is passed through by Vehicle Controller
Serial bus based on RS-232/422/485 is transmitted to serial server.
When AGV control system completes the update operation to current station and next aiming station status information, AGV control
System is by obtaining the corresponding mission bit stream of above-mentioned next aiming station, at once in the controls by AGV and the mission bit stream
Binding, i.e., after being matched above-mentioned job task with the AGV trolley in task distribution program by control system, pass through wireless telecommunications
This task is sent to the Vehicle Controller being loaded into AGV trolley by device, the basis under the scheduling of Vehicle Controller
Job instruction drives towards setting by preassigned path automatically and carries out operation.
The method for allocating tasks based on AGV proposed in the present embodiment, by being obtained in real time when AGV is in standby mode
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, it can be with
It avoids causing the material of next station not transport normally there are also going to when material in next aiming station, ensure that life
The normal work of producing line improves the intelligence degree of production procedure.
In addition, the embodiment of the present invention also proposes a kind of computer readable storage medium, the computer readable storage 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, the corresponding next aiming station of production procedure is determined；
Determine whether next aiming station is in full material state；
When next aiming station is in completely material state, the AGV is made to enter standby mode.
Further, following operation is also realized when the Row control program based on AGV is executed by processor:
When receiving the corresponding task completed information of job task, the next station of current station in the production line is determined
Whether disabled status is in；
When next station is not at disabled status, next station is determined 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 determined as to disable station, wherein disabling station is
The corresponding station of the disabled status；
Successively determine whether the subsequent work stations of disabling station in the production line are in disabled status according to preset order, by institute
It states first station for being not at the disabled status in subsequent work stations and is determined as next aiming station, wherein the subsequent 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,
In, task completed information includes station information and mission bit stream；
The instruction for going to the next station of current station in the production line is issued to AGV based on the task completed information；
The status information for obtaining next station, 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 full material state based on the status information.
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 state of the current station and next aiming station is updated
Information；
The corresponding mission bit stream of next aiming station is obtained, the mission bit stream is sent to the AGV, so that described
AGV executes the corresponding task of 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 state of the current station and next aiming station is updated
Information；
The corresponding mission bit stream of next aiming station is obtained, the mission bit stream is sent to the AGV, so that described
AGV executes the corresponding task of the mission bit stream.
It should be noted that, in this document, the terms "include", "comprise" or its any other variant are intended to non-row
His property includes, so that the process, method, article or the system that include a series of elements not only include those elements, and
And further include other elements that are not explicitly listed, or further include for this process, method, article or system institute it is intrinsic
Element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including being somebody's turn to do
There is also other identical elements in the process, method of element, article or system.
The serial number of the above embodiments of the invention is only for description, does not represent the advantages or disadvantages of the embodiments.
Through the above description of the embodiments, those skilled in the art can be understood that above-described embodiment side
Method can be realized by means of software and necessary general hardware platform, naturally it is also possible to by hardware, but in many cases
The former is more preferably embodiment.Based on this understanding, technical solution of the present invention substantially in other words does the prior art
The part contributed out can be embodied in the form of software products, which is stored in one as described above
In storage medium (such as ROM/RAM, magnetic disk, CD), including some instructions are used so that terminal device (it can be mobile phone,
Computer, server, air conditioner or network equipment etc.) execute method described in each embodiment of the present invention.
The above is only a preferred embodiment of the present invention, is not intended to limit the scope of the invention, all to utilize this hair
Equivalent structure or equivalent flow shift made by bright specification and accompanying drawing content is applied directly or indirectly in other relevant skills
Art field, is included within the scope of the present invention.
Claims (10)
1. a kind of flow control method based on AGV is applied to automated guided vehicle AGV control system, which is characterized in that institute
Stating AGV control system includes the production line equipped with multiple stations, the flow control method based on AGV the following steps are included:
When AGV completes the job task of current station, the corresponding next aiming station of production procedure is determined；
Determine whether next aiming station is in full material state；
When next aiming station is in completely material state, the AGV is made to enter standby mode.
2. as described in claim 1 based on the flow control method of AGV, which is characterized in that described to complete current station in AGV
Job task when, the step of determining production procedure corresponding next aiming station includes:
When receiving the corresponding task completed information of job task, whether the next station of current station in the production line is determined
In disabled status；
When next station is not at disabled status, next station is determined as next aiming station.
3. as claimed in claim 2 based on the flow control method of AGV, which is characterized in that described to receive job task
When corresponding task completed information, determine the step of whether next station of current station in the production line is in disabled status it
Afterwards, the method also includes:
When next station is in disabled status, next station is determined as to disable station, wherein disabling station is described
The corresponding station of disabled status；
Successively determine whether the subsequent work stations of disabling station in the production line are in disabled status according to preset order, after described
First station for being not at the disabled status is determined as next aiming station in continuous station, wherein the subsequent work stations packet
Include multiple stations.
4. as claimed in claim 2 based on the flow control method of AGV, which is characterized in that described to receive job task
When corresponding task completed information, the step of whether next station of current station in the production line is in disabled status packet is determined
It includes:
When AGV completes the job task of current station, the task completed information that the current station is sent is received, wherein appoint
It includes station information and mission bit stream that information is completed in business；
The instruction for going to the next station of current station in the production line is issued to AGV based on the task completed information；
The status information for obtaining next station, determines whether next station is in disabled status.
5. as described in claim 1 based on the flow control method of AGV, which is characterized in that determination next target
Whether station, which is in the step of full material state, includes:
Obtain the status information of next aiming station；
Determine whether next aiming station is in full material state based on the status information.
6. as described in claim 1 based on the flow control method of AGV, which is characterized in that determination next target
Whether station was in after the step of full material state, the method also includes:
When next aiming station is in idle condition, the state letter of the current station and next aiming station is updated
Breath；
The corresponding mission bit stream of next aiming station is obtained, the mission bit stream is sent to the AGV, so that the AGV is held
The corresponding task of the row mission bit stream.
7. as described in claim 1 based on the flow control method of AGV, which is characterized in that described in next target work
When position is in completely material state, after the step of making AGV enter standby mode, the method also includes:
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；
The corresponding mission bit stream of next aiming station is obtained, the mission bit stream is sent to the AGV, so that the AGV is held
The corresponding task of the row mission bit stream.
8. the flow control method based on AGV as described in claim 4 to 7, which is characterized in that the status information includes full
Material state, idle state, disabled status, malfunction.
9. a kind of flow control device based on AGV, which is characterized 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
It states and realizes such as described in any item of the claim 1 to 8 be based on when the Row control program based on AGV is executed by the processor
The step of flow control method of AGV.
10. a kind of computer readable storage medium, which is characterized in that be stored with and be based on the computer readable storage medium
The Row control program of AGV is realized when the Row control program based on AGV is executed by processor as in claim 1 to 8
The step of described in any item flow control methods based on AGV.
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| 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 |
| CN109765872A (en) * | 2019-03-01 | 2019-05-17 | 苏州洪昇新能源科技有限公司 | A kind of moulding lines intelligent monitor system |
| CN109822326A (en) * | 2019-03-26 | 2019-05-31 | 珠海格力智能装备有限公司 | A kind of localization method and device, storage medium and processor of air-conditioner base plate |
| CN110371528B (en) * | 2019-07-01 | 2021-12-24 | 长沙中联重科环境产业有限公司 | Automatic displacement control system and method for pressure head of vertical direct-pressure type garbage compression station |
| CN110597094A (en) * | 2019-09-10 | 2019-12-20 | 宁波舜宇智能科技有限公司 | Processing control method, system, readable storage medium and device |
| CN110580028A (en) * | 2019-09-25 | 2019-12-17 | 四川长虹智能制造技术有限公司 | AGV trolley control method |
| CN110580029B (en) * | 2019-09-27 | 2021-01-22 | 四川长虹智能制造技术有限公司 | RGV (traffic light volume group) carrying control method and RGV carrying control system |
| CN110658817A (en) * | 2019-09-27 | 2020-01-07 | 四川长虹智能制造技术有限公司 | Safety detection method and safety detection system for AGV |
| CN112327760B (en) * | 2020-10-30 | 2022-09-02 | 深圳创维－Rgb电子有限公司 | Flexible production line control method and device and computer readable storage medium |
| CN112256044B (en) * | 2020-12-23 | 2021-03-12 | 炬星科技（深圳）有限公司 | Method, device and storage medium for reducing waiting time of human-computer interaction |
| CN113420981A (en) * | 2021-06-23 | 2021-09-21 | 世创莱宝(佛山)机器人有限公司 | Task scheduling method and device, electronic equipment and storage medium |
| CN113501274B (en) * | 2021-07-19 | 2022-07-15 | 珠海格力智能装备有限公司 | AGV material receiving and feeding method and system, storage medium and electronic equipment |
| CN113848825B (en) * | 2021-08-31 | 2023-04-11 | 国电南瑞南京控制系统有限公司 | AGV state monitoring system and method for flexible production workshop |
| CN113895935B (en) * | 2021-09-14 | 2024-01-26 | 北京机科国创轻量化科学研究院有限公司 | Full-automatic intelligent chemical fiber POY wire ingot feeding equipment control method and control system |
| CN114326612B (en) * | 2021-12-13 | 2024-02-06 | 西门子（中国）有限公司 | Recipe control method, system and storage medium in collinear production |
| CN114296409A (en) * | 2021-12-16 | 2022-04-08 | 武汉泓洋科技有限公司 | AGV management control method |
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| CN105911969B (en) * | 2016-06-08 | 2018-07-31 | 宁波赛夫科技有限公司 | The unmanned transport vehicle memory system in factory's intelligence workshop |
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