CN109471427A

CN109471427A - Carry the method, scheduling system and computer readable storage medium of article

Info

Publication number: CN109471427A
Application number: CN201710805777.9A
Authority: CN
Inventors: 朱可平; 龚岗华; 李朋杰
Original assignee: Hangzhou Hikvision Digital Technology Co Ltd
Current assignee: Hangzhou Hikvision Digital Technology Co Ltd
Priority date: 2017-09-08
Filing date: 2017-09-08
Publication date: 2019-03-15

Abstract

The invention discloses a kind of method for carrying article, scheduling system and computer readable storage mediums, belong to technical field of automatic control.The described method includes: when receiving the first carrying instruction, controlling the first AGV will be in article carrying to target elevator, and second is sent to terraced control system and carries instruction, so that terraced control system passes through target elevator for article carrying to destination, when determining target elevator for article carrying to destination, the 2nd AGV is controlled by article and moves out the target elevator.That is, in embodiments of the present invention, article being moved into target elevator by the first AGV, article is moved out the target elevator by the 2nd AGV later, it is not necessary that article to be moved into and moved out elevator by manpower, so as to improve the efficiency of across floor carrying article.

Description

Carry the method, scheduling system and computer readable storage medium of article

Technical field

The present invention relates to technical field of automatic control, in particular to a kind of method for carrying article, scheduling system and meter Calculation machine readable storage medium storing program for executing.

Background technique

Currently, usually the article in warehouse is carried by intelligent apparatus in automated warehouse base management system, for example, logical Cross the carrying automatically moved to realize article that control is mounted with the robot of article.Since current warehouse is mostly more floors Warehouse, therefore usually require article being transported to another floor from a floor during carrying article, namely need Across floor carrying article.

In the related technology, the implementation of across floor carrying article are as follows: by article carrying to lift port, then rely on manpower Article is moved into elevator, and artificial selection target floor, article is moved out into electricity when article reaches destination, then by manpower Ladder, to realize the article carrying across floor.

During above-mentioned across floor carrying article, still needs that article is moved into and moved out elevator by manpower, cause Keep the efficiency of across floor carrying article lower.

Summary of the invention

In order to solve the problems, such as across floor carrying article low efficiency in the related technology, the embodiment of the invention provides one kind to remove Transport the method, scheduling system and computer readable storage medium of article.The technical solution is as follows:

In a first aspect, providing a kind of method for carrying article, which comprises

When receiving the first carrying instruction, the first AGV (Automated Guided Vehicle, homing guidance are controlled Transport vehicle) by article carrying to target elevator, the first AGV is multiple AGV selection from floor where current location AGV；

Second is sent to terraced control system and carries instruction, so that the ladder control system controls the target elevator for the article It is carried to destination, the ladder control system is for managing the target elevator；

When determining the target elevator for the article carrying to the destination, the 2nd AGV is controlled by the object Product move out the target elevator.

Optionally, the first AGV of the control will be in article carrying to target elevator, comprising:

The first AGV is controlled by the article carrying to the pause point of the target elevator, the pause point be for Wait the location point of the target elevator；

The use instruction of the target elevator is sent to the terraced control system；

The use confirmation instruction sent when receiving the terraced control system and determining that the target elevator is in idle condition When, it controls the first AGV and travels to the first predeterminated position in the target elevator.

Optionally, described first the mark and the current location information of the article that instruction carries the article are carried；

Control the first AGV will be before the article carrying to the pause point of the target elevator further include:

According to the mark of the article and the current location information of the article, floor deployment is currently located from the article Multiple AGV in select the first AGV；

It controls after the first AGV is travelled to the article present position and loads the article.

Optionally, before the second carrying instruction to the ladder control system transmission, further includes:

When determining the first AGV in the article carrying to the target elevator, the first AGV unloading is controlled The target elevator is travelled out after the article；

Correspondingly, the article is moved out the target elevator by the 2nd AGV of the control, comprising:

The 2nd AGV is selected from multiple AGV that the destination is disposed；

According to the current location information of the 2nd AGV, control the 2nd AGV travel to the target elevator the The article is loaded after two predeterminated positions；

According to the current location information of the 2nd AGV, control the 2nd AGV travel to outside the target elevator the Three predeterminated positions.

Optionally, the article is moved out the target elevator by the 2nd AGV of the control, comprising:

When determining that the first AGV for being mounted with the article is carried to the destination by the target elevator, by institute It states the first AGV and is determined as the 2nd AGV；

The first AGV is controlled to travel to the third predeterminated position outside the target elevator.

Optionally, the determination target elevator is by the article carrying to the destination, comprising:

When receiving the arrival instruction that the terraced control system is sent, determine the target elevator by the article carrying extremely The destination.

Optionally, after the article is moved out the target elevator by the control the 2nd AGV, further includes:

When determining that the article carrying is gone out the target elevator by the 2nd AGV, removed to the terraced control system transmission Fortune completes instruction, so that the ladder control system determines that the target elevator is currently at idle state.

Optionally, the first control system is the control system disposed in floor where before the article is handled upside down, the second control System processed is the control system disposed in the destination；

It is described when receive the first carrying instruction when, control the first AGV will be in article carrying to target elevator, comprising:

When first control system, which receives described first, carries instruction, the first AGV is controlled by the article It is carried in the target elevator；

It is correspondingly, described to send the second carrying instruction to terraced control system, comprising:

First control system sends described second to the terraced control system and carries instruction；

Correspondingly, described when determining the target elevator for the article carrying to the destination, control second The article is moved out the target elevator by AGV, comprising:

When first control system determines the target elevator for the article carrying to the destination, to institute It states the second control system and sends third carrying instruction；

When second control system, which receives the third, carries instruction, the 2nd AGV is controlled by the article Move out the target elevator.

Optionally, first control system determine the target elevator by the article carrying to the destination, Include:

First control system determines that the first AGV for being mounted with the article is carried to the mesh by the target elevator Mark floor；

Correspondingly, when second control system, which receives the third, carries instruction, the 2nd AGV is controlled by institute It states article and moves out the target elevator, comprising:

First AGV is determined as the 2nd AGV by second control system；

Second control system controls the first AGV and travels to the third predeterminated position outside the target elevator.

Optionally, second control system receives before the third carries instruction, further includes:

When first control system receives the ground code mark for being used to identify target elevator position that the first AGV is sent When knowledge, position of the first AGV before the article is handled upside down in the map of place floor is determined, described ground code is identified as institute State the ground code mark that the first AGV is reported after interior into the target elevator；

First control system sends first position notification message to the first AGV, so that the first AGV is true Before settled before the article is handled upside down where floor map in position be after legal position to first control system It reports and moves into elevator task completion instruction；

When first control system receive the first AGV report described in move into elevator task complete instruction when, to institute State the first AGV send switching notice so that the first AGV disconnect and first control system between connection and open with Connection between second control system；

When second control system receives the ground code mark that the first AGV is sent, determine that the first AGV exists Position in the map of the destination；

Second control system sends second position notification message to the first AGV, so that the first AGV is determined Position in the map of the destination is legal position.

Second aspect provides a kind of scheduling system for carrying article,

The scheduling system, for controlling the first automated guided vehicle AGV for object when receiving the first carrying instruction Product are carried in target elevator, and the first AGV is the AGV that multiple AGV from floor where current location are selected；

The scheduling system is also used to send second to terraced control system and carries instruction, so that the ladder control system controls institute Target elevator is stated by the article carrying to destination, the ladder control system is used to manage the elevator in the warehouse；

The scheduling system is also used to when determining the target elevator for the article carrying to the destination, It controls the 2nd AGV and the article is moved out into the target elevator.

Optionally, the scheduling system, is specifically used for:

The scheduling system, is also used to:

Optionally, the scheduling system, is also used to:

Correspondingly, the scheduling system, is specifically used for:

The 2nd AGV is selected from multiple AGV that the destination is disposed；

Optionally, the scheduling system, is specifically used for:

Optionally, the scheduling system, is also used to:

Optionally, the scheduling system includes the first control system and the second control system, and first control system is The control system disposed in the floor of place before the article is handled upside down, second control system are to dispose in the destination Control system；

First control system, will be described for when receiving the first carrying instruction, controlling the first AGV In article carrying to the target elevator；

First control system is also used to send described second to the terraced control system and carries instruction；

First control system is also used to work as the determining target elevator for the article carrying to the destination When, the second control system of Xiang Suoshu sends third and carries instruction；

Second control system is also used to control the 2nd AGV for institute when receiving the third carrying instruction It states article and moves out the target elevator.

Optionally, first control system, is specifically used for:

Determine that the first AGV for being mounted with the article is carried to the destination by the target elevator；

Correspondingly, second control system, is specifically used for:

First AGV is determined as the 2nd AGV；

Optionally, first control system is also used to receive the electric for identifying target of the first AGV transmission When the ground code mark of terraced position, the position where determining the first AGV before the article is handled upside down in the map of floor, institute It states ground code and is identified as the ground code mark that the first AGV is reported after interior into the target elevator；

First control system is also used to send first position notification message to the first AGV, so that described first AGV is after determining that the position currently before the article is handled upside down in the map of place floor is legal position to first control System processed, which reports, moves into elevator task completion instruction；

First control system is also used to receive the elevator task of moving into that the first AGV is reported and completes instruction When, the first AGV of Xiang Suoshu sends switching notice, so that the first AGV disconnects the connection between first control system And open the connection between second control system；

Second control system is also used to when receiving the ground code mark that the first AGV is sent, and determines described the Position of one AGV in the map of the destination；

Second control system is also used to send second position notification message to the first AGV, so that described first AGV determines that the position in the map of the destination is legal position.

The third aspect, provides another scheduling system for carrying article, and the scheduling system for carrying article includes processing Device and memory；

The memory is for storing computer program；

The processor carries article described in above-mentioned first aspect to realize for executing the program stored on memory Method.

Fourth aspect provides a kind of computer readable storage medium, meter is stored in the computer readable storage medium Calculation machine program, the computer program realize the method that article is carried described in above-mentioned first aspect when being executed by processor.

Technical solution provided in an embodiment of the present invention has the benefit that

In embodiments of the present invention, when receiving the first carrying instruction, the first AGV of control is electric to target by article carrying In ladder, and second is sent to terraced control system and carries instruction, so that terraced control system passes through target elevator for article carrying to target building Layer controls the 2nd AGV for article and moves out the target elevator when determining target elevator for article carrying to destination.That is, In embodiments of the present invention, article is moved into target elevator by the first AGV, article is moved out into target electricity by the 2nd AGV later Ladder, it is not necessary that article to be moved into and moved out elevator by manpower, so as to improve the efficiency of across floor carrying article.

Detailed description of the invention

To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings other Attached drawing.

Figure 1A is a kind of system schematic for carrying article provided in an embodiment of the present invention；

Figure 1B is a kind of map schematic diagram provided in an embodiment of the present invention；

Fig. 1 C is a kind of scheduling system schematic provided in an embodiment of the present invention；

Fig. 2 is a kind of method flow diagram for carrying article provided in an embodiment of the present invention；

Fig. 3 is another method flow diagram for carrying article provided in an embodiment of the present invention；

Fig. 4 is another method flow diagram for carrying article provided in an embodiment of the present invention；

Fig. 5 A is a kind of scheduling system schematic provided in an embodiment of the present invention；

Fig. 5 B is another scheduling system schematic provided in an embodiment of the present invention；

Fig. 6 is another scheduling system schematic provided in an embodiment of the present invention.

Specific embodiment

To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with attached drawing to embodiment party of the present invention Formula is described in further detail.

Before the method provided in an embodiment of the present invention for carrying article is explained, first to the embodiment of the present invention The system for the carrying article being related to is introduced.

The system deployment provided in an embodiment of the present invention for carrying article is in warehouse, which is the warehouse of more floors, such as Shown in Figure 1A, the system 100 of the carrying article includes scheduling system 101 and terraced control system 102, and scheduling system 101 and ladder control are It is connected between system 102 by wirelessly or non-wirelessly mode to be communicated.

Scheduling system 101 is used for multiple AGV103s of the scheduling deployment in warehouse, and terraced control system 102 is for managing the warehouse In elevator 104.That is, as shown in Figure 1A, multiple AGV103 being deployed in warehouse, are also equipped at least one in warehouse Elevator 104.Scheduling system 101 can be connect to control AGV103, terraced control system 102 with AGV103 by wirelessly or non-wirelessly mode It can also be connected by way of wirelessly or non-wirelessly to control elevator 104.

Wherein, scheduling system 101 can be moved into article to be handled in target elevator by scheduling AGV103, ladder control system System 102 can will move into the article carrying in elevator 104 to another floor by controlling elevator 104, dispatch system 101 also The article can be moved out into elevator by scheduling AGV103, the article is carried to another floor from a floor to realize. That is, the system 100 provided in an embodiment of the present invention for carrying article can be realized by scheduling system 101 and terraced control system 102 Across floor carrying article, without being just able to achieve across floor carrying article by manpower.In order to subsequent convenient for explanation, article is needed The floor being carried to is known as destination, and the elevator for carrying the article is known as target elevator.

It should be noted that, in order to improve the convenience for carrying article, article is usually placed in tool in practical application In the shelf for having certain structure, later, the carrying to article is realized by Transport cargo rack.

In addition, in embodiments of the present invention, multiple AGV in warehouse are deployed in for the ease of scheduling system call, for Each floor in warehouse, regulator control system are provided with the map for the floor, which is made of multiple virtual regions, Mei Gexu Quasi- region corresponds to a certain range of actual area in the floor, and each virtual region has corresponding coordinate.For each void Quasi- region, according to the function of the corresponding actual area of the virtual region in practical applications, for virtual region setting area mark Know, which includes barrier point region, article resettlement area, traffic areas, manual operation region, pause point region, fills Electric region, queue area and elevator region etc..That is, the virtual region on map includes barrier point region, article settlement Domain, traffic areas, manual operation region, pause point region, charged area, queue area and elevator region etc..

Wherein, the only corresponding actual area in traffic areas allows AGV to pass through.Barrier point region is used to indicate the virtual area The barrier point for hindering AGV to pass through is placed at the corresponding actual area in domain.It is corresponding that article resettlement area is used to indicate the virtual region Actual area for disposing article.Manual operation region is used to indicate the corresponding actual area permission of the virtual region and manually exists This is operated.Pause point region is used to indicate the pause point that the corresponding actual area of the virtual region is elevator.Charged area Being used to indicate the corresponding actual area of the virtual region is the region that AGV charges.Queue area is used to indicate the virtual area The corresponding actual area in domain is that AGV waits in line to load the region of article.It is corresponding that elevator region is used to indicate the virtual region Actual area is the region where elevator.

For each traffic areas, the predetermined position in the traffic areas is arranged in for identifying the traffic areas Ground code mark.For example, being disposed with two dimensional code mark on the ground of each traffic areas.When AGV passes through the traffic areas, obtain It takes the ground code of the traffic areas to identify, and reports the ground code to identify to scheduling system.Scheduling system is identified according to the ground code, from working as Position corresponding with the ground code mark is searched in the map of preceding floor, and when finding corresponding position, it is logical to send position to AGV Know message.When AGV receives the position informing message, determine that current position is the position in current floor map, namely Determine that current position is legal position.In addition, if scheduling system is not found in the map of current floor and the ground code Corresponding position is identified, then sends position warning message to AGV and determines present bit when AGV receives the position warning message Setting is not legal position.

In addition, in order to improve the flexibility that AGV carries article, actual area corresponding for above-mentioned traffic areas, scheduling System is additionally provided with high speed traffic areas and low speed traffic areas, that is, traffic areas includes that high speed traffic areas and low speed are logical Row region.When AGV the corresponding actual area in high speed traffic areas when driving, the travel speed of the AGV is First Speed, when AGV the corresponding actual area in low speed traffic areas when driving, the travel speed of the AGV is second speed, and First Speed is greater than Second speed.

For example, Figure 1B is a kind of map schematic diagram provided in an embodiment of the present invention, which is one of building in warehouse The corresponding map of layer, as shown in Figure 1B, each square represents a virtual region namely the map by multiple virtual region structures At.And the map includes 9 kinds of different virtual regions, wherein virtual region 1 is barrier point region, and virtual region 2 is article peace Region is set, virtual region 3 is low speed traffic areas, and virtual region 4 is high speed traffic areas, and virtual region 5 is artificial operating space Domain, virtual region 6 are pause point region, and virtual region 7 is charged area, and virtual region 8 is queue area, and virtual region 9 is Elevator region.

It is worth noting that, scheduling system 101 can be disposed by the way of integral deployment in this hair inventive embodiments In warehouse, it can also be deployed in warehouse by the way of distributed deployment.When the deployment way of scheduling system 101 is whole When deployment, scheduling system 101 is disposed on a computer device, by the computer equipment scheduling deployment in entire warehouse AGV.When the deployment way for dispatching system 101 is distributed deployment, scheduling system 101 is deployed in multiple computer equipments, By each computer equipment scheduling deployment in a part of AGV in warehouse.

Particularly, when the deployment way for dispatching system 101 is distributed deployment, as shown in Figure 1 C, scheduling system 101 is also It may include the first control system 1011 and the second control system 1012, which is handled upside down preceding institute for article The control system disposed in floor, second control system 1012 are the control system disposed in destination.That is, scheming Scheduling system 101 shown in 1B includes multiple control systems, the corresponding floor of each control system, that is, in the every of warehouse A control system is disposed in a floor, wherein the control system of each floor is used for scheduling deployment in the AGV of the floor.? That is, in embodiments of the present invention, system 101 and AGV103 can be dispatched according to the floor distributed deployment in warehouse, in order to avoid occur The case where any AGV103 can not be dispatched when scheduling system 101 breaks down.

Wherein, AGV refers to the homing guidance device for being equipped with electromagnetism or optical inducer, it can be according to scheduling system Determining route, while the automatic loading or unloading article of instruction that can also be sent according to scheduling system.Scheduling system 101, terraced control system 102, the first control system 1011 and the second control system 1012 can be any computer equipment, example Such as, desktop computer or laptop etc..

Next the method provided in an embodiment of the present invention for carrying article is described in detail.

Fig. 2 is a kind of method for carrying article provided in an embodiment of the present invention, as shown in Fig. 2, this method includes following step It is rapid:

Step 201: when receiving the first carrying instruction, the first AGV is by article carrying to target elevator for control, and first AGV is the AGV that multiple AGV from floor where current location are selected.

That is, in embodiments of the present invention, when needing to carry article, first carrying being sent to scheduling system and is referred to It enables, scheduling system is moved into article in target elevator by the first AGV of scheduling, and by executing following step 202 to step 203 Realize across floor carrying article.

Optionally, in embodiments of the present invention, when needing to carry article, can directly to the first AGV send this first Carry instruction, at this point, the first AGV first will carry instruction in article carrying to target elevator according to this, and by executing under It states step 202 to step 203 and realizes across floor carrying article.

Step 202: sending second to terraced control system and carry instruction, so that terraced control system control target elevator removes the article It is transported to destination, terraced control system is used for management objectives elevator.

It is dispatched by step 201 after the first AGV moves into article in target elevator in scheduling system, scheduling system can be with The second carrying instruction is sent to terraced control system, to control target elevator for the article carrying to target building by terraced control system Layer.

Optionally, when the first AGV carries instruction in article carrying to target elevator by first, the first AGV can be with The second carrying instruction is sent to terraced control system, to control target elevator for the article carrying to target building by terraced control system Layer.

Step 203: when determining target elevator for the article carrying to destination, the 2nd AGV of control removes the article Target elevator out.

When scheduling system determines target elevator for article carrying to destination, scheduling system can be by step 203 It dispatches the 2nd AGV and the article is moved out into target elevator, carry the article across floor to realize.

Optionally, when the first AGV determines target elevator for article carrying to destination, the first AGV can dispatch The article is moved out target elevator by two AGV, carries the article across floor to realize.

The method of carrying article as shown in Figure 2 it is found that in embodiments of the present invention, can by scheduling system according to this One, which carries instruction, 201 realizes across floor carrying article to step 203 through the above steps, can also directly by AGV according to this One, which carries instruction, 201 realizes across floor carrying article to step 203 through the above steps, and the embodiment of the present invention is not done specifically herein It limits.

Particularly, following embodiments first will carry instruction through the above steps 201 to step according to this with the system of dispatching It is described in detail for 203 across the floor carrying articles of realization.

Significantly, since scheduling system can be deployed in warehouse with monoblock type, it can also be with distributed deployment in storehouse In library.Next embodiment will respectively be described in detail both of these case.

Fig. 3 is another method for carrying article provided in an embodiment of the present invention, and the method for the carrying article is applied to figure The system 100 of article is carried shown in 1A, and this method is applied to scheduling system integral and is deployed in the scene in warehouse, such as schemes Shown in 3, method includes the following steps:

Step 301: when scheduling system receives the first carrying instruction, controlling the first AGV for this and be carried to target elevator Pause point, which is location point for waiting target elevator.

In embodiments of the present invention, when scheduling system receives the first carrying instruction, scheduling system can be directly controlled First AGV is by article carrying to target elevator, to avoid needing to move into the article in target elevator by manpower.It is real In the application of border, since target elevator may currently be used namely target elevator may currently carry other articles, it is It avoids currently carrying target elevator other articles and causes to conflict, when scheduling system receives the first carrying instruction, It can be by step 301 first by the pause point of the article carrying to target elevator, to wait target elevator to carry the article.

Wherein, first the current location information for instructing the mark and the article that carry the article is carried.At this point, step 301 Implementation can be with are as follows: according to the current location information of the mark of the article and the article, be currently located floor from the article The first AGV is selected in multiple AGV of deployment.It controls after the first AGV is travelled to the article present position and loads the article, root According to the current location information of the first AGV, controls the first AGV and travel to the pause point of target elevator.

Specifically, scheduling system determines the weight of the article, is then currently located from the article according to the mark of the article Selection load-bearing weight is greater than at least one AGV of the weight of the article in multiple AGV of floor deployment, according to the current of the article Location information, selection is determined as first apart from nearest AGV, and by the AGV of selection with the article from least one AGV AGV。

In addition, the first AGV of control is travelled to the pause point of target elevator according to the current location information of the first AGV Implementation can be with are as follows: is currently located floor according to the current location information of the first AGV, the location information in pause point and article The location information of the barrier point of middle distribution determines that the first AGV is travelled to the optimal path in pause point, which is sent to First AGV receives the location information that the first AGV is reported in the process of moving so that the first AGV is travelled according to the optimal path, When the location information reported in the process of moving according to the first AGV determines that the first AGV reaches pause point, sent out to the first AGV It sees off and sails halt instruction, so that the first AGV stops traveling.

Wherein, scheduling system is according to the current location information of the first AGV, the location information in pause point and the current institute of article The location information for the barrier point being distributed in floor, in the map that scheduling system is in advance the storey setting determine this first The position of the corresponding virtual region in the current location of AGV, the corresponding virtual region in the position in pause point and barrier point is corresponding Virtual region determines that at least one the first AGV is travelled to temporary according to the traffic areas in the virtual region and map determined The path of rest point.

For each path at least one path, the corresponding all traffic areas in the path are determined, according to preparatory For the speed of each traffic areas setting, determine that the first AGV according to the time needed for the route, obtains the row in each path Sail the time.Scheduling system selects the shortest path of running time from least one path, and the path of selection is determined as Above-mentioned optimal path.

It should be noted that scheduling system control the implementation that the first AGV is travelled to the article present position can To travel with reference to above-mentioned the first AGV of control to the implementation in the pause point of target elevator, the embodiment of the present invention is no longer detailed herein It is thin to illustrate.That is, in embodiments of the present invention, when scheduling system needs to dispatch AGV when driving, above-mentioned control first can refer to AGV is travelled to the implementation in the pause point of target elevator.

In addition, first carries instruction by the staff in warehouse by predetermined registration operation triggering, which can be Clicking operation, slide or voice operating etc..

It is worth noting that, each floor in warehouse is target elevator setting pause point, therefore, scheduling system exists When receiving the first carrying instruction, first passes through the first AGV of step 301 control and travelled after loading article to the pause of target elevator Point, then controlling the first AGV by following step 302 and step 304 will be in article carrying to target elevator.

Step 302: scheduling system sends the use instruction of target elevator to terraced control system.

When scheduling system determines that the first AGV is travelled to pause point, after sending traveling halt instruction to the first AGV, to Terraced control system sends above-mentioned use and instructs, to determine whether target elevator is currently in idle condition.

Step 303: when terraced control system determines that target elevator is currently at idle state, sending to scheduling system using true Recognize instruction.

When terraced control system receives the use instruction of the target elevator of regulator control system transmission, determine that the target elevator is current Whether it is in idle condition.When terraced control system determines that target elevator is currently at idle state, then make to the transmission of scheduling system It is instructed with confirmation.When terraced control system determines target elevator currently without being in idle condition, then every preset time period is again It determines whether the target elevator is currently in idle condition, repeats the operation, until determining that target elevator is currently at Idle state, and send to scheduling system using confirmation instruction.

Wherein, preset time period is the pre-set period, which can be 5s, 10s or 12s etc..

Step 304: when scheduling system receives the use sent when terraced control system determines that target elevator is in idle condition When confirmation instruction, the first AGV of control travels the first predeterminated position to target elevator.

Wherein, scheduling system control the first AGV travel the implementation of the first predeterminated position to target elevator can be with It travels with reference to above-mentioned the first AGV of control to the implementation in the pause point of target elevator, no longer elaborates herein.

First predeterminated position is pre-set position, which can be the center of target elevator, Or the position in target elevator apart from lift port certain distance.

It is worth noting that, scheduling system control the first AGV by article carrying to target elevator after, the first AGV The article can be unloaded and exit target elevator.That is, when scheduling system determines the first AGV by the article carrying to target electricity When in ladder, scheduling system controls after the first AGV unloads the article and travels out target elevator.At this point, scheduling system is determining first AGV travels out target elevator and then executes step 305.

Wherein, scheduling system control the first AGV unload the realization process of the article can be with are as follows: scheduling system is to the first AGV Unloading command is sent, when the first AGV receives the unloading command, unloads the article, and when unloading completion, to scheduling system It returns to unloading and completes instruction, when scheduling system, which receives the unloading, completes instruction, determine the unloaded article of the first AGV.

The first AGV of scheduling system control, which travels out the implementation that target elevator arrives, can equally refer to above-mentioned control first AGV is travelled to the implementation in the pause point of target elevator, is no longer elaborated herein.

Certainly, for scheduling system after controlling the first AGV in article carrying to target elevator, the first AGV can not also It unloads the article and is directly carried to destination with the article.That is, scheduling system is travelled in the first AGV of control to mesh After marking the first predeterminated position in elevator, following step 305 is directly executed.

Step 305: scheduling system sends second to terraced control system and carries instruction.

Wherein, second the mark that instruction carries destination is carried, so that terraced control system controls target elevator for the article It is carried to destination.

Step 306: when terraced control system, which receives the second of the transmission of scheduling system, carries instruction, control target elevator should Article carrying is to destination.

The mark for the destination that terraced control system is carried according to the second carrying instruction, determines target elevator from current location The driving direction of destination is reached, which is to travel or refer to upwards to downward driving, and to target elevator transmission operation It enables, which carries driving direction.When target elevator receives the operating instruction, travelled according to the driving direction, and Report the location information of itself to terraced control system in real time during traveling.What terraced control system real-time reception target elevator was sent Location information, and the location information sent according to real-time reception target elevator, determine whether target elevator reaches destination, when When determining that target elevator reaches destination, halt instruction is sent to target elevator.When target elevator receives the halt instruction When, stop traveling, and return to terraced control system and stop confirmation instruction.When terraced control system receives stopping confirmation instruction, really The elevator that sets the goal arrived destination and stop travelling.At this point, scheduling system can execute following step 307.

Step 307: when terraced control system determines that target elevator reaches destination, being sent to scheduling system and reach instruction.

Wherein, arrival instruction, which is used to indicate target elevator, arrived destination and has stopped travelling.

Step 308: when scheduling system receives the arrival instruction that terraced control system is sent, determining target elevator by the article It is carried to destination, and controls the 2nd AGV and the article is moved out into target elevator.

By step 304 it is found that scheduling system is after controlling the first AGV in article carrying to target elevator, the first AGV The article can be unloaded to and be exited target elevator, the first AGV can not also unload the article and directly be removed with the article It is transported to destination, therefore the article is moved out target elevator and has the possible realization of following two by the 2nd AGV of scheduling system control Mode.

The first possible implementation is applied to scheduling system and is controlling the first AGV for article carrying to target elevator After interior, which is unloaded and exits the scene of target elevator by the first AGV.

At this point, scheduling system according to target elevator in the location information of destination and the mark of the article, from target building The 2nd AGV is selected in multiple AGV of layer deployment.According to the current location information of the 2nd AGV, controls the 2nd AGV and travel to target The article is loaded after the second predeterminated position in elevator.Scheduling system is after determining that the 2nd AGV has loaded the article, according to second The current location information of AGV, the 2nd AGV of control travel the third predeterminated position to outside target elevator.

Wherein, the reality that the first AGV of Systematic selection is dispatched in the implementation and step 301 of the 2nd AGV of Systematic selection is dispatched Existing mode is identical, no longer elaborates herein.It controls the 2nd AGV and travels the second predeterminated position and control to target elevator The implementation that 2nd AGV travels the third predeterminated position to outside target elevator can be travelled with reference to above-mentioned the first AGV of control To the implementation in the pause point of target elevator, equally no longer elaborate herein.

In addition, the second predeterminated position is pre-set position, second predeterminated position is right in the map shown in Figure 1B The virtual region answered need to corresponding virtual region connects on map with the first predeterminated position in step 304, to guarantee second AGV can successfully load the article.

Third predeterminated position is similarly pre-set position, which can be the outer target building of target elevator Any position in layer, the embodiment of the present invention are not specifically limited herein.

Second of possible implementation is applied to scheduling system and is controlling the first AGV for article carrying to target elevator After interior, the first AGV does not unload the scene that the article is directly carried to destination with the article.

At this point, being adjusted when scheduling system determines that the first AGV for being mounted with the article is carried to destination by target elevator First AGV is determined as the 2nd AGV by degree system, and is controlled the first AGV and travelled the third predeterminated position to outside target elevator.

Wherein, the implementation that the first AGV of control travels the third predeterminated position to outside target elevator can refer to above-mentioned It controls the first AGV to travel to the implementation in the pause point of target elevator, no longer elaborate herein.

It should be noted that since different floors correspond to different maps, and the ground code mark only one on target elevator A namely the first AGV is identified as the same mark in the ground code that different floors send target elevator.It therefore, may at second Implementation in, after the first AGV enters target elevator, the first AGV to scheduling system send target elevator ground code mark Know, dispatching system at this time is that the map of the floor where before being handled upside down according to article and the ground code identify and determine that the first AGV is working as Position where the map of preceding floor, and the first geographic location notification message is sent to the first AGV, so that the first AGV determination is worked as Position in the map of preceding floor where before the article is handled upside down is legal position.

After the first AGV enters destination, the first AGV still sends the ground code mark of target elevator to scheduling system, Scheduling system is where identifying map of determining first AGV in destination according to the map of destination and the ground code at this time Position, and the second geographic location notification message is sent to the first AGV, so that the first AGV is determined currently in the map of destination The position at place is legal position.

In above two possible implementation, when scheduling system control the 2nd AGV travel to outside target elevator the After three predeterminated positions, determine that the article is moved out target elevator by the 2nd AGV.Scheduling system can pass through following step at this time 309 and 310 notice ladder control aims of systems elevators are currently at idle state.

Step 309: when scheduling system determines that the article carrying is gone out target elevator by the 2nd AGV, being sent to terraced control system It carries and completes instruction.

Wherein, when being deployed with multiple elevators in warehouse, which completes the mark that instruction also carries target elevator.

Step 310: when instruction is completed in the carrying that terraced control system receives the transmission of scheduling system, determining that target elevator is current It is in idle condition.

When instruction is completed in the carrying carries the mark of target elevator, terraced control system determines that the corresponding elevator of the mark is current It is in idle condition namely target elevator is currently at idle state.

In embodiments of the present invention, when scheduling system receives the first carrying instruction, the first AGV is controlled by article carrying To target elevator, and second is sent to terraced control system and carries instruction, so that terraced control system passes through target elevator for article carrying To destination, when scheduling system determines target elevator for article carrying to destination, the 2nd AGV of control moves out article The target elevator.That is, in embodiments of the present invention, article is moved into target elevator by the first AGV of scheduling system call, later Article is moved out into the target elevator by the 2nd AGV of scheduling system call, it is not necessary that article to be moved into and moved out elevator by manpower, from And the efficiency of across floor carrying article can be improved.

Fig. 4 is another method for carrying article provided in an embodiment of the present invention, and the method for the carrying article is applied to figure The system 100 of article is carried shown in 1A, and this method is applied to scene of the scheduling system distributed deployment in warehouse, That is, scheduling system include be deployed in the control system of each floor, as shown in figure 4, method includes the following steps:

Step 401: when the first control system receives the first carrying instruction, controlling the first AGV row after loading article It sails to the pause point of target elevator, which is the location point for waiting target elevator.

Wherein, the first control system is the control system disposed in floor where before article is handled upside down.

In addition, the implementation of step 301 is essentially identical in the implementation and embodiment illustrated in fig. 3 of step 401, herein No longer elaborate.

Step 402: the first control system sends the use instruction of target elevator to terraced control system.

The implementation of step 302 is essentially identical in the implementation and embodiment illustrated in fig. 3 of step 402, herein no longer It elaborates.

Step 403: when terraced control system determines that target elevator is currently at idle state, making to the transmission of the first control system It is instructed with confirmation.

The implementation of step 303 is essentially identical in the implementation and embodiment illustrated in fig. 3 of step 403, herein no longer It elaborates.

Step 404: being sent when terraced control system determines that target elevator is in idle condition when the first control system receives When using confirmation instruction, the first AGV of control travels the first predeterminated position to target elevator.

The implementation of step 304 is essentially identical in the implementation and embodiment illustrated in fig. 3 of step 404, herein no longer It elaborates.

It is also noteworthy that the first control system control the first AGV by article carrying to target elevator after, The article can be unloaded and exit target elevator by the first AGV.That is, when the first control system determines the first AGV by the article When being carried in target elevator, the first control system controls the first AGV and unloads the article, and controls the first AGV and travel out target Elevator.At this point, the first control system determine the first AGV travel out target elevator and then execute step 405.

Certainly, for the first control system after controlling the first AGV in article carrying to target elevator, the first AGV can also Destination directly is carried to the article not unload the article.That is, the first control system is controlling the first AGV After traveling to the first predeterminated position in target elevator, following step 505 is directly executed.At this point, due in each floor Be deployed with the control system of the AGV for controlling the floor, therefore, for the ease of succeeding target floor control system to first AGV is controlled, and the first control system disconnects after controlling the first AGV and travelling the first predeterminated position to target elevator With the communication connection between the first AGV, and the control system connecting with the first AGV is switched to the second control by the first control system System processed.

Specifically, when the first AGV travels the first predeterminated position to target elevator, the first AGV is to the first control System sends the ground code for identifying target elevator position and identifies, that is, the ground code be identified as the first AGV enter target elevator it is interior after The ground code mark reported.When the first control system receives ground code mark, the first AGV institute before the article is handled upside down is determined Position in the map of floor, and first position notification message is sent to the first AGV.When the first AGV receives this first When setting notification message, determine currently before the article is handled upside down where floor map in position be legal position, and to the One control system, which reports, moves into elevator task completion instruction.

When the first control system receive that the first AGV reports when moving into elevator task and completing instruction, sent to the first AGV Switching notice.When the first AGV receives the switching notice, the first AGV disconnects the connection between the first control system and opens The connection between second control system is opened, and sends the ground code mark of target elevator to the second control system.

When the second control system receives the ground code mark of the first AGV transmission, determine the first AGV on the ground of destination Position in figure, and second position notification message is sent to the first AGV.When the first AGV receives the second position notification message When, determine that the position in the map of destination is legal position.

That is, the first control system first controls first after the first control system controls the first AGV and enters target elevator AGV switches control system connected to it, sends second to terraced control system by step 405 again later and carries instruction.

Optionally, after the first control system, which controls the first AGV, enters target elevator, the first control system can also be straight It connects and executes following step 405, then execute above-mentioned handoff procedure, so that the first AGV reaches mesh from current floor in target elevator Above-mentioned handoff procedure is completed during mark floor.

Certainly, after the first control system, which controls the first AGV, enters target elevator, the first control system can also be direct Following step 405 is executed, and after determining that the first AGV for being mounted with the article is carried to destination by target elevator, is held The above-mentioned handoff procedure of row.

That is, in embodiments of the present invention, the first control system, which controls the first AGV, which completes opportunity of handoff procedure, to be Any opportunity need to only meet to control before article is moved out target elevator by the first AGV in the second control system and complete above-mentioned switching Process.

Step 405: the first control system sends second to terraced control system and carries instruction.

The implementation of step 305 is essentially identical in the implementation and embodiment illustrated in fig. 3 of step 405, herein no longer It elaborates.

Step 406: when terraced control system, which receives the second of the transmission of the first control system, carries instruction, controlling target elevator By the article carrying to destination.

The implementation of step 306 is essentially identical in the implementation and embodiment illustrated in fig. 3 of step 406, herein no longer It elaborates.

Step 407: when terraced control system determines that target elevator reaches destination, sending arrival to the first control system and refer to It enables.

The implementation of step 307 is essentially identical in the implementation and embodiment illustrated in fig. 3 of step 407, herein no longer It elaborates.

Step 408: when the first control system receives the arrival instruction that terraced control system is sent, determining that target elevator should Article carrying sends third to the second control system and carries instruction to destination.

Wherein, the second control system is the control system disposed in destination.Third carries instruction and is used to indicate target Elevator is by the article carrying to destination, so that the second control system, which dispatches AGV, moves out target elevator for the article.

It should be noted that by step 404 it is found that the first control system is controlling the first AGV for article carrying to target After in elevator, which can be unloaded and be exited target elevator by the first AGV, and it is straight that the first AGV can not also unload the article It connects and is carried to destination with the article.It is directly carried to the article when the first AGV does not unload the article When destination, the first control system has disconnected the communication connection with the first AGV, and the third carries instruction and also carries first at this time The mark of AGV.

Step 409: when the second control system, which receives third, carries instruction, controlling the 2nd AGV for the article and move out mesh Mark elevator.

By step 408 it is found that the first control system is after controlling the first AGV in article carrying to target elevator, when When the article is unloaded and exit target elevator by the first AGV, third, which carries instruction, will not carry the mark of the first AGV, when the One AGV does not unload the article and is directly carried to destination with the article, and third, which carries instruction, will carry the first AGV Mark.

Therefore, it when the second control system, which receives third, carries instruction, determines that the third is carried and whether is carried in instruction There is the mark of the first AGV.When the second control system determines that third carries instruction without carrying an AGV, at this point, the second control System controls the 2nd AGV for the article and moves out target according to the first possible implementation in step 308 shown in Fig. 3 Elevator.

That is, the second control system according to target elevator in the location information of destination and the mark of the article, from mesh It marks and selects the 2nd AGV in multiple AGV of floor deployment.According to the current location information of the 2nd AGV, control the 2nd AGV travel to The article is loaded after the second predeterminated position in target elevator.Second control system after determining that the 2nd AGV has loaded the article, According to the current location information of the 2nd AGV, controls the 2nd AGV and travel the third predeterminated position to outside target elevator.

When the second control system determines that third carries instruction and carries an AGV, at this point, the second control system according to this The mark of one AGV sends link order to the first AGV, when the first AGV receives the link order, to the second control system Connection confirmation instruction is sent, when the second control system receives connection confirmation instruction, establishes the communication between the first AGV Connection.And according to second of possible implementation in step 308 shown in Fig. 3, the 2nd AGV is controlled by the article and moves out mesh Mark elevator.

That is, the first AGV is determined as the 2nd AGV by the second control system, according to the mark of the first AGV, the first AGV is controlled It travels to the third predeterminated position outside target elevator.

When the second control system determines that the article is moved out target elevator by the 2nd AGV, the second control system can pass through The notice ladder control aims of systems elevator of following step 410 and 411 is currently at idle state.

Step 410: when the second control system determines that the article carrying is gone out target elevator by the 2nd AGV, to terraced control system It sends to carry and completes instruction.

The implementation of step 309 is essentially identical in the implementation and embodiment illustrated in fig. 3 of step 410, herein no longer It elaborates.

Step 411: when instruction is completed in the carrying that terraced control system receives the transmission of the second control system, determining target elevator It is currently at idle state.

The implementation of step 310 is essentially identical in the implementation and embodiment illustrated in fig. 3 of step 411, herein no longer It elaborates.

In embodiments of the present invention, when the first control system receives the first carrying instruction, the first AGV is controlled by article It is carried in target elevator, and sends second to terraced control system and carry instruction, so that terraced control system passes through target elevator for article It is carried to destination, when the first control system determines target elevator for article carrying to destination, passes through the second control System controls the 2nd AGV and article is moved out the target elevator.That is, in embodiments of the present invention, being dispatched by the first control system Article is moved into target elevator by the first AGV, dispatches the 2nd AGV by the second control system later and article is moved out the target elevator, It is not necessary that article to be moved into and moved out elevator by manpower, so as to improve the efficiency of across floor carrying article.

The embodiment of the present invention additionally provides the scheduling system for carrying article other than providing the method for above-mentioned carrying article System.Fig. 5 A is a kind of scheduling system 500 for carrying article provided in an embodiment of the present invention.

The scheduling system 500, for controlling the first AGV for article carrying to target when receiving the first carrying instruction In elevator, the first AGV is the AGV that multiple AGV from floor where current location are selected；

The scheduling system 500 is also used to send second to terraced control system and carries instruction, so that the ladder control system controls the mesh Elevator is marked by the article carrying to destination, the ladder control system is for managing the target elevator；

The scheduling system 500 is also used to when determining the target elevator for the article carrying to the destination, control the The article is moved out the target elevator by two AGV.

Optionally, the scheduling system 500, is specifically used for:

The first AGV is controlled by the pause point of the article carrying to the target elevator, which is for waiting the mesh Mark the location point of elevator；

The use instruction of the target elevator is sent to the ladder control system；

When the use confirmation instruction sent when receiving the ladder control system and determining that the target elevator is in idle condition, control It makes the first AGV and travels the first predeterminated position to the target elevator.

Optionally, which carries the mark of the article and the current location information of the article；

The scheduling system 500, is also used to:

According to the current location information of the mark of the article and the article, the multiple of floor deployment are currently located from the article The first AGV is selected in AGV；

Optionally, the scheduling system 500, is also used to:

When determining the first AGV in the article carrying to the target elevator, control after the first AGV unloads the article Travel out the target elevator；

Correspondingly, the scheduling system 500, is specifically used for:

The 2nd AGV is selected from multiple AGV that the destination is disposed；

According to the current location information of the 2nd AGV, it is default to control the 2nd AGV is travelled to the target elevator second The article is loaded behind position；

According to the current location information of the 2nd AGV, it is default to control the third that the 2nd AGV is travelled to outside the target elevator Position.

Optionally, the scheduling system 500, is specifically used for:

When determining that the first AGV for being mounted with the article is carried to the destination by the target elevator, by the first AGV It is determined as the 2nd AGV；

It controls the first AGV and travels the third predeterminated position to outside the target elevator.

Optionally, the scheduling system 500, is specifically used for:

When receiving the arrival instruction of ladder control system transmission, determine the target elevator by the article carrying to the target Floor.

Optionally, the scheduling system 500, is also used to:

When determining that the article carrying is gone out the target elevator by the 2nd AGV, sends to carry to the ladder control system and complete to refer to It enables, so that the ladder control system determines that the target elevator is currently at idle state.

Optionally, as shown in Figure 5 B, which includes the first control system 501 and the second control system 502, First control system 501 is the control system disposed in floor where before the article is handled upside down, which is The control system disposed in the destination；

First control system 501, for controlling the first AGV for the article when receiving the first carrying instruction It is carried in the target elevator；

First control system 501 is also used to send the second carrying instruction to the ladder control system；

First control system 501 is also used to when determining the target elevator for the article carrying to the destination, to Second control system 502 sends third and carries instruction；

Second control system 502 is also used to control the 2nd AGV for the object when receiving third carrying instruction Product move out the target elevator.

Optionally, first control system 501 is also used to determine that the target elevator will be mounted with the first AGV of the article It is carried to the destination；

Correspondingly, second control system 502 is also used to the first AGV being determined as the 2nd AGV；

Second control is 502, is also used to control the first AGV and travels the third predeterminated position to outside the target elevator.

Optionally, first control system 501 is also used to receive the electric for identifying target of the first AGV transmission When the ground code mark of terraced position, the position where determining the first AGV before the article is handled upside down in the map of floor, the ground code It is identified as the ground code mark that the first AGV is reported after interior into the target elevator；

First control system 501 is also used to send first position notification message to the first AGV, so that the first AGV To first control system after determining that the position currently before the article is handled upside down in the map of place floor is legal position It reports and moves into elevator task completion instruction；

First control system 501 is also used to move into elevator task when this that receive that the first AGV reports and complete instruction When, switching notice is sent to the first AGV, so that the first AGV disconnects the connection between first control system and unlatching With the connection between second control system；

Second control system 502, be also used to when receive the first AGV transmission ground code mark when, determine this first Position of the AGV in the map of the destination；

Second control system 502 is also used to send second position notification message to the first AGV, so that the first AGV Determine that the position in the map of the destination is legal position.

It should be understood that it is provided by the above embodiment carry article scheduling system when carrying article, only with above-mentioned The division progress of each functional module can according to need and for example, in practical application by above-mentioned function distribution by different Functional module is completed, i.e., the internal structure of equipment is divided into different functional modules, with complete it is described above whole or Partial function.In addition, it is provided by the above embodiment carry article scheduling system belong to Fig. 3 or embodiment illustrated in fig. 4 it is same Design, specific implementation process are detailed in Fig. 3 or embodiment of the method shown in Fig. 4, and which is not described herein again.

Fig. 6 is another scheduling system 600 for carrying article provided in an embodiment of the present invention.For example, scheduling system 600 can Think scheduling system shown in figure 1A.Referring to Fig. 6, scheduling system 600 includes processor 601, communication interface 602, memory 603 With communication bus 604.

As shown in fig. 6, processor 601, communication interface 602 and memory 603 by communication bus 604 complete it is mutual Communication.

Processor 601 can be a CPU (Central Processing Unit, central processing unit), microprocessor, ASIC (application-specific integrated circuit, application-specific integrated circuit), or one or more use In the integrated circuit that control application scheme program executes.

Communication bus 604 may include an access, and information is transmitted between said modules.

Memory 603 can be ROM (read-only memory, read-only memory) or can store static information and instruction Other types of static storage device, RAM (random access memory, random access memory) or letter can be stored The other types of dynamic memory of breath and instruction, is also possible to EEPROM (Electrically Erasable Programmable Read-Only Memory, Electrically Erasable Programmable Read-Only Memory), CD-ROM (Compact Disc Read-Only Memory, CD-ROM) or other optical disc storages, optical disc storage (including compression optical disc, laser disc, optical disc, number The general optical disc of word, Blu-ray Disc etc.), magnetic disk storage medium or other magnetic storage apparatus or can be used in carrying or store Desired program code with instruction or data structure form simultaneously can be but unlimited by any other medium of computer access In this.Memory 603, which can be, to be individually present, and is connected by communication bus 604 with processor 601.Memory 603 can also be with It is integrated with processor 601.

Communication interface 602, using the device of any transceiver one kind, for other equipment or communication, such as Ethernet, wireless access network, WLAN (Wireless Local Area Networks, WLAN) etc..

Wherein, memory 603 is used to store the computer program for executing application scheme, and is controlled by processor 601 It executes.That is, processor 601 is used to execute the program stored on memory, to realize carrying object provided by the above embodiment The method of product.

In the exemplary embodiment, a kind of computer readable storage medium is additionally provided, the computer readable storage medium It is inside stored with computer program, when the computer program stored in the computer readable storage medium is held by the processor of server When row, enable the server to execute the method provided by the above embodiment for carrying article.

In addition, in the above-described embodiments, it can be wholly or partly by software, hardware, firmware or its any combination To realize.When implemented in software, it can entirely or partly realize in the form of a computer program product.The computer Program product includes one or more computer instructions.When loading on computers and executing the computer instruction, make to succeed in one's scheme Calculation machine executes the method that article is carried described in above-described embodiment.The computer can be general purpose computer, special purpose computer, Computer network or other programmable devices.The computer instruction may be stored in a computer readable storage medium, or Person is transmitted from a computer readable storage medium to another computer readable storage medium, for example, the computer instruction Can from a web-site, computer, server or data center by it is wired (such as: coaxial cable, optical fiber, data use Family line (Digital Subscriber Line, DSL)) or wireless (such as: infrared, wireless, microwave etc.) mode to another net Website, computer, server or data center are transmitted.The computer readable storage medium can be computer can Any usable medium of access either includes the data storage such as one or more usable mediums integrated server, data center Equipment.The usable medium can be magnetic medium (such as: floppy disk, hard disk, tape), optical medium (such as: digital versatile disc (Digital VersatileDisc, DVD)) or semiconductor medium (such as: solid state hard disk (Solid State Disk, SSD)) etc..

Those of ordinary skill in the art will appreciate that realizing that all or part of the steps of above-described embodiment can pass through hardware It completes, relevant hardware can also be instructed to complete by program, the program can store in a kind of computer-readable In storage medium, storage medium mentioned above can be read-only memory, disk or CD etc..

The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all in spirit of the invention and Within principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.

Claims

1. a kind of method for carrying article, which is characterized in that the described method includes:

When receiving the first carrying instruction, the first automated guided vehicle AGV is by article carrying to target elevator for control, institute Stating the first AGV is the AGV that multiple AGV from floor where current location are selected；

Second is sent to terraced control system and carries instruction, so that the ladder control system controls the target elevator for the article carrying To destination, the ladder control system is for managing the target elevator；

When determining the target elevator for the article carrying to the destination, the 2nd AGV of control removes the article The target elevator out.

2. the method as described in claim 1, which is characterized in that the first AGV of the control by article carrying to target elevator, Include:

The first AGV is controlled by the article carrying to the pause point of the target elevator, the pause point is for waiting The location point of the target elevator；

When the use confirmation instruction sent when receiving the terraced control system and determining that the target elevator is in idle condition, control The first AGV is made to travel to the first predeterminated position in the target elevator.

3. method according to claim 2, which is characterized in that described first carries mark and the institute that instruction carries the article State the current location information of article；

According to the mark of the article and the current location information of the article, the more of floor deployment are currently located from the article The first AGV is selected in a AGV；

4. the method as described in claim 1, which is characterized in that described to send the second carrying instruction to the terraced control system Before, further includes:

When determining the first AGV in the article carrying to the target elevator, control described in the first AGV unloading The target elevator is travelled out after article；

The 2nd AGV is selected from multiple AGV that the destination is disposed；

According to the current location information of the 2nd AGV, controls the 2nd AGV and travel to second in the target elevator in advance If loading the article behind position；

According to the current location information of the 2nd AGV, control the 2nd AGV travels pre- to the third outside the target elevator If position.

5. the method as described in claim 1, which is characterized in that the article is moved out the target by the 2nd AGV of the control Elevator, comprising:

When determining that the first AGV for being mounted with the article is carried to the destination by the target elevator, by described One AGV is determined as the 2nd AGV；

6. method a method as claimed in any one of claims 1 to 5, which is characterized in that the determination target elevator removes the article It is transported to the destination, comprising:

When receiving the arrival instruction that the terraced control system is sent, determine the target elevator by the article carrying to described Destination.

7. method a method as claimed in any one of claims 1 to 5, which is characterized in that control the 2nd AGV removes the article Out after the target elevator, further includes:

When determining that the article carrying is gone out the target elevator by the 2nd AGV, carried to the terraced control system transmission At instruction, so that the ladder control system determines that the target elevator is currently at idle state.

8. the method as described in claim 1, which is characterized in that the first control system is floor where before the article is handled upside down The control system of middle deployment, the second control system are the control system disposed in the destination；

When first control system, which receives described first, carries instruction, the first AGV is controlled by the article carrying In to the target elevator；

Correspondingly, described when determining the target elevator for the article carrying to the destination, the 2nd AGV of control will The article moves out the target elevator, comprising:

When first control system determines the target elevator for the article carrying to the destination, Xiang Suoshu Two control systems send third and carry instruction；

When second control system, which receives the third, carries instruction, controls the 2nd AGV and move out the article The target elevator.

9. method according to claim 8, which is characterized in that first control system determines that the target elevator will be described Article carrying is to the destination, comprising:

First control system determines that the first AGV for being mounted with the article is carried to the target building by the target elevator Layer；

Correspondingly, when second control system, which receives the third, carries instruction, the 2nd AGV is controlled by the object Product move out the target elevator, comprising:

First AGV is determined as the 2nd AGV by second control system；

10. method as claimed in claim 9, which is characterized in that second control system receives the third carrying and refers to Before order, further includes:

When first control system receives the ground code mark for identifying target elevator position that the first AGV is sent When, the position where determining the first AGV before the article is handled upside down in the map of floor, described ground code is identified as described The ground code mark that first AGV is reported after entering in the target elevator；

First control system sends first position notification message to the first AGV, so that the first AGV works as in determination It is preceding before the article is handled upside down where floor map in position be legal position after reported to first control system It moves into elevator task and completes instruction；

When first control system receive the first AGV report described in move into elevator task and complete instruction when, Xiang Suoshu the One AGV send switching notice so that the first AGV disconnect and first control system between connection and open with it is described Connection between second control system；

When second control system receives the ground code mark that the first AGV is sent, determine the first AGV described Position in the map of destination；

Second control system sends second position notification message to the first AGV, so that the first AGV is determined in institute Stating the position in the map of destination is legal position.

11. a kind of scheduling system for carrying article, which is characterized in that

The scheduling system, for when receiving the first carrying instruction, the first automated guided vehicle AGV of control to remove article It is transported in target elevator, the first AGV is the AGV that multiple AGV from floor where current location are selected；

The scheduling system is also used to send second to terraced control system and carries instruction, so that the ladder control system controls the mesh Elevator is marked by the article carrying to destination, the ladder control system is for managing the target elevator；

The scheduling system is also used to when determining the target elevator for the article carrying to the destination, control The article is moved out the target elevator by the 2nd AGV.

12. scheduling system as claimed in claim 11, which is characterized in that the scheduling system is specifically used for:

13. scheduling system as claimed in claim 12, which is characterized in that described first carries the mark that instruction carries the article Know the current location information with the article；

The scheduling system, is also used to:

14. scheduling system as claimed in claim 11, which is characterized in that the scheduling system is also used to:

Correspondingly, the scheduling system, is specifically used for:

The 2nd AGV is selected from multiple AGV that the destination is disposed；

15. scheduling system as claimed in claim 11, which is characterized in that the scheduling system is specifically used for:

16. the scheduling system as described in claim 11-15 is any, which is characterized in that the scheduling system is specifically used for:

17. the scheduling system as described in claim 11-15 is any, which is characterized in that the scheduling system is also used to:

18. scheduling system as claimed in claim 11, which is characterized in that the scheduling system includes the first control system and the Two control systems, first control system are the control system disposed in floor where before the article is handled upside down, described the Two control systems are the control system disposed in the destination；

First control system, for controlling the first AGV for the article when receiving the first carrying instruction It is carried in the target elevator；

First control system is also used to when determining the target elevator for the article carrying to the destination, Third, which is sent, to second control system carries instruction；

Second control system is also used to control the 2nd AGV for the object when receiving the third carrying instruction Product move out the target elevator.

19. scheduling system as claimed in claim 18, which is characterized in that first control system is specifically used for:

Correspondingly, second control system, is specifically used for:

First AGV is determined as the 2nd AGV；

20. scheduling system as claimed in claim 19, which is characterized in that

First control system is also used to when the ground for being used to identify target elevator position for receiving the first AGV transmission When code mark, position of the first AGV before the article is handled upside down in the map of place floor, described ground code mark are determined The ground code mark reported after entering in the target elevator for the first AGV；

First control system is also used to send first position notification message to the first AGV, so that the first AGV To first control after determining that the position currently before the article is handled upside down in the map of place floor is legal position System, which reports, moves into elevator task completion instruction；

First control system is also used to move into elevator task described in receive the first AGV and report when completing instruction, to First AGV sends switching notice, so that the first AGV disconnects the connection between first control system and unlatching With the connection between second control system；

Second control system is also used to determine described first when receiving the ground code mark that the first AGV is sent Position of the AGV in the map of the destination；

Second control system is also used to send second position notification message to the first AGV, so that the first AGV Determine that the position in the map of the destination is legal position.

21. a kind of scheduling system for carrying article, which is characterized in that the scheduling system includes processor and memory；

The memory is for storing computer program；

The processor is for executing the program stored on memory, to realize any one method described in claim 1-10 The step of.

22. a kind of computer readable storage medium, which is characterized in that be stored with computer in the computer readable storage medium Program, when the computer program is executed by processor the step of any one method described in realization claim 1-10.