CN109720768B - Communication method of warehousing system, storage device and warehousing system - Google Patents
Communication method of warehousing system, storage device and warehousing system Download PDFInfo
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Abstract
The communication method comprises the following steps that the AGV device sends heartbeat signals to a central control device at intervals; the central control device sends a task to the AGV device; the AGV device waits for receiving a task; if the AGV device receives the task, a task response instruction is sent to the central control device, otherwise, the AGV device does not respond; the central control device waits for receiving a task response instruction and/or a heartbeat signal of the AGV device and judges the working state of the AGV device; if the AGV device is judged to be in an online state and the response information corresponds to the task information, ending the task sending; otherwise, sending a task to the other AGV device, and repeatedly judging the working state of the AGV device; the storage device of the invention stores the communication method instruction; the warehousing system of the invention applies the communication method; the communication method, the storage device and the warehousing system can ensure that the central control device can stably transmit the tasks to the AGV device.
Description
Technical Field
The invention relates to the field of logistics warehousing, in particular to a communication method of a warehousing system, a storage device and the warehousing system.
Background
Along with the development of industrial technology, more and more automation equipment is used in multiple production environment such as mill, warehouse and commodity circulation, and the AGV device belongs to comparatively common automation equipment among the above-mentioned production environment, and the AGV device can be under the condition of unmanned management automatic execution task, and in order to ensure that the task can be normally carried out by the AGV device, requires central control system accurate with task sending to the AGV device correctly receives the task.
The existing communication modes of the central control system and the AGV device comprise the following two modes:
the first method is as follows: only the central control system transmits the tasks in one direction;
the second method comprises the following steps: the central control system sends the task, meanwhile, the AGV device sends response information to the central control system after receiving the task, and the central control system confirms that the AGV device receives the response information; and when the central control system does not receive the response information within the set time period, resending the tasks to the AGV devices or sending the same tasks to other AGV devices.
Compared with the first communication method, the second communication method has higher reliability, but the second communication method still has the following problems: under the condition that the field environment is complex or the network signal is unstable, the response information of the AGV devices is easy to lose, so that the central control system cannot receive the response information, the task is considered to be failed to send and resends the task to the AGV devices or send the same task to other AGV devices, the control information of the central control system and the AGV devices is asymmetric, the same task can be sent to the same AGV for multiple times, the information exchange efficiency is reduced, or the same task is executed by multiple AGV devices simultaneously, and the task execution progress is influenced.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a communication method of a storage system, which can ensure that a central control device stably transmits tasks to AGV devices so that the AGV devices execute the related tasks.
In order to achieve the purpose, the invention adopts the following technical scheme: the communication method of the warehousing system comprises the following steps:
(A1) all AGV devices in the storage system are set to send heartbeat signals to the central control device at intervals, and the heartbeat signals contain task feedback information;
(A2) the central control device stores tasks and task information and sends the tasks to one AGV device;
(A3) the AGV device that should receive the task waits for receiving the task;
if the AGV device receives the task, a task response instruction is sent to the central control device, otherwise, the AGV device does not respond;
(A4) the central control device waits for receiving a task response instruction and/or a heartbeat signal of the AGV device which needs to receive the task, and judges the working state of the AGV device according to the received task response instruction or heartbeat signal of the AGV device;
if the AGV device is judged to be in the online state and the response information corresponds to the task information, the step (A6) is carried out;
if the answer information of the AGV device is judged not to correspond to the task information or is in the offline state, the step (A5) is carried out;
(A5) the central control device sends a task to another AGV device and repeats steps (A3) to (A4);
(A6) and the central control device determines that the task is successfully sent and finishes the task sending.
Compared with the prior art, the communication method of the warehousing system has the following beneficial effects:
(1) the AGV devices are set to send heartbeat signals to the central control device at intervals, so that the central control device can conveniently monitor the working state of the AGV devices, the AGV devices in an off-line state can be quickly eliminated, and smooth sending and execution of tasks are ensured;
(2) the AGV device only sends a task response instruction once after receiving the task, and the heartbeat signal contains the task feedback information, so that the condition that the central control device misjudges the working state of the AGV device due to loss in the transmission process of the task response instruction is avoided, and the task is ensured to be sent;
(3) because the task response instruction and the heartbeat signal can be used as the judgment basis for the working state of the AGV device, the central control device can determine whether the task is finished or not by judging whether the response information corresponds to the task information or not, so that the control information of the central control device and the AGV device is ensured to be symmetrical, the times of resending the task by the central control device are reduced, and the network pressure caused by sending multiple tasks is avoided;
(4) the AGV device is set to send heartbeat signals to the central control device at intervals, and the central control device analyzes the received heartbeat signals containing the task feedback information, so that the problem existing in the process that the central control device sends the task or the process that the AGV device sends the heartbeat signals can be quickly determined; if the task feedback information does not correspond to the task information, the problem in the process of sending the task by the central control device is explained; if the central control device cannot receive the heartbeat signal of the AGV device, the problem exists in the process that the AGV device sends the heartbeat signal; on one hand, other AGV devices can be arranged to execute tasks quickly, work progress is guaranteed, on the other hand, maintenance personnel can conveniently overhaul and maintain the storage system, and maintenance cost is effectively reduced;
(5) the invention can ensure that all tasks can be sent to the corresponding AGV devices, thereby ensuring that all tasks are smoothly executed for the task orders which need to be executed in sequence, and avoiding the condition that a plurality of AGV devices execute the same task, thereby improving the working efficiency and the reliability of the storage system.
As a first mode of determining the operating state of the AGV device by the central control device:
in the step (a4), the central control device determines the operating state of the AGV device as follows:
(B1) the central control device is in the time period T0Waiting for a task response instruction sent by the AGV device;
if time period T0If a task response command from the AGV device is received, the process proceeds to step (B3);
if time period T0If the task response command from the AGV device is not received, the process proceeds to step (B2);
(B2) the central control device monitors the AGV device for heartbeat signals in a time period T1Waiting for receiving a heartbeat signal sent by the AGV device;
if a heartbeat signal sent by the AGV device is received during the monitoring period of the heartbeat signal, the step (B3) is carried out;
if the heartbeat signal sent by the AGV device is not received in the heartbeat signal monitoring period, judging that the AGV device is in an off-line state;
(B3) the central control device checks the task feedback information;
if the task response instruction or the task feedback information corresponds to the task information, judging that the AGV device is in an online state and the response information corresponds to the task information;
and if the task response instruction or the task feedback information does not correspond to the task information, judging that the AGV device is the AGV device with the response information not corresponding to the task information.
As a second mode in which the central control device determines the operating state of the AGV device:
in the step (a4), the central control device determines the operating state of the AGV device as follows:
(C1) setting a repetition number parameter g, wherein the initial value of g is 0;
(C2) the central control device is in the time period T0Waiting for a task response instruction sent by the AGV device;
if time period T0If a task response command from the AGV device is received, the process proceeds to step (C4);
if time period T0If the task response command from the AGV device is not received, the process proceeds to step (C3);
(C3) the central control device monitors the AGV device for heartbeat signals in a time period T1Waiting for receiving a heartbeat signal sent by the AGV device;
if a heartbeat signal sent by the AGV device is received during the monitoring period of the heartbeat signal, the step (C4) is carried out;
if the heartbeat signal sent by the AGV device is not received in the heartbeat signal monitoring period, judging that the AGV device is in an off-line state;
(C4) the central control device checks the task feedback information;
if the task response instruction or the task feedback information corresponds to the task information, judging that the AGV device is in an online state and the response information corresponds to the task information;
if the task response instruction or the task feedback information does not correspond to the task information, the step (C5) is carried out;
(C5) continuously receiving heartbeat signals of the AGV device;
if the number of times that the task response instruction or the task feedback information does not correspond to the task information is less than N times, judging that the AGV device is in an online state and the response information corresponds to the task information;
if the number of times that the task response instruction or the task feedback information does not correspond to the task information is equal to or more than N times, judging that the AGV device does not receive the task, and entering a step (C6);
(C6) making g equal to g + 1;
if g is 1, the central control device resends the task to the AGV device, and repeats steps (C2) to (C5);
and if g is larger than 1, judging that the AGV device is in a state that the response information does not correspond to the task information.
By setting the steps (C5) and (C6), it is avoided that the central control apparatus receives a heartbeat signal of a previous time slot of the AGV apparatus due to delay of information reception caused by a network problem, which results in the central control apparatus misjudging the operating state of the AGV apparatus.
Preferably, the time period T0Is 1-5 s; time period T1Is 1-5 s.
Preferably, N ∈ [2, 10 ].
Preferably, in the step (a1), the AGV device sends the heartbeat signal to the central control device at intervals of 0.5 to 2 seconds.
The above-mentioned frequency setting with AGV device to central control device sending heartbeat signal sets up to 0.5-2.0 seconds and sends a heartbeat signal's beneficial effect to lie in: when the frequency of the heartbeat signal is more than the range value, more times of heartbeat signals are sent in the same time, although the state of the AGV device can be judged more quickly, the too high frequency of the heartbeat signal can cause the central control device to continuously send tasks to the AGV device after judging that the AGV device is an effective AGV device, so that the AGV device accumulates a large number of tasks and the execution progress of all the tasks is influenced; when the frequency of the heartbeat signal is less than the range value, the heartbeat signal with less times is sent in the same time, so that the time for judging the working state of the AGV device by the central control device is prolonged, and the network load is increased.
Preferably, in step (a4), the central control device determines that the AGV device is in the down status, and does not send any more tasks to the AGV device.
The beneficial effects of the above setting mode are that: through rejecting the AGV device that is in the off-line state to improve the efficiency that central control unit judged the operating condition of all AGV devices in the warehouse system, make the task send to be in the on-line state and can ensure the AGV device that response information and task information correspond, thereby send the task more fast.
Preferably, in the step (a5), the central control device modifies the task record, deletes the original record of the task sent to the original AGV device, and adds a new record of the task sent to another AGV device; thereby ensuring that the central control unit remains symmetrical with the control information for the AGV devices.
Another object of the present invention is to provide a storage device storing instructions of the communication method of the warehousing system, wherein the storage device stores a plurality of instructions, and the instructions are suitable for a processor of a computer to load and execute the following operations:
(A1) all AGV devices in the storage system are set to send heartbeat signals to the central control device at intervals, and the heartbeat signals contain task feedback information;
(A2) the central control device stores tasks and task information and sends the tasks to one AGV device;
(A3) the AGV device that should receive the task waits for receiving the task;
if the AGV device receives the task, a task response instruction is sent to the central control device, otherwise, the AGV device does not respond;
(A4) the central control device waits for receiving a task response instruction and/or a heartbeat signal of the AGV device which needs to receive the task, and judges the working state of the AGV device according to the received task response instruction or heartbeat signal of the AGV device;
if the AGV device is judged to be in the online state and the response information corresponds to the task information, the step (A6) is carried out;
if the answer information of the AGV device is judged not to correspond to the task information or is in the offline state, the step (A5) is carried out;
(A5) the central control device sends a task to another AGV device and repeats steps (A3) to (A4);
(A6) and the central control device determines that the task is successfully sent and finishes the task sending.
Compared with the prior art, the storage device stores the instruction of the communication method of the warehousing system, and is suitable for being loaded and executed by the processor of the computer, so that the communication method of the warehousing system is convenient to popularize and use.
The invention also aims to provide a warehousing system applying the communication method of the warehousing system, which comprises a central control device and a plurality of AGV devices;
the central control device is used for storing the tasks and the task information and sending the tasks to the corresponding AGV devices;
the AGV device is used for receiving and executing the tasks sent by the central control device and sending task response instructions to the central control device after receiving the tasks; the AGV device is set to send heartbeat signals to the central control device at intervals; the heartbeat signal comprises task feedback information;
the central control device is also used for receiving the task response instruction and the heartbeat signal sent by the AGV device and judging the working state of the AGV device according to the received task response instruction or the heartbeat signal of the AGV device;
if the AGV device which should receive the task is judged to be in an online state and the response information corresponds to the task information, the task is determined to be successfully sent, and the central control device finishes the task sending;
and if the answer information of the AGV device which should receive the task is judged not to correspond to the task information or is in the off-line state, the central control device sends the task to the other AGV device, and the step that the central control device judges the working state of the AGV device is repeated.
Compared with the prior art, the warehousing system disclosed by the invention can ensure that the central control device stably transmits the tasks to the AGV devices by applying the communication method of the warehousing system, so that the AGV devices execute the related tasks.
Drawings
FIG. 1 is a schematic flow chart of the first embodiment;
FIG. 2 is a flow chart of the second embodiment.
Detailed Description
Embodiments of the present invention are described below with reference to the accompanying drawings:
example one
Referring to fig. 1, the communication method of the warehousing system of the embodiment includes the following steps:
(A1) all AGV devices in the storage system are set to send heartbeat signals to the central control device at intervals, and the heartbeat signals contain task feedback information;
(A2) the central control device stores tasks and task information and sends the tasks to one AGV device;
(A3) the AGV device that should receive the task waits for receiving the task;
if the AGV device receives the task, a task response instruction is sent to the central control device, otherwise, the AGV device does not respond;
(A4) the central control device waits for receiving a task response instruction and/or a heartbeat signal of the AGV device which needs to receive the task, and judges the working state of the AGV device according to the received task response instruction or heartbeat signal of the AGV device;
if the AGV device is judged to be in the online state and the response information corresponds to the task information, the step (A6) is carried out;
if the answer information of the AGV device is judged not to correspond to the task information or is in the offline state, the step (A5) is carried out;
(A5) the central control device sends a task to another AGV device and repeats steps (A3) to (A4);
(A6) and the central control device determines that the task is successfully sent and finishes the task sending.
In the step (a3), if the AGV device receives the task, the control unit of the AGV device modifies the current task feedback information according to the task content; and if the AGV device does not receive the task, the current task feedback information of the AGV device is the task feedback information corresponding to the content of the previous task.
In the step (a4), the central control device determines the operating state of the AGV device as follows:
(B1) the central control device is in the time period T0Waiting for a task response instruction sent by the AGV device;
if time period T0InscriptionWhen a task response command from the AGV device is received, the process proceeds to step (B3);
if time period T0If the task response command from the AGV device is not received, the process proceeds to step (B2);
(B2) the central control device monitors the AGV device for heartbeat signals in a time period T1Waiting for receiving a heartbeat signal sent by the AGV device;
if a heartbeat signal sent by the AGV device is received during the monitoring period of the heartbeat signal, the step (B3) is carried out;
if the heartbeat signal sent by the AGV device is not received in the heartbeat signal monitoring period, judging that the AGV device is in an off-line state;
(B3) the central control device checks the task feedback information;
if the task response instruction or the task feedback information corresponds to the task information, judging that the AGV device is in an online state and the response information corresponds to the task information;
and if the task response instruction or the task feedback information does not correspond to the task information, judging that the AGV device is the AGV device with the response information not corresponding to the task information.
Time period T0Is 1-5 s; time period T1Is 1-5 s.
In step (a1), the AGV device sends the heartbeat signal to the central control device every 0.5 to 2 seconds at a frequency of sending the heartbeat signal.
The above-mentioned frequency setting with AGV device to central control device sending heartbeat signal sets up to 0.5-2.0 seconds and sends a heartbeat signal's beneficial effect to lie in: when the frequency of the heartbeat signal is more than the range value, more times of heartbeat signals are sent in the same time, although the state of the AGV device can be judged more quickly, the too high frequency of the heartbeat signal can cause the central control device to continuously send tasks to the AGV device after judging that the AGV device is an effective AGV device, so that the AGV device accumulates a large number of tasks and the execution progress of all the tasks is influenced; when the frequency of the heartbeat signal is less than the range value, the heartbeat signal with less times is sent in the same time, so that the time for judging the working state of the AGV device by the central control device is prolonged, and the network load is increased.
In step (a4), the central control unit determines that the AGV is in the off-line state, and does not send any more jobs to the AGV.
The beneficial effects of the above setting mode are that: through rejecting the AGV device that is in the off-line state to improve the efficiency that central control unit judged the operating condition of all AGV devices in the warehouse system, make the task send to be in the on-line state and can ensure the AGV device that response information and task information correspond, thereby send the task more fast.
In the step (A5), the central control device modifies the task record, deletes the original record of the task sent to the original AGV device, and adds a new record of the task sent to another AGV device; thereby ensuring that the central control unit remains symmetrical with the control information for the AGV devices.
Example two
Referring to fig. 2, the present embodiment is different from the first embodiment in that: and a process of judging the operating state of the AGV device by the central control device.
In the step (a4), the central control device determines the operating state of the AGV device as follows:
(C1) setting a repetition number parameter g, wherein the initial value of g is 0;
(C2) the central control device is in the time period T0Waiting for a task response instruction sent by the AGV device;
if a task response instruction sent by the AGV device is received within the time period T0, the step (C4) is carried out;
if time period T0If the task response command from the AGV device is not received, the process proceeds to step (C3);
(C3) the central control device monitors the heartbeat signal of the AGV device, and waits for receiving the heartbeat signal sent by the AGV device within a time period T1;
if a heartbeat signal sent by the AGV device is received during the monitoring period of the heartbeat signal, the step (C4) is carried out;
if the heartbeat signal sent by the AGV device is not received in the heartbeat signal monitoring period, judging that the AGV device is in an off-line state;
(C4) the central control device checks the task feedback information;
if the task response instruction or the task feedback information corresponds to the task information, judging that the AGV device is in an online state and the response information corresponds to the task information;
if the task response instruction or the task feedback information does not correspond to the task information, the step (C5) is carried out;
(C5) continuously receiving heartbeat signals of the AGV device;
if the number of times that the task response instruction or the task feedback information does not correspond to the task information is less than N times, judging that the AGV device is in an online state and the response information corresponds to the task information;
if the number of times that the task response instruction or the task feedback information does not correspond to the task information is equal to or more than N times, judging that the AGV device does not receive the task, and entering a step (C6);
(C6) making g equal to g + 1;
if g is 1, the central control device resends the task to the AGV device, and repeats steps (C2) to (C5);
and if g is larger than 1, judging that the AGV device is in a state that the response information does not correspond to the task information.
By setting the steps (C5) and (C6), it is avoided that the central control apparatus receives a heartbeat signal of a previous time slot of the AGV apparatus due to delay of information reception caused by a network problem, which results in the central control apparatus misjudging the operating state of the AGV apparatus.
N∈[2，10]。
Compared with the prior art, the communication method of the warehousing system of the first embodiment and the second embodiment has the following beneficial effects:
(1) the AGV devices are set to send heartbeat signals to the central control device at intervals, so that the central control device can conveniently monitor the working state of the AGV devices, the AGV devices in an off-line state can be quickly eliminated, and smooth sending and execution of tasks are ensured;
(2) the AGV device only sends a task response instruction once after receiving the task, and the heartbeat signal contains the task feedback information, so that the condition that the central control device misjudges the working state of the AGV device due to loss in the transmission process of the task response instruction is avoided, and the task is ensured to be sent;
(3) because the task response instruction and the heartbeat signal can be used as the judgment basis for the working state of the AGV device, the central control device can determine whether the task is finished or not by judging whether the response information corresponds to the task information or not, so that the control information of the central control device and the AGV device is ensured to be symmetrical, the times of resending the task by the central control device are reduced, and the network pressure caused by sending multiple tasks is avoided;
(4) the AGV device is set to send heartbeat signals to the central control device at intervals, and the central control device analyzes the received heartbeat signals containing the task feedback information, so that the problem existing in the process that the central control device sends the task or the process that the AGV device sends the heartbeat signals can be quickly determined; if the task feedback information does not correspond to the task information, the problem in the process of sending the task by the central control device is explained; if the central control device cannot receive the heartbeat signal of the AGV device, the problem exists in the process that the AGV device sends the heartbeat signal; on one hand, other AGV devices can be arranged to execute tasks quickly, work progress is guaranteed, on the other hand, maintenance personnel can conveniently overhaul and maintain the storage system, and maintenance cost is effectively reduced;
(5) the invention can ensure that all tasks can be sent to the corresponding AGV devices, thereby ensuring that all tasks are smoothly executed for the task orders which need to be executed in sequence, and avoiding the condition that a plurality of AGV devices execute the same task, thereby improving the working efficiency and the reliability of the storage system.
EXAMPLE III
Another object of the present invention is to provide a storage device storing instructions of the communication method of the warehousing system, wherein the storage device stores a plurality of instructions, and the instructions are suitable for a processor of a computer to load and execute the following operations:
(A1) all AGV devices in the storage system are set to send heartbeat signals to the central control device at intervals, and the heartbeat signals contain task feedback information;
(A2) the central control device stores tasks and task information and sends the tasks to one AGV device;
(A3) the AGV device that should receive the task waits for receiving the task;
if the AGV device receives the task, a task response instruction is sent to the central control device, otherwise, the AGV device does not respond;
(A4) the central control device waits for receiving a task response instruction and/or a heartbeat signal of the AGV device which needs to receive the task, and judges the working state of the AGV device according to the received task response instruction or heartbeat signal of the AGV device;
if the AGV device is judged to be in the online state and the response information corresponds to the task information, the step (A6) is carried out;
if the answer information of the AGV device is judged not to correspond to the task information or is in the offline state, the step (A5) is carried out;
(A5) the central control device sends a task to another AGV device and repeats steps (A3) to (A4);
(A6) and the central control device determines that the task is successfully sent and finishes the task sending.
Compared with the prior art, the storage device stores the instruction of the communication method of the warehousing system, and is suitable for being loaded and executed by the processor of the computer, so that the communication method of the warehousing system is convenient to popularize and use.
Example four
The invention also provides a storage system applying the communication method of the storage system, which comprises a central control device and a plurality of AGV devices.
The central control device is used for storing the tasks and the task information and sending the tasks to the corresponding AGV devices;
the AGV device is used for receiving and executing the tasks sent by the central control device and sending task response instructions to the central control device after receiving the tasks; the AGV device is set to send heartbeat signals to the central control device at intervals; the heartbeat signal comprises task feedback information;
the central control device is also used for receiving the task response instruction and the heartbeat signal sent by the AGV device and judging the working state of the AGV device according to the received task response instruction or the heartbeat signal of the AGV device;
if the AGV device which should receive the task is judged to be in an online state and the response information corresponds to the task information, the task is determined to be successfully sent, and the central control device finishes the task sending;
and if the answer information of the AGV device which should receive the task is judged not to correspond to the task information or is in the off-line state, the central control device sends the task to the other AGV device, and the step that the central control device judges the working state of the AGV device is repeated.
Compared with the prior art, the warehousing system disclosed by the invention can ensure that the central control device stably transmits the tasks to the AGV devices by applying the communication method of the warehousing system, so that the AGV devices execute the related tasks.
Variations and modifications to the above-described embodiments may occur to those skilled in the art, which fall within the scope and spirit of the above description. Therefore, the present invention is not limited to the specific embodiments disclosed and described above, and some modifications and variations of the present invention should fall within the scope of the claims of the present invention. Furthermore, although specific terms are employed herein, they are used in a generic and descriptive sense only and not for purposes of limitation.
Claims (10)
1. The communication method of the warehousing system is characterized in that: the method comprises the following steps:
(A1) all AGV devices in the storage system are set to send heartbeat signals to the central control device at intervals, and the heartbeat signals contain task feedback information;
(A2) the central control device stores tasks and task information and sends the tasks to one AGV device;
(A3) the AGV device that should receive the task waits for receiving the task;
if the AGV device receives the task, a task response instruction is sent to the central control device, otherwise, the AGV device does not respond;
(A4) the central control device waits for receiving a task response instruction and/or a heartbeat signal of the AGV device which needs to receive the task, and judges the working state of the AGV device according to the received task response instruction or heartbeat signal of the AGV device;
if the AGV device is judged to be in the online state and the response information corresponds to the task information, the step (A6) is carried out;
if the answer information of the AGV device is judged not to correspond to the task information or is in the offline state, the step (A5) is carried out;
(A5) the central control device sends a task to another AGV device and repeats steps (A3) to (A4);
(A6) and the central control device determines that the task is successfully sent and finishes the task sending.
2. The communication method of the warehousing system of claim 1, wherein: in the step (a4), the central control device determines the operating state of the AGV device as follows:
(B1) the central control device is in the time period T0Waiting for a task response instruction sent by the AGV device;
if time period T0If a task response command from the AGV device is received, the process proceeds to step (B3);
if time period T0If the task response command from the AGV device is not received, the process proceeds to step (B2);
(B2) the central control device monitors the AGV device for heartbeat signals in a time period T1Waiting for receiving a heartbeat signal sent by the AGV device;
if a heartbeat signal sent by the AGV device is received during the monitoring period of the heartbeat signal, the step (B3) is carried out;
if the heartbeat signal sent by the AGV device is not received in the heartbeat signal monitoring period, judging that the AGV device is in an off-line state;
(B3) the central control device checks the task feedback information;
if the task response instruction or the task feedback information corresponds to the task information, judging that the AGV device is in an online state and the response information corresponds to the task information;
and if the task response instruction or the task feedback information does not correspond to the task information, judging that the AGV device is the AGV device with the response information not corresponding to the task information.
3. The communication method of the warehousing system of claim 1, wherein: in the step (a4), the central control device determines the operating state of the AGV device as follows:
(C1) setting a repetition number parameter g, wherein the initial value of g is 0;
(C2) the central control device is in the time period T0Waiting for a task response instruction sent by the AGV device;
if time period T0If a task response command from the AGV device is received, the process proceeds to step (C4);
if time period T0If the task response command from the AGV device is not received, the process proceeds to step (C3);
(C3) the central control device monitors the AGV device for heartbeat signals in a time period T1Waiting for receiving a heartbeat signal sent by the AGV device;
if a heartbeat signal sent by the AGV device is received during the monitoring period of the heartbeat signal, the step (C4) is carried out;
if the heartbeat signal sent by the AGV device is not received in the heartbeat signal monitoring period, judging that the AGV device is in an off-line state;
(C4) the central control device checks the task feedback information;
if the task response instruction or the task feedback information corresponds to the task information, judging that the AGV device is in an online state and the response information corresponds to the task information;
if the task response instruction or the task feedback information does not correspond to the task information, the step (C5) is carried out;
(C5) continuously receiving heartbeat signals of the AGV device;
if the number of times that the task response instruction or the task feedback information does not correspond to the task information is less than N times, judging that the AGV device is in an online state and the response information corresponds to the task information;
if the number of times that the task response instruction or the task feedback information does not correspond to the task information is equal to or more than N times, judging that the AGV device does not receive the task, and entering a step (C6);
(C6) making g equal to g + 1;
if g is 1, the central control device resends the task to the AGV device, and repeats steps (C2) to (C5);
and if g is larger than 1, judging that the AGV device is in a state that the response information does not correspond to the task information.
4. The communication method of the warehousing system of claim 2 or 3, wherein: time period T0Is 1-5 s; time period T1Is 1-5 s.
5. The communication method of the warehousing system of claim 3, wherein N ∈ [2, 10 ].
6. The communication method of the warehousing system of claim 1, wherein: in step (a1), the AGV device sends the heartbeat signal to the central control device every 0.5 to 2 seconds at a frequency of sending the heartbeat signal.
7. The communication method of the warehousing system of claim 1, wherein: in step (a4), the central control unit determines that the AGV is in the off-line state, and does not send any more jobs to the AGV.
8. The communication method of the warehousing system of claim 1, wherein: in the step (a5), the central control device modifies the task record, deletes the original record of the task sent to the original AGV device, and adds a new record of the task sent to another AGV device.
9. A storage device storing instructions of a communication method of the warehousing system according to any one of claims 1 to 8, wherein: the instructions are adapted to be loaded by a processor of a computer and to perform the following operations:
(A1) all AGV devices in the storage system are set to send heartbeat signals to the central control device at intervals, and the heartbeat signals contain task feedback information;
(A2) the central control device stores tasks and task information and sends the tasks to one AGV device;
(A3) the AGV device that should receive the task waits for receiving the task;
if the AGV device receives the task, a task response instruction is sent to the central control device, otherwise, the AGV device does not respond;
(A4) the central control device waits for receiving a task response instruction and/or a heartbeat signal of the AGV device which needs to receive the task, and judges the working state of the AGV device according to the received task response instruction or heartbeat signal of the AGV device;
if the AGV device is judged to be in the online state and the response information corresponds to the task information, the step (A6) is carried out;
if the answer information of the AGV device is judged not to correspond to the task information or is in the offline state, the step (A5) is carried out;
(A5) the central control device sends a task to another AGV device and repeats steps (A3) to (A4);
(A6) and the central control device determines that the task is successfully sent and finishes the task sending.
10. The warehousing system is characterized in that: the system comprises a central control device and a plurality of AGV devices;
the central control device is used for storing the tasks and the task information and sending the tasks to the corresponding AGV devices;
the AGV device is used for receiving and executing the tasks sent by the central control device and sending task response instructions to the central control device after receiving the tasks; the AGV device is set to send heartbeat signals to the central control device at intervals; the heartbeat signal comprises task feedback information;
the central control device is also used for receiving the task response instruction and the heartbeat signal sent by the AGV device and judging the working state of the AGV device according to the received task response instruction or the heartbeat signal of the AGV device;
if the AGV device which should receive the task is judged to be in an online state and the response information corresponds to the task information, the task is determined to be successfully sent, and the central control device finishes the task sending;
and if the answer information of the AGV device which should receive the task is judged not to correspond to the task information or is in the off-line state, the central control device sends the task to the other AGV device, and the step that the central control device judges the working state of the AGV device is repeated.
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