CN109839926B

CN109839926B - Cross-warehouse handling control method, device and system, electronic equipment and storage medium

Info

Publication number: CN109839926B
Application number: CN201711209033.7A
Authority: CN
Inventors: 龚岗华; 朱可平
Original assignee: Hangzhou Hikrobot Technology Co Ltd
Current assignee: Hangzhou Hikrobot Co Ltd
Priority date: 2017-11-27
Filing date: 2017-11-27
Publication date: 2021-02-12
Anticipated expiration: 2037-11-27
Also published as: WO2019100885A1; CN109839926A

Abstract

The embodiment of the invention provides a cross-warehouse transport control method, a cross-warehouse transport control device, a cross-warehouse transport control system, electronic equipment and a storage medium. In the embodiment of the invention, firstly, the source AGV transports the object to be transported to the position of the first transfer point, and then the target RCS controls the target AGV to transport the first object to be transported from the position of the first transfer point to the position of the first target storage position. Therefore, full automation of segmented conveying and warehousing is achieved, and compared with a manual conveying mode, conveying and warehousing efficiency is improved.

Description

Cross-warehouse handling control method, device and system, electronic equipment and storage medium

Technical Field

The invention relates to the technical field of automation logistics, in particular to a cross-warehouse handling control method, a device, a system, electronic equipment and a storage medium.

Background

At present, in the prior art, the process of cross-warehouse transportation and warehousing is as follows: the method includes that a source RCS (Robot controlled System) controls an AGV (automatic Guided Vehicle) in a plant, an object to be carried is carried to a joint point of an overlapping area of the source plant and a target plant, and then the object is carried to a target storage position in the target plant through manual carrying, wherein a plurality of AGVs exist in the source plant, and the source RCS controls the AGV in the source plant.

Because the objects to be transported are transported to the target storage position by manual connection at the connection point, full automation of transportation cannot be achieved, and the efficiency of transporting and warehousing is lower.

Disclosure of Invention

The embodiment of the invention aims to provide a cross-warehouse transportation control method, a device, a system, electronic equipment and a storage medium, so as to improve the efficiency of transportation and warehousing. The specific technical scheme is as follows:

a cross-warehouse handling control method is applied to an Automatic Guided Vehicle (AGV) in a cross-warehouse handling control system, and the cross-warehouse handling control system further comprises: the method comprises the following steps of:

receiving first carrying information sent by the source RCS, wherein the first carrying information comprises information of a first object to be carried;

conveying the first object to be conveyed to a position of a first transfer point;

and sending a message of successful transportation to the target RCS, so that the target RCS controls the target AGV to transport the first object to be transported from the position of the first transfer point to the position of the first target storage position after receiving the message of successful transportation.

Optionally, the first unloading point is located in an unloading area, the unloading area is an overlapping area of a control area of the source RCS and a control area of the target RCS, and the step of sending a message of successful transport to the target RCS includes:

and sending a message of successful carrying to the target RCS through the source RCS.

Optionally, the first unloading point is located in an unloading area, where the unloading area is an area of the control area of the target RCS except an overlapping area, where the overlapping area is an overlapping area of the control area of the target RCS and the control area of the source RCS;

the step of transporting the first object to be transported to the position of the first transfer point includes:

transporting the first object to be transported to a position of a junction point, wherein the junction point is located in an overlapping area of a control area of the source RCS and a control area of the target RCS;

switching the control right of the source RCS to the target RCS, and receiving the position of the first transfer point sent by the target RCS;

conveying the first object to be conveyed from the position of the junction point to the position of the first transfer point;

the step of sending a message of successful transport to the target RCS includes:

and sending a message of successful transportation to the target RCS through a communication link between the target RCS and the target RCS.

Optionally, the step of switching the control right of the source RCS to the target RCS includes:

sending a suspend request to the source RCS;

sending a takeover request to the target RCS;

and receiving a message of successful takeover sent by the target RCS.

Optionally, before the step of receiving the location of the first transfer point sent by the target RCS, the method further includes:

and sending a first request for acquiring the position of the unloading point to the target RCS.

Optionally, after the step of sending a message of successful transport to the target RCS through the source RCS, the method further includes:

receiving second carrying information sent by the target RCS, wherein the second carrying information comprises information of a second object to be carried, which is located at a second unloading point, and the second unloading point is located in the unloading area;

receiving the position of a second target storage position sent by the source RCS;

and conveying the second object to be conveyed from the position of the second unloading point to the position of the second target storage position.

Optionally, after the step of sending a message of successful transportation to the target RCS through a communication link between the target RCS and the target RCS, the method further includes:

conveying the second object to be conveyed from the position of the second unloading point to the position of the junction point;

switching the control right of the source RCS to the target RCS, and receiving the position of a second target storage position sent by the source RCS;

and conveying the second object to be conveyed from the position of the junction point to the position of the second target storage position.

receiving backhaul information sent by the target RCS;

receiving the target position sent by the source RCS;

and moving to the target position.

receiving backhaul information sent by the target RCS;

moving to the position of the junction;

switching the control right of the source RCS from the target RCS to the source RCS, and receiving a target position sent by the source RCS;

from the position of the junction to the target position.

A cross-warehouse handling control device is applied to an Automatic Guided Vehicle (AGV) in a cross-warehouse handling control system, and the cross-warehouse handling control system further comprises: source RCS, target RCS and target automatic navigation vehicle AGV, the apparatus comprising:

a first carrying information receiving module, configured to receive first carrying information sent by the source RCS, where the first carrying information includes information of a first object to be carried;

the first object to be transported transporting module is used for transporting the first object to be transported to the position of the first transfer point;

and the transfer success message sending module is used for sending a transfer success message to the target RCS so that the target RCS controls the target AGV to transfer the first object to be transferred from the position of the first transfer point to the position of the first target storage position after receiving the transfer success message.

Optionally, the first unloading point is located in an unloading area, the unloading area is an overlapping area of a control area of the source RCS and a control area of the target RCS, and the transport success message sending module is specifically configured to:

the first object to be carried carrying module comprises:

a junction position carrying unit configured to carry the first object to be carried to a position of a junction, wherein the junction is located in an overlapping area of a control area of the source RCS and a control area of the target RCS;

the switching unit is used for switching the control right of the switching unit from the source RCS to the target RCS and receiving the position of the first transfer point sent by the target RCS;

a first transfer point position carrying unit for carrying the first object to be carried from the position of the junction point to the position of the first transfer point;

the carrying success message sending module is specifically configured to:

Optionally, the switching unit includes:

a suspend request sending subunit, configured to send a suspend request to the source RCS;

a takeover request sending subunit, configured to send a takeover request to the target RCS;

and the takeover success message receiving subunit is configured to receive the takeover success message sent by the target RCS.

Optionally, the apparatus further comprises:

a first request sending module, configured to send, to the target RCS, a first request for obtaining the location of the unloading point before the receiving of the location of the first unloading point sent by the target RCS.

Optionally, the apparatus further comprises:

a first receiving module, configured to receive second transportation information sent by the target RCS after sending a message of successful transportation to the target RCS through the source RCS, where the second transportation information includes information of a second object to be transported located at a second unloading point, and the second unloading point is located in the unloading area;

a second target storage position receiving module, configured to receive a position of a second target storage position sent by the source RCS;

and the second object to be transported transporting module is used for transporting the second object to be transported from the position of the second unloading point to the position of the second target storage position.

Optionally, the apparatus further comprises:

a second receiving module, configured to receive second transportation information sent by the target RCS after sending a message that transportation is successful to the target RCS through a communication link between the second receiving module and the target RCS, where the second transportation information includes information of a second object to be transported located at a second unloading point, and the second unloading point is located in the unloading area;

the junction position conveying module is used for conveying the second object to be conveyed from the position of the second unloading point to the position of the junction;

the switching module is used for switching the control right of the switching module from the target RCS to the source RCS and receiving the position of a second target storage position sent by the source RCS;

and the second target storage position carrying module is used for carrying the second object to be carried from the position of the junction to the position of the second target storage position.

Optionally, the apparatus further comprises:

a first backhaul information receiving module, configured to receive backhaul information sent by the target RCS after sending a message that a transport is successful to the target RCS through the source RCS;

a first target location receiving module, configured to receive a target location sent by the source RCS;

and the first target position moving module is used for moving to the target position.

Optionally, the apparatus further comprises:

a second backhaul information receiving module, configured to receive backhaul information sent by the target RCS after the step of sending a message that the transport is successful to the target RCS through a communication link between the second backhaul information receiving module and the target RCS;

the junction point position moving module is used for moving to the position of the junction point;

the second target position receiving module is used for switching the control right of the second target position receiving module from the target RCS to the source RCS and receiving the target position sent by the source RCS;

and the second target position moving module is used for moving from the position of the junction to the target position.

An automated guided vehicle comprising: the vehicle comprises a vehicle body, wheels, a controller and a memory, wherein the memory is used for storing a computer program; the controller is used for executing the program stored in the memory and realizing the steps of the cross-warehouse handling control method applied to the automatic navigation car AGV in the cross-warehouse handling control system.

A computer readable storage medium, wherein a computer program is stored in the storage medium, and when being executed by a controller, the computer program implements the steps of any of the cross-warehouse handling control method applied to an AGV (automatic guided vehicle) in a cross-warehouse handling control system.

A cross-warehouse handling control method is applied to a target RCS in a cross-warehouse handling control system, and the cross-warehouse handling control system further comprises: the method comprises the following steps of:

receiving a takeover request sent by the source AGV and controlling the source AGV;

sending the position of a first unloading point to the source AGV, and controlling the source AGV to convey a first object to be conveyed to the position of the first unloading point from the position of an intersection point, wherein the intersection point is located in an overlapping area of a control area of the source RCS and a control area of the target RCS, the first unloading point is located in an unloading area, and the unloading area is an area except the overlapping area in the control area of the target RCS;

and receiving a successful conveying message sent by the source AGV, and controlling the target AGV to convey the first object to be conveyed from the position of the first transfer point to the position of the first target storage position.

A cross-warehouse handling control device is applied to a target RCS in a cross-warehouse handling control system, and the cross-warehouse handling control system further comprises: source automatic navigation car AGV, source RCS and target automatic navigation car AGV, the device includes:

a takeover request receiving module, configured to receive a takeover request sent by the source AGV and control the source AGV;

the system comprises a first transferring point position sending module, a first transferring point position sending module and a first transferring point position sending module, wherein the first transferring point position sending module is used for sending the position of a first transferring point to a source AGV and controlling the source AGV to transfer a first object to be transferred to the position of the first transferring point from the position of a connecting point, the connecting point is located in an overlapping area of a control area of a source RCS and a control area of a target RCS, the first transferring point is located in a transferring area, and the transferring area is an area except the overlapping area in the control area of the target RCS;

and the successful transporting message receiving module is used for receiving the successful transporting message sent by the source AGV and controlling the target AGV to transport the first object to be transported from the position of the first transfer point to the position of the first target storage position.

An electronic device, comprising: a processor and a memory, wherein the memory is configured to store a computer program; the processor is configured to execute the program stored in the memory, and implement any of the above steps of the cross-warehouse handling control method applied to the target RCS in the cross-warehouse handling control system.

A computer readable storage medium, having a computer program stored therein, which when executed by a processor implements any of the steps of the cross-warehouse handling control method applied to a target RCS in a cross-warehouse handling control system.

A cross-warehouse handling control system, the system comprising: a source RCS, a target RCS, a source automatic navigation vehicle AGV and a target automatic navigation vehicle AGV;

the source RCS is used for sending first carrying information to the source AGV, wherein the first carrying information comprises information of a first object to be carried;

the source AGV is used for receiving first carrying information sent by the source RCS, carrying the first object to be carried to the position of a first transfer point, and sending a message of successful carrying to the target RCS;

the target RCS is used for receiving a message of successful transport sent by the source AGV and sending the position of the first transfer point and the position of the first target storage position to the target AGV;

and the target AGV is used for receiving the position of the first transfer point and the position of the first target storage position sent by the target RCS and transporting the first object to be transported to the position of the first target storage position from the position of the first transfer point.

Optionally, the first unloading point is located in an unloading area, where the unloading area is an overlapping area of a control area of the source RCS and a control area of the target RCS;

the source AGV is specifically used for sending a message of successful transport to the source RCS;

the source RCS is specifically configured to receive a successful transport message sent by the source AGV and send the successful transport message to the target RCS;

the target RCS is specifically configured to receive a message that the transport is successful, where the message is sent by the source RCS.

the source AGV is specifically configured to transport the first object to be transported to a position of a junction point, where the junction point is located in an overlapping area between a control area of the source RCS and a control area of the target RCS, and send a first switching request to the source RCS;

the source RCS is further used for receiving a first switching request sent by the source AGV and canceling the control of the source AGV;

the source AGV is also used for sending a second switching request to the target RCS;

the target RCS is used for receiving a second switching request sent by the source AGV, controlling the source AGV and sending the position of the first unloading point to the source AGV;

the source AGV is further used for receiving the position of the first transferring point sent by the target RCS and transferring the first object to be transferred from the position of the junction point to the position of the first transferring point;

the source AGV is specifically configured to send a message of successful transport to the target RCS through a communication link between the source AGV and the target RCS;

the target RCS is specifically configured to receive, through the communication link, a message that the transport is successful, where the message is sent by the source AGV.

Optionally, the source AGV is further configured to send, to the target RCS, a first request for obtaining a location of a dump point before receiving the location of the first dump point sent by the target RCS;

and the target RCS is specifically used for receiving a second switching request and a first request sent by the source AGV and sending the position of the first unloading point to the source AGV.

Optionally, the target RCS is further configured to send second transport information to the source AGV after receiving a message that the transport is successful, where the second transport information includes information of a second object to be transported, where the second object to be transported is located at a second unloading point, and the second unloading point is located in the unloading area;

the source AGV is also used for receiving second carrying information sent by the target RCS;

the source RCS is further configured to send a location of a second target bay to the source AGV;

and the source AGV is also used for receiving the position of the second target storage position sent by the source RCS and transporting the second object to be transported to the position of the second target storage position from the position of the second unloading point.

Optionally, the target RCS is further configured to send second transport information to the source AGV after receiving a message that the transport is successful, where the second transport information includes information of a second object to be transported, where the second object to be transported is located at a second unloading point, where the second unloading point is located in the unloading area;

the source AGV is further configured to receive second transportation information sent by the target RCS, transport the second object to be transported from the position of the second unloading point to the position of the junction point, and send a fourth switching request to the target RCS;

the target RCS is further configured to receive a fourth switching request sent by the source AGV and cancel control over the source AGV;

the source AGV is also used for sending a third switching request to the source RCS;

the source RCS is further configured to receive a third switching request sent by the source AGV, control the source AGV, and send a position of a second target storage location to the source AGV;

and the source AGV is also used for receiving the position of the second target storage position sent by the source RCS and transporting the second object to be transported to the position of the second target storage position from the position of the junction.

Optionally, the target RCS is further configured to send backhaul information to the source AGV after receiving the message that the transport is successful, where the message is sent by the source RCS;

the source AGV is also used for receiving the return information sent by the target RCS;

the source RCS is also used for sending a target position to the source AGV;

and the source AGV is also used for receiving the target position sent by the source RCS and moving to the target position.

Optionally, the target RCS is further configured to send backhaul information to the source AGV after receiving a message that the transport is successful and sent by the source AGV;

the source AGV is further configured to receive the backhaul information sent by the target RCS, move to the position of the junction point, and send a sixth switching request to the target RCS;

the target RCS is further configured to receive a sixth switching request sent by the source AGV and cancel control over the source AGV;

the source AGV is further used for sending a fifth switching request to the source RCS;

the source RCS is further configured to receive a fifth switching request sent by the source AGV, control the source AGV, and send a target position to the source AGV;

and the source AGV is also used for receiving the target position sent by the source RCS and moving from the position of the junction to the target position.

In the embodiment of the invention, firstly, the source AGV transports the object to be transported to the position of the first transfer point, and then the target RCS controls the target AGV to transport the first object to be transported from the position of the first transfer point to the position of the first target storage position. Therefore, full automation of segmented conveying and warehousing is achieved, and compared with a manual conveying mode, conveying and warehousing efficiency is improved.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

Fig. 1 is a first flowchart of a cross-warehouse handling control method according to an embodiment of the present invention;

fig. 2 is a schematic flow chart illustrating a process of transporting a first object to be transported to a first transfer point according to an embodiment of the present invention;

FIG. 3 is a schematic diagram of a source plant provided by an embodiment of the present invention;

FIG. 4(A) is a schematic diagram of a target plant according to an embodiment of the present invention;

fig. 4(B) is a schematic diagram illustrating that the source AGV transports the first object to be transported a to the position O of the first transfer point according to the embodiment of the present invention;

fig. 4(C) is a schematic diagram of a position O where the source AGV transports the first object to be transported a to the first transfer point according to the embodiment of the present invention;

FIG. 4(D) is a schematic diagram of a target AGV moving to a position O at a first transfer point according to an embodiment of the present invention;

FIG. 4(E) is a schematic diagram of a position O where a target AGV moves to a first transfer point according to an embodiment of the present invention;

fig. 4(F) is a schematic diagram of the AGV transporting the first object to be transported a to the first target storage location P according to the embodiment of the present invention;

FIG. 4(G) is a schematic diagram of a target AGV transporting a first object A to a position P in a first target storage location according to an embodiment of the present invention;

fig. 5 is a schematic flow chart of control right switching according to an embodiment of the present invention;

FIG. 6 is a second flowchart of a cross-stocker transporting control method according to an embodiment of the present invention;

FIG. 7 is a third flowchart illustrating a cross-stocker transporting control method according to an embodiment of the present invention;

FIG. 8 is a fourth flowchart illustrating a cross-stocker transporting control method according to an embodiment of the present invention;

fig. 9 is a fifth flowchart illustrating a cross-stocker transporting control method according to an embodiment of the present invention;

FIG. 10 is a first schematic diagram of a cross-stocker and transport control device according to an embodiment of the present invention;

fig. 11 is a sixth flowchart illustrating a cross-stocker transporting control method according to an embodiment of the present invention;

FIG. 12 is a second schematic view of a cross-stocker and transport control device according to an embodiment of the present invention;

fig. 13 is a schematic structural diagram of an electronic device according to an embodiment of the present application;

fig. 14 is a schematic structural diagram of a cross-stocker transport control system according to an embodiment of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In order to solve the problems in the prior art, embodiments of the present invention provide a cross-warehouse handling control method, apparatus, system, electronic device, and storage medium.

First, a cross-warehouse transport control method and apparatus provided by the embodiments of the present invention will be described from the perspective of an AGV (automatic guided vehicle).

It should be noted that the cross-warehouse handling control method provided by the embodiment of the present invention is applied to an automatic guided vehicle AGV in a cross-warehouse handling control system, and the cross-warehouse handling control system further includes: source RCS, target RCS, and target AGV.

Among them, the AGV is a transport vehicle equipped with an electromagnetic or optical automatic guide device, capable of traveling along a predetermined guide path, and having safety protection and various transfer functions.

A plurality of AGVs are respectively arranged in the source factory building and the target factory building. The control area of the source RCS is a source plant, the control area of the target RCS is a target plant, an overlapping area exists between the source plant and the target plant, and the overlapping area is the overlapping area between the control area of the source RCS and the control area of the target RCS. The source RCS controls a source AGV in the source plant, and the target RCS (Robot Cooperative System) controls a target AGV in the target plant.

As shown in fig. 1, a cross-warehouse handling control method provided in an embodiment of the present invention may include:

s101: and receiving first conveying information sent by the source RCS, wherein the first conveying information comprises information of a first object to be conveyed.

When the object to be transported needs to be transported to the target plant, the source RCS sends first transport information to the source AGV.

The first carrying information comprises information of a first object to be carried, the first object to be carried can be a finished product and a container, and at the moment, the information of the first object to be carried can be a serial number of the finished product and a serial number of the container; the first object to be transported can also be a finished product only, and at the moment, the information of the first object to be transported can be a finished product serial number; the first object to be conveyed may be only a container, and the information of the first object to be conveyed may be the number of the container. The finished product serial number and the container serial number can be obtained by scanning through a production line tail workbench.

S102: and conveying the first object to be conveyed to the position of the first transfer point.

Because the space of each factory building is large, the route from the position of the object to be transported to the storage location is long, and in order to avoid the source AGV from having a fault in the process of transporting the first object to be transported to the storage location, the embodiment of the invention adopts a sectional transporting mode, namely the source AGV does not directly transport the first object to be transported to the position of the storage location, but transports the object to be transported indicated in the first transporting information from the position of the object to be transported to the position of the first transfer point after receiving the first transporting information sent by the source RCS.

In the embodiment of the invention, one source AGV only carries one object at a time, so that an incorrect object cannot be carried, and after the source AGV moves to the position of the object to be carried, the source AGV can lift the object to be carried at the position of the object to be carried and move the object to be carried to the position of the first transfer point.

In addition, when the source plant is a plant where the production line is located, the target plant is a plant for storing finished products, and the objects to be transported include finished products and containers, in order to ensure that the end-of-line workbench of the production line always contains the finished products with the containers, after the first object to be transported is transported away, the source RCS can control the other source AGVs to transport the empty containers to the end-of-line workbench of the production line.

S103: and sending a message of successful transportation to the target RCS, so that the target RCS controls the target AGV to transport the first object to be transported from the position of the first transfer point to the position of the first target storage position after receiving the message of successful transportation.

After the first object to be transported is transported to the position of the first transfer point, the first stage in the segmental transportation is completed, and in order to enable the target RCS to know the situation, a message of successful transportation needs to be sent to the target RCS.

After receiving the message of successful transportation, the target RCS can control the target AGV in the target plant to transport the first object to be transported from the position of the first transfer point to the position of the first target storage location, thereby completing the second stage in the segment transportation and completing the transportation and warehousing.

It should be noted that, when the source plant is a plant where the production line is located, and the target plant is a plant for storing the finished product, the position of the first target storage location is generally a place where the finished product is to be stored.

When the source factory building is a factory building for storing finished products and the target factory building is a factory building where the production line is located, the position of the first target storage position is generally a line tail workbench of the production line.

In order for the target RCS to control the target AGV to transport the first object from the position of the first unloading point to the position of the first target storage location, it is necessary to set the position of the first unloading point to be located in the control area of the target RCS.

Also, since there is an overlapping area between the source plant and the target plant, where the overlapping area is an overlapping area between the control area of the source RCS and the control area of the target RCS, that is, the overlapping area belongs to both the control area of the source RCS and the control area of the target RCS, in an implementation manner, the first transferring point is located in the transferring area, and the transferring area is an overlapping area between the control area of the source RCS and the control area of the target RCS, step S103 in fig. 1 may include:

and sending a successful transfer message to the target RCS through the source RCS, so that the target RCS controls the target AGV to transfer the first object to be transferred from the position of the first transfer point to the position of the first target storage position after receiving the successful transfer message.

Since the unloading area is an overlapping area between the control area of the source RCS and the control area of the target RCS, after the source AGV transports the first object to be transported to the position of the first unloading point, it is necessary to send a message that the transport is successful to the target RCS through the source RCS.

To facilitate control of the source RCS and the target RCS, the cross-warehouse handling control system may further include a TPS (Transaction Processing Systems). For example, the method for the source AGV to send the message of successful transport to the target RCS through the source RCS is as follows: the source AGV sends a message of successful transportation to the source RCS, the source RCS feeds back the message of successful transportation to the TPS after receiving the message of successful transportation sent by the source AGV, and the TPS sends the message of successful transportation to the target RCS after receiving the message of successful transportation sent by the source RCS.

In another implementation, the first unloading point is located in an unloading area, which may be an area of the control area of the target RCS except for an overlapping area, where the overlapping area is an overlapping area of the control area of the target RCS and the control area of the source RCS, and the unloading area may be an area for temporarily storing an empty container and a full container. Referring to fig. 2, step S102 may include:

s1021: and conveying the first object to be conveyed to a position of a junction point, wherein the junction point is positioned in an overlapping area of a control area of the source RCS and a control area of the target RCS.

Since the transfer area is an area other than the overlapping area in the control area of the target RCS, in order to transfer the first object to be conveyed to the position of the first transfer point, it is necessary to first transfer the first object to be conveyed from the position of the object to be conveyed to the position of the transfer point.

When the source factory building is a factory building where the production line is located and the target factory building is a factory building used for storing finished products, the position of the object to be carried is generally a production line tail workbench.

When the source plant is a plant for storing finished products and the target plant is a plant where the production line is located, the position of the object to be carried is generally the position of the empty container.

S1022: and switching the control right of the device from the source RCS to the target RCS, and receiving the position of the first transfer point sent by the target RCS.

Since the overlap region belongs to both the control region of the source RCS and the control region of the target RCS, the AGVs located in the overlap region can implement the function of switching the control right, and since the intersection point is located in the overlap region, the AGVs located in the intersection point can implement the function of switching the control right.

Therefore, after the first object to be conveyed is conveyed to the position of the junction point, the control right of the first object to be conveyed is switched from the source RCS to the target RCS, and at this time, the target RCS takes over the source AGV.

Because the spaces of all the plants are large, the lines from the junction points to the storage positions in the target plants are long, and in order to avoid the source AGV from having a fault in the process of transporting the first object to be transported to the storage positions, the position of the storage positions is not directly determined but the position of the first transfer point for transferring the first object to be transported is determined after the target RCS takes over the source AGV.

After the position of the first transfer point is determined, the target RCS directly sends the determined position of the first transfer point to the source AGV, and the source AGV receives the position of the first transfer point sent by the target RCS.

In addition, in the cross-warehouse handling control method provided in the embodiment of the present invention, before the step of receiving the position of the first transfer point sent by the target RCS, the method may further include:

a first request to acquire the location of a dump point is sent to a target RCS.

Because the source AGV does not know the condition of the unloading point in the target plant, after the control right of the source AGV is switched to the target RCS from the source RCS, a first request for acquiring the position of the unloading point can be sent to the target RCS, after the target RCS receives the first request, the position of the first unloading point is sent to the source AGV, and the source AGV receives the position of the first unloading point sent by the target RCS.

S1023: and conveying the first object to be conveyed from the position of the junction point to the position of the first transfer point.

After receiving the position of the first transfer point, the first object to be conveyed is conveyed from the position of the delivery point to the position of the first transfer point.

In order to reduce the conveyance time for conveying the first object to be conveyed from the transfer point to the first transfer point, the transfer area may be an area adjacent to the overlap area in the control area of the target RCS.

Therefore, after the source AGV conveys the object to be conveyed to the position of the junction point, the target RCS takes over the source AGV by switching the control right of the target AGV to the source RCS, and the source AGV is controlled to convey the first object to be conveyed to the position of the first transfer point from the position of the junction point.

Accordingly, step S103 may include:

and sending a successful conveying message to the target RCS through a communication link between the target RCS and the target RCS, so that the target RCS controls the target AGV to convey the first object to be conveyed from the position of the first transfer point to the position of the first target storage position after receiving the successful conveying message.

Since the source AGV has switched its own control right from the source RCS to the target RCS, after the first object to be transported is transported from the position of the junction point to the position of the first transfer point, a message of successful transport is sent to the target RCS through the communication link between itself and the target RCS, that is, the message of successful transport is directly sent to the target RCS.

For convenience of understanding, the cross-warehouse handling control method in the case that the transfer area is an area except for the overlapping area in the control area of the target RCS is described in detail by a specific embodiment as follows:

for example: assuming that the first object to be transported is A, the position of the junction point is N, the position of the first transfer point is O, and the position of the first target storage position is P;

as shown in fig. 3, which is a schematic diagram of a source plant, a source AGV receives first transporting information sent by a source RCS, and the source AGV transports a first object to be transported a to a position N of a junction point until the first object to be transported a is transported to the position N of the junction point;

fig. 4(a) is a schematic diagram of a target plant, where 1 of a circle in fig. 4(a) is a dump area of the target plant, 2 of the circle is a buffer area of the target plant, the buffer area is an area where a storage location is located, and in fig. 4(a), a source AGV is located at a position N of a junction point, at this time, the control right of the source AGV is switched from the source RCS to the target RCS, and a position O of a first dump point sent by the target RCS is received;

as shown in fig. 4(B), the source AGV transports the first object a from the position N of the intersection point to the position O of the first transfer point;

as shown in fig. 4(C), the source AGV transports the first object to be transported a to the position O of the first transfer point, and sends a message of successful transport to the target RCS through the communication link between itself and the target RCS;

as shown in fig. 4(D), the target RCS controls the target AGV to move to the position O of the first transfer point after receiving the message of successful transportation;

as shown in FIG. 4(E), the target AGV moves to position O at the first transfer point;

as shown in fig. 4(F), the target AGV transports the first object to be transported a from the position O of the first transfer point toward the first target storage location P;

as shown in fig. 4(G), the target AGV conveys the first object a to the position P of the first target stocker.

Based on the embodiment shown in fig. 2, before step S1021, the method for controlling cross-warehouse transportation according to an embodiment of the present invention may further include:

the location of the target intersection point transmitted by the source RCS is received.

Because the space of each factory building is large, the space of the overlapping area between the source factory building and the target factory building is also large, therefore, the overlapping area can comprise a plurality of intersection points, and the distance between the position of each intersection point and the position of the first transfer point is different.

Because the first transfer point is located in the transfer area of the target plant, and the source RCS knows the position of the transfer area of the target plant in advance, that is, the source RCS knows the position of the first transfer point in advance, therefore, in order to reduce the transport time and improve the transport efficiency, the source RCS determines the transfer point closest to the first transfer point as the target transfer point, and sends the determined position of the target transfer point to the source AGV, and the source AGV receives the position of the target transfer point sent by the source RCS.

Accordingly, step S1021 may include: and carrying the first object to be carried to the position of the target junction.

After receiving the position of the target junction point sent by the source RCS, the first object to be conveyed can be conveyed to the position of the target junction point.

Therefore, the efficiency of conveying and warehousing is improved by selecting the mode of the closest junction point to the first transfer point.

As an embodiment of the present invention, as shown in fig. 5, switching the control right of the source RCS to the target RCS and receiving the location of the first dump point transmitted by the target RCS (S1022), may include:

s10221: a suspend request is sent to the source RCS.

A suspend request is sent to the source RCS to cause the source RCS to cancel control of the source AGV.

S10222: a takeover request is sent to the target RCS.

After sending the suspend request to the source RCS, a takeover request is sent to the target RCS to cause the target RCS to take over the source AGV.

S10223: and receiving the message of successful take-over sent by the target RCS and the position of the first unloading point.

And after receiving the takeover request, the target RCS takes over the source AGV and replies a takeover success message to the source AGV, and the source AGV receives the takeover success message sent by the target RCS, so that the control right of the source AGV can be determined to be switched to the target RCS from the source RCS.

Because the source AGV does not know the condition of the dump point in the target plant, after receiving the message of successful take-over sent by the target RCS, the source AGV can send a request for acquiring the position of the dump point to the target RCS, and after receiving the request for acquiring the position of the dump point sent by the source AGV, the target RCS determines the position of the first dump point and sends the position of the first dump point to the source AGV; in addition, the target RCS may also directly determine the position of the first unloading point after taking over the source AGV, and send the position of the first unloading point to the source AGV, and at this time, the source AGV does not need to send a request for obtaining the position of the unloading point.

Therefore, the control right of the source AGV is switched by sending the suspension and takeover request.

On the basis of the embodiment shown in fig. 5, before step S10222, the cross-warehouse handling control method provided in the embodiment of the present invention may further include:

a first address sent by a source RCS is received.

Because a plurality of target plants may exist, after receiving a suspension request sent by a source AGV, a source RCS can send a first address of a corresponding target RCS to the source AGV; when only one target plant exists, the source AGV may send a take-over request directly to the target RCS.

Accordingly, step S10222 may include: and sending a takeover request to a target RCS corresponding to the first address.

After receiving the first address, a takeover request may be sent to the target RCS corresponding to the first address, so that the target RCS corresponding to the first address takes over the source AGV.

Therefore, when a plurality of target plants exist, the takeover request can be sent to the target RCS corresponding to the first address sent by the source RCS.

In the case that the unloading area is an overlapping area between the control area of the source RCS and the control area of the target RCS, after step S103, as shown in fig. 6, the method for controlling cross-warehouse transportation according to the embodiment of the present invention may further include:

s104: and receiving second conveying information sent by the target RCS, wherein the second conveying information comprises information of a second object to be conveyed positioned at a second unloading point, and the second unloading point is positioned in the unloading area.

After the source RCS sends a message of successful transport to the target RCS, the target RCS knows the situation.

In order to improve the utilization rate of the source AGV, before the source AGV moves back to the source plant, the target RCS determines whether a second object to be carried exists in a transfer area of the target plant, and if so, the target RCS sends second carrying information to the source AGV, wherein the second carrying information comprises information of the second object to be carried located at a second transfer point, and the second transfer point is located in the transfer area.

It should be noted that, when the source plant is a plant where the production line is located, and the target plant is a plant for storing finished products, the second object to be handled is generally an empty container.

When the source plant is a plant for storing finished products and the target plant is a plant where the production line is located, the second object to be carried is generally a container containing the finished products.

S105: the location of the second target reservoir sent by the source RCS is received.

Since the source AGV does not know the condition of the storage location in the source plant and where the second object to be transported needs to be transported, after receiving the message of the second transport information sent by the target RCS, the source AGV may send a second request for obtaining the location of the target storage location to the source RCS. And after receiving a second request sent by the source AGV, the source RCS determines the position of the second target storage position and sends the determined position of the second target storage position to the source AGV. The source AGV receives the location of the second target slot sent by the source RCS.

In addition, because the cross-warehouse transport control system further comprises the task scheduling system TPS, the target RCS sends a request for acquiring the position of the target storage position to the TPS while sending the second transport information to the source AGV, the TPS sends a request for acquiring the position of the target storage position to the source RCS after receiving the request for acquiring the position of the target storage position sent by the target RCS, and the source RCS determines the position of the second target storage position and sends the determined position of the second target storage position to the source AGV after receiving the request for acquiring the position of the target storage position sent by the TPS. The source AGV receives the location of the second target slot sent by the source RCS.

S106: and conveying the second object to be conveyed from the position of the second unloading point to the position of the second target storage position.

And after receiving the position of the second target storage position sent by the source RCS, the source AGV transports a second object to be transported from the position of the second unloading point to the position of the second target storage position.

And thus, completing the transportation and warehousing, wherein the warehouses in warehousing are source plants.

Therefore, after the source AGV transports the first object to be transported to the position of the first transfer point, the second object to be transported can also be transported to the position of the second target storage position of the source plant, and the utilization rate of the source AGV is improved.

In the case that the unloading area is an area except for the overlapping area in the control area of the target RCS, after step S103, as shown in fig. 7, the method for controlling cross-warehouse transportation according to the embodiment of the present invention may further include:

s107: and receiving second conveying information sent by the target RCS, wherein the second conveying information comprises information of a second object to be conveyed positioned at a second unloading point, and the second unloading point is positioned in the unloading area.

After the message of successful transport is sent to the target RCS, the target RCS knows the situation.

S108: and conveying the second object to be conveyed from the position of the second unloading point to the position of the junction point.

And after receiving the second conveying information sent by the target RCS, conveying the second object to be conveyed from the position of the second unloading point to the position of the junction point.

S109: switching the control right of the source RCS to the target RCS, and receiving the position of the second target storage bit sent by the source RCS.

After the second object to be conveyed is conveyed to the position of the junction point, the control right of the second object to be conveyed is switched to the source RCS from the target RCS, at the moment, the source RCS takes over the source AGV, the position of the second target storage position is determined, the determined position of the second target storage position is sent to the source AGV, and the source AGV receives the position of the second target storage position sent by the source RCS.

As an implementation manner of the embodiment of the present invention, switching the control right of the apparatus itself from the target RCS to the source RCS, and receiving the location of the second target storage bit sent by the source RCS may include:

and sending a suspension request to the target RCS, sending a takeover request to the source RCS, and receiving a successful takeover message sent by the source RCS and the position of the second target storage bit.

The method comprises the steps that a source AGV sends a suspension request to a target RCS so that the target RCS cancels control over the source AGV, after sending the suspension request to the target RCS, a take-over request is sent to the source RCS so that the source RCS takes over the source AGV, after receiving the take-over request, the source RCS takes over the source AGV and replies a take-over success message to the source AGV, and the source AGV receives the take-over success message sent by the source RCS, so that control right of the source AGV can be determined to be switched from the target RCS to the source RCS.

Because the source AGV does not know the condition of the storage location in the source plant and where the second object to be transported needs to be transported, after receiving the message of successful take-over sent by the source RCS, the source RCS can send a second request for acquiring the position of the target storage location, and after receiving the second request sent by the source AGV, the source RCS determines the position of the second target storage location and sends the determined position of the second target storage location to the source AGV. In addition, the source RCS may also directly determine the position of the second target storage location after taking over the source AGV, and send the position of the second target storage location to the source AGV, at this time, the source AGV does not need to send a second request for obtaining the position of the target storage location, and the source AGV receives the position of the second target storage location sent by the source RCS.

As another implementation manner of the embodiment of the present invention, switching the control right of the source RCS to the target RCS, and receiving the location of the second target storage bit sent by the source RCS may include:

sending a suspension request to the target RCS, receiving a second address sent by the target RCS, sending a takeover request to the source RCS corresponding to the second address, and receiving a successful takeover message and the position of a second target storage bit sent by the source RCS.

The method comprises the steps that a source AGV sends a suspension request to a target RCS so that the target RCS cancels control over the source AGV, and due to the fact that a plurality of source plants possibly exist, the target RCS can send a second address of the corresponding source RCS to the source AGV after receiving the suspension request sent by the source AGV; when there is only one source building, the source AGV may send a takeover request directly to the source RCS. After receiving the second address, the source AGV may send a takeover request to the source RCS corresponding to the second address, so that the source RCS corresponding to the second address takes over the source AGV, and after receiving a message that the takeover is successful, the source AGV may determine that the source AGV switches its control right from the target RCS to the source RCS.

The source AGV does not know the condition of the storage position in the source plant and the position to which the second object to be carried needs to be carried, so that after receiving a message of successful take-over sent by the source RCS, a second request for acquiring the position of the target storage position can be sent to the source RCS, and after receiving the second request sent by the source AGV, the source RCS determines the position of the second target storage position and sends the determined position of the second target storage position to the source AGV; in addition, the source RCS may also directly determine the position of the second target storage location after taking over the source AGV, and send the position of the second target storage location to the source AGV, at this time, the source AGV does not need to send a second request for obtaining the position of the target storage location, and the source AGV receives the position of the second target storage location sent by the source RCS.

S110: and conveying the second object to be conveyed from the position of the junction point to the position of the second target storage position.

And after receiving the position of the second target storage position, transporting the second object to be transported from the position of the intersection point to the position of the second target storage position, thereby completing transportation and warehousing, wherein the warehouse in the warehouse is the source factory building.

After the source AGV transports the second object to be transported to the second target storage location, the method for controlling cross-warehouse transport according to the embodiment of the present invention may further include:

and sending a message of successful transport to the source RCS.

And after the second object to be transported is transported to the position of the second target storage position, completing the transportation and warehousing, and at the moment, sending a successful transportation message to the source RCS so that the source RCS can know the situation, so that the source RCS can control the source AGV to execute other tasks.

In the case that the unloading area is an overlapping area between the control area of the source RCS and the control area of the target RCS, after step S103, as shown in fig. 8, the method for controlling cross-warehouse transportation according to the embodiment of the present invention may further include:

s111: and receiving the backhaul information sent by the target RCS.

In order to improve the utilization rate of a source AGV, before the source AGV moves back to a source plant, a target RCS determines whether a second object to be carried exists in a transfer area of the target plant, and under the condition that the second object to be carried does not exist, the target RCS sends return information to the source AGV, the source AGV receives the return information sent by the target RCS, and after receiving the return information sent by the target RCS, the source AGV can know that the object to be carried does not need to be carried and returns to the source plant, and can automatically return to the source plant.

S112: and receiving the target position sent by the source RCS.

Because the source AGV does not know the situation in the source plant and where the source AGV needs to move to the source plant, after receiving the backhaul information sent by the target RCS, the source AGV may send a third request for obtaining the backhaul position to the source RCS. And after receiving a third request sent by the source AGV, the source RCS determines the target position of the return stroke and sends the determined target position to the source AGV. The source AGV receives the target location sent by the source RCS.

In addition, because the cross-warehouse transportation control system further comprises a task scheduling system (TPS), the target RCS sends a request for acquiring the return position to the TPS while sending the return information to the source AGV, the TPS sends the request for acquiring the return position to the source RCS after receiving the request for acquiring the return position sent by the target RCS, and the source RCS determines the target position of the return and sends the determined target position to the source AGV after receiving the request for acquiring the return position sent by the TPS. The source AGV receives the target location sent by the source RCS.

S113: and moving to the target position.

And moving to the target position after receiving the target position sent by the source RCS. Thereby completing the source AGV return trip.

Therefore, after the source AGV receives the return information sent by the target RCS and the target position sent by the source RCS, the source AGV can automatically return in a moving mode to the target position, and the situation that the source AGV of a source workshop is reduced due to the fact that the source AGV moves across the workshop is effectively prevented.

In the case that the unloading area is an area except for the overlapping area in the control area of the target RCS, after step S103, as shown in fig. 9, the method for controlling cross-warehouse transportation according to the embodiment of the present invention may further include:

s114: and receiving the backhaul information sent by the target RCS.

S115: move to the position of the intersection point.

And after receiving the backhaul information sent by the target RCS, moving to the position of the cross-over point.

S116: and switching the control right of the source RCS from the target RCS to the source RCS, and receiving the target position sent by the source RCS.

And after the target AGV moves to the position of the cross-over point, the control right of the target AGV is switched to the source RCS, at the moment, the source RCS takes over the source AGV, determines the target position, sends the determined target position to the source AGV, and the source AGV receives the target position sent by the source RCS.

As an embodiment of the present invention, switching the control right of the source RCS to the target RCS and receiving the target location sent by the source RCS may include:

and sending a suspension request to the target RCS, sending a takeover request to the source RCS, and receiving a successful takeover message and a target position sent by the source RCS.

Because the source AGV does not know the situation in the source plant and where the source AGV needs to move to the source plant, after receiving the message that the takeover is successful, which is sent by the source RCS, the source RCS may send a third request for obtaining the return position to the source RCS, and after receiving the third request sent by the source AGV, the source RCS determines the target position of the return and sends the determined target position to the source AGV. In addition, the source RCS may also directly determine the target position of the return stroke after taking over the source AGV, and send the target position to the source AGV, at this time, the source AGV does not need to send a third request for obtaining the return stroke position, and the source AGV receives the target position sent by the source RCS.

As another implementation manner of the embodiment of the present invention, switching the control right of the target RCS to the source RCS, and receiving the target location sent by the source RCS may include:

sending a suspension request to the target RCS, receiving a third address sent by the target RCS, sending a takeover request to a source RCS corresponding to the third address, and receiving a successful takeover message and a target position sent by the source RCS.

The method comprises the steps that a source AGV sends a suspension request to a target RCS so that the target RCS cancels control over the source AGV, and due to the fact that a plurality of source plants possibly exist, the target RCS can send a third address of the corresponding source RCS to the source AGV after receiving the suspension request sent by the source AGV; when there is only one source building, the source AGV may send a takeover request directly to the source RCS. After receiving the third address, the source AGV may send a takeover request to the source RCS corresponding to the third address, so that the source RCS corresponding to the third address takes over the source AGV, and after receiving a takeover success message sent by the source RCS, it may be determined that the source AGV switches its control right from the target RCS to the source RCS.

S117: from the position of the junction to the target position.

Upon receiving the destination location sent by the source RCS, the source AGV returns from the location of the intersection to the destination location.

Therefore, after the source AGV receives return information sent by the target RCS and moves to the position of the intersection point, the control right of the source AGV is switched to the source RCS mode from the target RCS, the source AGV is taken over by the source RCS, and the source AGV is controlled to move to the target position.

After the source AGV moves to the target position, the cross-warehouse transport control method provided in the embodiment of the present invention may further include:

and sending a message of successful backhaul to the source RCS.

After moving to the target location, the backhaul is completed, and at this time, a message of successful backhaul is sent to the source RCS, so that the source RCS knows the situation, so that the source RCS controls the source AGV to perform other tasks.

With respect to the above method embodiment, as shown in fig. 10, an embodiment of the present invention further provides a cross-stocker transport control device applied to an automatic guided vehicle AGV in a cross-stocker transport control system, where the cross-stocker transport control system further includes: a source RCS, a target RCS and a target automated navigation vehicle AGV, the apparatus may comprise:

a first conveying information receiving module 201, configured to receive first conveying information sent by the source RCS, where the first conveying information includes information of a first object to be conveyed;

a first object to be transported carrying module 202, configured to carry the first object to be transported to a position of a first transfer point;

and a transport success message sending module 203, configured to send a transport success message to the target RCS, so that the target RCS controls the target AGV to transport the first object to be transported from the position of the first transfer point to the position of the first target storage location after receiving the transport success message.

In an implementation manner of the present invention, the first forwarding point is located in a forwarding area, where the forwarding area is an overlapping area of a control area of the source RCS and a control area of the target RCS, and the carrying success message sending module 203 may be specifically configured to:

In an implementation manner of the present invention, the first unloading point is located in an unloading area, where the unloading area is an area except an overlapping area in a control area of the target RCS, where the overlapping area is an overlapping area of the control area of the target RCS and the control area of the source RCS;

the first object to be conveyed carrying module 202 may include:

the carrying success message sending module 203 may be specifically configured to:

In an implementation manner of the present invention, the switching unit may include:

In one implementation manner of the present invention, the apparatus may further include:

The embodiment of the invention also provides an automatic navigation trolley, which comprises: the vehicle comprises a vehicle body, wheels, a controller and a memory, wherein the memory is used for storing a computer program; the controller is configured to execute the program stored in the memory to implement the steps of the cross-warehouse handling control method, the method is applied to an automatic guided vehicle AGV in a cross-warehouse handling control system, and the cross-warehouse handling control system further includes: a source RCS, a target RCS and a target AGV, the method may comprise:

In an implementation manner of the present invention, the first forwarding point is located in a forwarding area, the forwarding area is an overlapping area of a control area of the source RCS and a control area of the target RCS, and the step of sending the message that the transport is successful to the target RCS may include:

the step of transporting the first object to be transported to the position of the first transfer point may include:

In an implementation manner of the present invention, the step of switching the control right of the source RCS to the target RCS may include:

sending a suspend request to the source RCS;

sending a takeover request to the target RCS;

and receiving a message of successful takeover sent by the target RCS.

In one implementation manner of the present invention, before the step of receiving the location of the first transfer point sent by the target RCS, the method may further include:

In one implementation manner of the present invention, after the step of sending a message of successful transport to the target RCS through the source RCS, the method may further include:

In one implementation manner of the present invention, after the step of sending a message of successful transportation to the target RCS through a communication link between the target RCS and the target RCS, the method may further include:

receiving backhaul information sent by the target RCS;

receiving the target position sent by the source RCS;

and moving to the target position.

receiving backhaul information sent by the target RCS;

moving to the position of the junction;

from the position of the junction to the target position.

An embodiment of the present invention further provides a computer-readable storage medium, where a computer program is stored in the storage medium, and when the computer program is executed by a controller, the steps of the cross-warehouse handling control method are implemented, where the method is applied to an automatic guided vehicle AGV in a cross-warehouse handling control system, and the cross-warehouse handling control system further includes: a source RCS, a target RCS and a target AGV, the method may comprise:

sending a suspend request to the source RCS;

sending a takeover request to the target RCS;

and receiving a message of successful takeover sent by the target RCS.

receiving backhaul information sent by the target RCS;

receiving the target position sent by the source RCS;

and moving to the target position.

receiving backhaul information sent by the target RCS;

moving to the position of the junction;

from the position of the junction to the target position.

A cross-warehouse handling control method and apparatus provided by the embodiments of the present invention are described below from the perspective of a target RCS.

As shown in fig. 11, a cross-stocker transportation control method is applied to a target RCS in a cross-stocker transportation control system, and the cross-stocker transportation control system further includes: the method may include the steps of:

s301: and receiving a takeover request sent by the source AGV and controlling the source AGV.

After receiving the first transportation information sent by the source RCS, the source AGV may transport the object to be transported indicated in the first transportation information from the position of the object to be transported to a position of a junction point, where the junction point is located in an overlapping area between the control area of the source RCS and the control area of the target RCS.

In addition, when the source plant is a plant where the production line is located, the target plant is a plant for storing finished products, and the object to be carried comprises finished products and containers, in order to ensure that the end-of-line workbench of the production line always contains the containers to contain the finished products, the source RCS can control other source AGVs to carry empty containers to the end-of-line workbench of the production line after the object to be carried is carried away.

Therefore, after the source AGV transports the first object to be transported to the position of the intersection point, a suspend request is sent to the source RCS, the source RCS cancels the control of the source AGV after receiving the suspend request sent by the source AGV, the source AGV sends a take-over request to the target RCS, and the target RCS takes over the AGV after receiving the take-over request, that is, controls the source AGV.

S302: and sending the position of the first unloading point to the source AGV, and controlling the source AGV to convey the first object to be conveyed to the position of the first unloading point from the position of the intersection point, wherein the intersection point is positioned in an overlapping area of a control area of the source RCS and a control area of the target RCS, the first unloading point is positioned in an unloading area, and the unloading area is an area except the overlapping area in the control area of the target RCS.

And after receiving the takeover request, the target RCS determines the position of a first transfer point, wherein the first transfer point is located in a transfer area, and the transfer area is an area except an overlapping area in a control area of the target RCS.

And sending the determined position of the first transfer point to a source AGV, and after receiving the position of the first transfer point sent by a target RCS, controlling the source AGV to transfer a first object to be conveyed from the position of a junction point to the position of the first transfer point, wherein the junction point is located in an overlapping area of a control area of the source RCS and a control area of the target RCS, and thus, completing a first section in the segmented transportation. After the first object to be transported is transported to the first transfer point location, in order to enable the target RCS to know the situation, the source AGV sends a message of successful transport to the target RCS through a communication link between the source AGV and the target RCS, that is, directly sends the message of successful transport to the target RCS.

S303: and receiving a successful conveying message sent by the source AGV, and controlling the target AGV to convey the first object to be conveyed from the position of the first transfer point to the position of the first target storage position.

After receiving the message of successful transportation sent by the source AGV, the target RCS can control the target AGV in the target plant to transport the first object to be transported from the position of the first transfer point to the position of the first target storage position, so that the transport and the storage are completed.

According to the invention, after receiving a take-over request sent by a source AGV, the source AGV is controlled, the position of a first transfer point is determined, the determined position of the first transfer point is sent to the source AGV, the first object to be transported is transported to the position of the first transfer point from the position of a joint point by the control source AGV, and after a successful transportation message sent by the source AGV is received, the target AGV is controlled to transport the first object to be transported to the position of a first target storage position from the position of the first transfer point, so that full automation of segmented transport warehousing is realized, and compared with a manual transport mode, the efficiency of transport warehousing is improved.

For the embodiment from the perspective of the target RCS, it is substantially similar to the embodiment from the perspective of the source AGV, except that the perspective is different, so the description is simple, and the relevant points can be referred to the partial description of the embodiment from the perspective of the source AGV.

With respect to the above-mentioned method embodiment, as shown in fig. 12, the present invention further provides a cross-stocker transportation control device applied to a target RCS in a cross-stocker transportation control system, where the cross-stocker transportation control system further includes: a source Automated Guided Vehicle (AGV), a source RCS, and a target Automated Guided Vehicle (AGV), the apparatus may comprise:

a takeover request receiving module 401, configured to receive a takeover request sent by the source AGV and control the source AGV;

a first transferring point position sending module 402, configured to send a position of a first transferring point to the source AGV, and control the source AGV to transfer a first object to be transferred from a position of a junction point to the position of the first transferring point, where the junction point is located in an overlapping area between a control area of the source RCS and a control area of the target RCS, the first transferring point is located in a transferring area, and the transferring area is an area, except for the overlapping area, in the control area of the target RCS;

a successful transporting message receiving module 403, configured to receive a successful transporting message sent by the source AGV, and control the target AGV to transport the first object to be transported from the position of the first transfer point to the position of the first target storage location.

An embodiment of the present invention further provides an electronic device, as shown in fig. 13, including: a processor 1301 and a memory 1302, wherein the memory 1302 is used for storing computer programs; the processor 1301 is configured to execute the program stored in the memory 1302 to implement any one of the steps of the cross-stocker transportation control method, where the method is applied to a target RCS in a cross-stocker transportation control system, and the cross-stocker transportation control system further includes: a source automated navigation vehicle (AGV), a source RCS, and a target automated navigation vehicle (AGV), the method may include:

It should be noted that the Memory mentioned in the above electronic device may include a Random Access Memory (RAM), and may also include a Non-Volatile Memory (NVM), such as at least one disk Memory. Optionally, the memory may also be at least one memory device located remotely from the processor.

The Processor may be a general-purpose Processor, including a Central Processing Unit (CPU), a Network Processor (NP), and the like; but also Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components.

An embodiment of the present invention further provides a computer-readable storage medium, in which a computer program is stored, and when the computer program is executed by a processor, the method implements any of the steps of the cross-warehouse handling control method, and the method is applied to a target RCS in a cross-warehouse handling control system, and the cross-warehouse handling control system further includes: a source automated navigation vehicle (AGV), a source RCS, and a target automated navigation vehicle (AGV), the method may include:

Accordingly, as shown in fig. 14, an embodiment of the present invention provides a cross-warehouse handling control system, which includes: a source RCS501, a target RCS502, a source automatic navigation vehicle AGV503 and a target automatic navigation vehicle AGV 504;

the source RCS501 is configured to send first transportation information to the source AGV503, where the first transportation information includes information of a first object to be transported;

the source AGV503 is configured to receive the first transportation information sent by the source RCS501, transport the first object to be transported to a position of a first transfer point, and send a message that the transport is successful to the target RCS 502;

the target RCS502 is configured to receive a message sent by the source AGV503 that the transport is successful, and send the position of the first transfer point and the position of the first target storage location to the target AGV 504;

the target AGV504 is configured to receive the position of the first transfer point and the position of the first target storage location sent by the target RCS502, and transport the first object to be transported from the position of the first transfer point to the position of the first target storage location.

After the source AGV503 has transported the first object to be transported to the position of the first transfer point, that is, the first stage of the segmental transport is completed, at this time, a message of successful transport is sent to the target RCS 502.

In order to control the target AGV504 to transport the first object to be transported, the target RCS502 determines the position of the first transfer point and the position of the first target storage location after receiving the successful transport message sent by the source AGV503, and sends the determined position of the first transfer point and the position of the first target storage location to the target AGV504, so that the target AGV504 knows from which position the first object to be transported needs to be transported to.

After receiving the position of the first transfer point and the position of the first target storage space transmitted by the target RCS502, the target AGV504 can transfer the first object to be transported from the position of the first transfer point to the position of the first target storage space, thereby completing the transportation and warehousing.

The process for realizing segmented conveying and warehousing through the cross-warehouse conveying control system comprises the following steps:

1. the source RCS501 sends first transporting information to the source AGV503, where the first transporting information includes information of a first object to be transported;

2. the source AGV503 receives the first transporting information sent by the source RCS501, transports the first object to be transported to the position of the first transfer point, and sends a message of successful transporting to the target RCS 502;

3. the target RCS502 receives the message of successful transportation sent by the source AGV503, and sends the position of the first transfer point and the position of the first target storage location to the target AGV 504;

4. the target AGV504 receives the position of the first transfer point and the position of the first target bay transmitted from the target RCS502, and transports the first object to be transported from the position of the first transfer point to the position of the first target bay.

In the embodiment of the present invention, the source AGV503 first transports the first object to the first transfer point, and then the target RCS502 controls the target AGV504 to transport the first object from the first transfer point to the first target storage location. Therefore, full automation of segmented conveying and warehousing is achieved, and compared with a manual conveying mode, conveying and warehousing efficiency is improved.

In one embodiment of the present invention, the first unloading point is located in an unloading area, which is an overlapping area of the control area of the source RCS501 and the control area of the target RCS 502;

the source AGV503 is specifically configured to send a message that the transport is successful to the source RCS 501;

the source RCS501 is specifically configured to receive a successful transport message sent by the source AGV503, and send the successful transport message to the target RCS 502;

the target RCS502 is specifically configured to receive the message of successful transport sent by the source RCS 501.

Since the dump area is an overlapping area of the control area of the source RCS501 and the control area of the target RCS502, after the source AGV503 transports the first object to be transported to the first dump point, the source AGV503 sends a message of successful transport to the source RCS501, after receiving the message of successful transport sent by the source AGV503, the source RCS501 sends the message of successful transport to the target RCS502, and the target RCS502 receives the message of successful transport sent by the source RCS 501.

In order to facilitate control over the source RCS501 and the target RCS502, the cross-warehouse transport control system may further include a TPS (Transaction Processing Systems, task scheduling system), and for example, the source RCS501 sends a message that transport is successful to the target RCS502 in the following manner: the source RCS501 feeds back a message of successful transportation to the TPS, and the TPS sends the message of successful transportation to the target RCS502 after receiving the message of successful transportation sent by the source RCS 501.

In another embodiment of the present invention, the first unloading point is located in an unloading area, which may be an area except an overlapping area in the control area of the target RCS502, where the overlapping area is an overlapping area between the control area of the target RCS502 and the control area of the source RCS 501;

the source AGV503 is specifically configured to transport the first object to be transported to a position of a junction point, where the junction point is located in an overlapping area between a control area of the source RCS501 and a control area of the target RCS502, and send a first switching request to the source RCS 501;

the source RCS501 is further configured to receive a first switching request sent by the source AGV503, and cancel control over the source AGV 503;

the source AGV503 is further configured to send a second handover request to the target RCS 502;

the target RCS502 is configured to receive a second switching request sent by the source AGV503, control the source AGV503, and send the position of the first unloading point to the source AGV 503;

the source AGV503 is further configured to receive the position of the first transfer point sent by the target RCS502, and transport the first object to be transported from the position of the junction point to the position of the first transfer point;

the source AGV503 is specifically configured to send a message of successful transport to the target RCS502 through a communication link between the source AGV and the target RCS 502;

the target RCS502 is specifically configured to receive, through the communication link, a message that the transport was successful and sent by the source AGV 503.

Since the dump area is an area other than the overlap area in the control area of the target RCS502, in order to transfer the first object to be conveyed to the point position of the first dump, the first object to be conveyed needs to be conveyed from the position of the object to be conveyed to the position of the transfer point.

Since the overlap region belongs to both the control region of the source RCS501 and the control region of the target RCS502, the AGVs located in the overlap region can implement the function of switching the control right, and since the intersection is located in the overlap region, the AGVs located in the intersection can implement the function of switching the control right.

Therefore, after the source AGV503 transports the first object to be transported to the position of the switching point, the control right of the source AGV 501 is switched to the target RCS502 by sending the first switching request to the source RCS501 and the second switching request to the target RCS502, and at this time, the target RCS502 takes over the source AGV503 and transfers the position of the first switching point to the source AGV 503. The source AGV503 can transport the first object to be transported from the position of the interface point to the position of the first transfer point.

Since the source AGV503 has switched its control right from the source RCS501 to the target RCS502, after the first object to be transported is transported from the position of the junction point to the position of the first transfer point, a message of successful transport is sent to the target RCS502 through the communication link between itself and the target RCS502, that is, the message of successful transport is directly sent to the target RCS 502. Accordingly, the target RCS502 receives the transfer success message sent by the source AGV503 over the communication link.

As an embodiment of the present invention, the source RCS501 is further configured to send the position of the target intersection to the source AGV503 after sending the first transport message to the source AGV 503;

the source AGV503 is specifically configured to receive the first transportation information and the position of the target intersection point sent by the source RCS501, and transport the first object to be transported to the position of the target intersection point.

As an embodiment of the present invention, the source RCS501 is further configured to send a first address to the source AGV503 after canceling the control of the source AGV 503;

the source AGV503 is specifically configured to receive the first address sent by the source RCS501, and send a second handover request to the target RCS502 corresponding to the first address.

As an embodiment of the present invention, the source AGV503 is further configured to send a first request to the target RCS502 to obtain the location of the dump point before receiving the location of the first dump point sent by the target RCS 502;

the target RCS502 is specifically configured to receive the second switching request and the first request sent by the source AGV503, and send the location of the first unloading point to the source AGV 503.

Because the source AGV503 does not know the situation of the dump point in the target plant, the source AGV503 may send the first request for obtaining the location of the dump point to the target RCS502 at the same time of sending the second switch request to the target RCS502, or after sending the second switch request to the target RCS502, the target RCS502 sends the location of the first dump point to the source AGV503 after receiving the first request, and the source AGV503 receives the location of the first dump point sent by the target RCS 502.

In the case that the unloading area is an overlapping area between the control area of the source RCS501 and the control area of the target RCS502, as an embodiment of the present invention, the target RCS502 is further configured to send second transportation information to the source AGV503 after receiving the successful transportation message sent by the source RCS501, where the second transportation information includes information of a second object to be transported located at a second unloading point, and the second unloading point is located in the unloading area;

the source AGV503 is further configured to receive second transportation information sent by the target RCS 502;

the source RCS501, further configured to send the location of the second target bay to the source AGV 503;

the source AGV503 is further configured to receive the position of the second target storage location sent by the source RCS501, and transport the second object to be transported from the position of the second unloading point to the position of the second target storage location.

As an embodiment of the present invention, the source AGV503 is further configured to send a message of successful transportation to the source RCS501 after transporting the second object to be transported from the location of the second unloading point to the location of the second destination storage location;

the source RCS501 is further configured to receive a transfer success message sent by the source AGV 503.

In the case that the unloading area is an area except for the overlapping area in the control area of the target RCS502, as an embodiment of the present invention, the target RCS502 is further configured to send second transportation information to the source AGV503 after receiving a successful transportation message sent by the source AGV503, where the second transportation information includes information of a second object to be transported located at a second unloading point, where the second unloading point is located in the unloading area;

the source AGV503 is further configured to receive second transportation information sent by the target RCS502, transport the second object to be transported from the position of the second unloading point to the position of the junction point, and send a fourth switching request to the target RCS 502;

the target RCS502 is further configured to receive a fourth switching request sent by the source AGV503, and cancel control over the source AGV 503;

the source AGV503 is further configured to send a third switching request to the source RCS 501;

the source RCS501 is further configured to receive a third switching request sent by the source AGV503, control the source AGV503, and send a position of a second target slot to the source AGV 503;

the source AGV503 is further configured to receive the position of the second target storage location sent by the source RCS501, and transport the second object to be transported from the position of the junction to the position of the second target storage location.

In the case where the dump area is an overlapping area between the control area of the source RCS501 and the control area of the target RCS502, as an embodiment of the present invention, the target RCS502 is further configured to send backhaul information to the source AGV503 after receiving the transfer success message sent by the source RCS 501;

the source AGV503 is further configured to receive the backhaul information sent by the target RCS 502;

the source RCS501, further configured to send a target location to the source AGV 503;

the source AGV503 is further configured to receive the target location sent by the source RCS501, and move to the target location.

As an embodiment of the present invention, the source AGV503 is further configured to send a message of successful backhaul to the source RCS501 after moving to the target location;

the source RCS501 is further configured to receive a message that the backhaul sent by the source AGV503 is successful.

In the case that the dump area is an area other than the overlapping area in the control area of the target RCS502, as an embodiment of the present invention, the target RCS502 is further configured to send backhaul information to the source AGV503 after receiving a transfer success message sent by the source AGV 503;

the source AGV503 is further configured to receive the backhaul information sent by the target RCS502, move to the location of the intersection, and send a sixth handover request to the target RCS 502;

the target RCS502 is further configured to receive a sixth switching request sent by the source AGV503, and cancel control over the source AGV 503;

the source AGV503 is further configured to send a fifth switching request to the source RCS 501;

the source RCS501 is further configured to receive a fifth switching request sent by the source AGV503, control the source AGV503, and send a target position to the source AGV 503;

the source AGV503 is further configured to receive the destination location sent by the source RCS501, and move from the location of the intersection to the destination location.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

All the embodiments in the present specification are described in a related manner, and the same and similar parts among the embodiments may be referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, the cross-stocker and transportation control device embodiment shown in fig. 10, the cross-stocker and transportation control system embodiment shown in fig. 14, and the computer readable storage medium embodiment are substantially similar to the cross-stocker and transportation control method embodiment shown in fig. 1, so that the description is simple, and the relevant points can be referred to the partial description of the cross-stocker and transportation control method embodiment shown in fig. 1.

As for the cross-stocker and transportation control device embodiment shown in fig. 12, the electronic equipment embodiment shown in fig. 13, and the computer-readable storage medium embodiment, since they are substantially similar to the cross-stocker and transportation control method embodiment shown in fig. 11, the description is relatively simple, and the relevant points can be referred to the partial description of the cross-stocker and transportation control method embodiment shown in fig. 11.

The above description is only for the preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention shall fall within the protection scope of the present invention.

Claims

1. A cross-warehouse handling control method is characterized in that the cross-warehouse handling control method is applied to an Automatic Guided Vehicle (AGV) in a cross-warehouse handling control system, and the cross-warehouse handling control system further comprises: the method comprises the following steps of:

sending a message of successful transportation to the target RCS, so that the target RCS controls the target AGV to transport the first object to be transported from the position of the first transfer point to the position of the first target storage position after receiving the message of successful transportation;

the first unloading point is located in an unloading area, the unloading area is an area except an overlapping area in a control area of the target RCS, and the overlapping area is an overlapping area of the control area of the target RCS and the control area of the source RCS;

2. The method of claim 1, wherein the step of switching control of the source RCS to the target RCS comprises:

sending a suspend request to the source RCS;

sending a takeover request to the target RCS;

and receiving a message of successful takeover sent by the target RCS.

3. The method of claim 1, wherein prior to said step of receiving the location of said first transshipment point transmitted by said target RCS, said method further comprises:

4. The method of claim 1, wherein after the step of sending a successful-move message to the target RCS over a communication link between itself and the target RCS, the method further comprises:

5. The method of claim 1, wherein after the step of sending a successful-move message to the target RCS over a communication link between itself and the target RCS, the method further comprises:

receiving backhaul information sent by the target RCS;

moving to the position of the junction;

from the position of the junction to the target position.

6. A cross-warehouse handling control device is applied to an Automatic Guided Vehicle (AGV) in a cross-warehouse handling control system, and the cross-warehouse handling control system further comprises: source RCS, target RCS and target automatic navigation vehicle AGV, the apparatus comprising:

a successful transporting message sending module, configured to send a successful transporting message to the target RCS, so that the target RCS controls the target AGV to transport the first object to be transported from the location of the first transfer point to the location of the first target storage location after receiving the successful transporting message;

the first object to be carried carrying module comprises:

the carrying success message sending module is specifically configured to:

7. The apparatus of claim 6, wherein the switching unit comprises:

8. The apparatus of claim 6, further comprising:

9. The apparatus of claim 6, further comprising:

10. The apparatus of claim 6, further comprising:

11. A cross-warehouse handling control method is applied to a target RCS in a cross-warehouse handling control system, and the cross-warehouse handling control system further comprises: the method comprises the following steps of:

12. A cross-warehouse handling control device is applied to a target RCS in a cross-warehouse handling control system, and the cross-warehouse handling control system further comprises: source automatic navigation car AGV, source RCS and target automatic navigation car AGV, the device includes:

13. An automated navigation cart, comprising: the vehicle comprises a vehicle body, wheels, a controller and a memory, wherein the memory is used for storing a computer program; the controller, executing the program stored in the memory, implementing the method steps of any of claims 1-5.

14. An electronic device, comprising: a processor and a memory, wherein the memory is configured to store a computer program; the processor, configured to execute the program stored in the memory, implements the method steps of claim 11.

15. A computer-readable storage medium, characterized in that a computer program is stored in the storage medium, which computer program, when being executed by a controller, carries out the method steps of any one of the claims 1-5 and/or carries out the method steps of claim 11.

16. A cross-warehouse handling control system, the system comprising: a source RCS, a target RCS, a source automatic navigation vehicle AGV and a target automatic navigation vehicle AGV;

the target AGV is used for receiving the position of the first transfer point and the position of the first target storage position sent by the target RCS and transporting the first object to be transported from the position of the first transfer point to the position of the first target storage position;

17. The system of claim 16 wherein the source AGV is further configured to send a first request to the target RCS to obtain the location of a dump point prior to receiving the location of the first dump point sent by the target RCS;

18. The system of claim 16, wherein the target RCS is further configured to send second transport information to the source AGV after receiving the message sent by the source AGV that the transport is successful, the second transport information including information of a second object to be transported located at a second unloading point, wherein the second unloading point is located in the unloading area;

19. The system of claim 16 wherein the target RCS is further configured to send a backhaul message to the source AGV after receiving a transfer success message sent by the source AGV;