CN109858791B - Logistics flowing method and system - Google Patents
Logistics flowing method and system Download PDFInfo
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- CN109858791B CN109858791B CN201910061413.3A CN201910061413A CN109858791B CN 109858791 B CN109858791 B CN 109858791B CN 201910061413 A CN201910061413 A CN 201910061413A CN 109858791 B CN109858791 B CN 109858791B
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/60—Electric or hybrid propulsion means for production processes
Abstract
The invention discloses a logistics flow method and a logistics flow system.A warehouse management end receives a process material using plan to obtain a material demand order, generates a material picking order and material station demand point information, sends the material station demand point information to an AGV dispatching end, and writes the material picking order into an RFID label of a picked and prepared material to be delivered; the AGV dispatching end receives the material station demand point information, plans a shortest travel path in use and sends the travel path to the AGV; the AGV reads the RFID tags to obtain material information, binds the material information with the AGV, and walks according to a traveling path until reaching a material station demand point; the warehouse management end reads the RFID tag to confirm that the material is received; the invention realizes the intelligent management of the warehouse entry/exit of the materials such as the raw materials, the semi-finished products, the finished products and the like by realizing the real-time tracking and recording of the materials such as the raw materials, the semi-finished products, the finished products and the like from a warehouse, flowing and on-line, thereby improving the quality and the intelligent degree of logistics.
Description
Technical Field
The invention relates to the field of ammeter manufacturing, in particular to a logistics flowing method and a logistics flowing system.
Background
The in-plant logistics refers to warehousing, storage, and shipment of purchased raw materials and parts. The products or goods produced by it are transported to a warehouse in a logistics center, factory or other factory. The series of product flows of the logistics center and the factory warehouse such as warehousing, storage and delivery of products are called as factory logistics, and the factory logistics also includes transportation, packaging, circulation, processing and the like in the logistics center and the factory warehouse. The whole in-plant logistics system relates to various aspects of production planning, process flow, carrying operation, warehouse management, information systems and the like of the whole plant. It requires reasonable arrangement of material handling routes, transportation volumes, handling methods and equipment, storage sites, operating personnel and the like in order to accelerate logistics speed, improve logistics quality and reduce logistics cost.
When the data tracking of the existing in-plant material flow is carried out, the material is only taken out of a warehouse and used on line, the flow process of the material is not tracked and recorded in real time, and the intelligent management of the material is not facilitated.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the logistics flow method and the logistics flow system can track and record the flow process of the materials in real time.
In order to solve the technical problems, the invention adopts the technical scheme that:
a method of stream flow comprising the steps of:
s1, receiving a process material using plan by the warehouse management terminal to obtain a material demand order, generating a material picking order and material station demand point information, sending the material station demand point information to the AGV dispatching terminal, and writing the material picking order into the RFID label of the picked and prepared material to be delivered out of the warehouse;
s2, the AGV dispatching end receives the material station demand point information, plans a shortest travel path in use and sends the travel path to the AGV;
s3, the AGV reads the RFID tags to obtain material information, binds the material information with the AGV, and walks according to the traveling path until reaching a material station demand point;
and S4, the warehouse management terminal reads the RFID tag to obtain material information and confirms the receipt of the material.
In order to solve the technical problem, the invention adopts another technical scheme as follows:
a logistics flow system comprises a warehouse management end, an AGV dispatching end and an AGV, wherein the warehouse management end comprises a first memory, a first processor and a first computer program which is stored on the first memory and can run on the first processor, the AGV dispatching end comprises a second memory, a second processor and a second computer program which is stored on the second memory and can run on the second processor, the AGV comprises a third memory, a third processor and a third computer program which is stored on the third memory and can run on the third processor, and the first processor executes the first computer program to realize the following steps:
s1, receiving a process material using plan to obtain a material demand order, generating a material picking order and material station demand point information, sending the material station demand point information to an AGV dispatching end, and writing the material picking order into an RFID label of a picked and prepared material to be delivered out of a warehouse;
s4, reading the RFID tag to obtain material information and confirming the receipt of the material;
the second processor, when executing the second computer program, implements the steps of:
s2, receiving the material station demand point information, planning a shortest travel path in use, and sending the travel path to an AGV;
the third processor, when executing the third computer program, performs the steps of:
and S3, reading the RFID tags to obtain material information, binding the material information with the AGV, and walking according to the traveling path until reaching a material station demand point.
The invention has the beneficial effects that: a logistics flow method and a logistics flow system are characterized in that a warehouse management end writes a material picking order into a picked and matched RFID label of a material to be delivered from a warehouse, and the RFID label is read and bound by an AGV to realize real-time tracking and recording of the materials such as raw materials, semi-finished products and finished products from the warehouse, flow and on-line, so that the intelligent delivery/storage management of the materials such as the raw materials, the semi-finished products and the finished products is realized, and the quality and the intelligent degree of logistics are improved.
Drawings
FIG. 1 is a schematic flow diagram of a method of flowing a stream according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a material flow system according to an embodiment of the present invention.
Description of reference numerals:
1. a logistics flow system; 2. a warehouse management end; 3. a first processor; 4. a first memory; 5. an AGV dispatching end; 6. a second processor; 7. a second memory; 8. AGV; 9. a third processor; 10. a third memory.
Detailed Description
In order to explain technical contents, achieved objects, and effects of the present invention in detail, the following description is made with reference to the accompanying drawings in combination with the embodiments.
The most key concept of the invention is as follows: the warehouse management end writes the material picking order into the RFID tags of the picked and prepared materials to be delivered from the warehouse, and the RFID tags are read and bound by the AGV, so that the real-time tracking and recording of the materials such as raw materials, semi-finished products, finished products and the like from the warehouse, the flow and the on-line are realized.
Before this, in order to facilitate understanding of the technical solution of the present invention, the english abbreviations, devices and the like referred to in the present invention are described as follows:
(1) and AGV: the AGV is a transport Vehicle equipped with an electromagnetic or optical automatic guide device, can travel along a predetermined guide path, and has safety protection and various transfer functions.
Referring to fig. 1, a material flow method includes the steps of:
s1, receiving a process material using plan by the warehouse management terminal to obtain a material demand order, generating a material picking order and material station demand point information, sending the material station demand point information to the AGV dispatching terminal, and writing the material picking order into the RFID label of the picked and prepared material to be delivered out of the warehouse;
s2, the AGV dispatching end receives the material station demand point information, plans a shortest travel path in use and sends the travel path to the AGV;
s3, the AGV reads the RFID tags to obtain material information, binds the material information with the AGV, and walks according to the traveling path until reaching a material station demand point;
and S4, the warehouse management terminal reads the RFID tag to obtain material information and confirms the receipt of the material.
From the above description, the beneficial effects of the present invention are: the warehouse management end writes the material picking order into the RFID tags of the picked and prepared materials to be delivered, and the RFID tags are read and bound by the AGV, so that the real-time tracking and recording of the materials such as raw materials, semi-finished products, finished products and the like from the warehouse, flowing and on-line are realized, the intelligent delivery/storage management of the materials such as the raw materials, the semi-finished products, the finished products and the like is realized, and the quality and the intelligent degree of logistics are improved.
Further, the step S1 may be replaced by: the method comprises the steps that a warehouse management end receives a process material using plan, a material demand order is obtained, a material picking order and material station demand point information are generated, and the material station demand point information is sent to an AGV dispatching end;
the step S2 further includes: transmitting the material conveying information comprising the AGVs and the traveling path to a warehouse management end;
the step between the step S2 and the step S3 further comprises the steps of:
s30, the warehouse management end writes the material order and the traveling path into an RFID label of the AGV;
the step S3 is replaced by: and the AGV walks according to the traveling path in the RFID label until reaching a material station demand point.
According to the technical scheme, the RFID tags are installed on the AGVs, the material information needing to be conveyed is written in the RFID tags of the corresponding AGVs, a warehouse worker learns the materials needing to be conveyed by the AGVs through scanning the RFID tags and places the materials on the AGVs, the AGVs convey the materials to material station demand points according to the traveling paths in the RFID tags, the station worker learns the specific information of the materials through scanning the RFID tags, and therefore real-time tracking and recording of the materials such as raw materials, semi-finished products and finished products from the warehouse, flowing and arriving on line are achieved.
Further, the step S1 further includes: the warehouse management terminal generates a production auxiliary material picking order and production auxiliary material station demand point information according to preset time, wherein the production auxiliary material comprises an adhesive tape, solder paste or a rolling tape;
the step S3 further includes: the AGV records the amount of material being transported and the number of times to make and fro.
From the above description, because the production auxiliary materials such as the adhesive tape, the solder paste or the rolled strip have certain regularity, the delivery can be more reasonable according to the usage period amount in a certain time, and the replenishment can be carried out in time under the condition of being idle, so that the reasonable utilization of the whole logistics is facilitated, and the logistics efficiency is improved; the material quantity and the back-and-forth times are recorded so as to conveniently inquire the material information and the logistics information at any time.
Further, the step S2 is specifically:
s21, the AGV dispatching end receives the material station demand point information, and obtains an AGV list which is in an idle state and is arranged in sequence from near to far according to the distance from a conveying line in front of the warehouse, wherein the conveying line in front of the warehouse is a storage position for placing the sorted and prepared materials to be delivered out of the warehouse;
s22, an AGV dispatching end plans a first preset homing path of a first AGV located on an AGV list and returning to a conveying line before a warehouse, first preset homing time of the first AGV returning to the conveying line before the warehouse is obtained through calculation according to the first preset homing path and the AGV speed, whether other AGVs pass through the first preset homing path or not is judged, and if no other AGV passes through the first preset homing path in the first preset homing time, a homing instruction comprising the first preset homing path is issued;
s23, the first AGV receives the homing instruction and returns to the front conveying line of the library according to the first preset homing path;
s24 and AGV dispatch end is in the in-process of transfer chain before first AGV gets back to the storehouse, the planning is followed transfer chain arrives before the storehouse the first predetermined transport route of material station demand point, according to first predetermined transport route and AGV speed of a motor vehicle calculate and obtain first AGV follows transfer chain arrives before the storehouse the first predetermined transportation time of material station demand point judges whether have other AGV to pass through in first predetermined transportation time first predetermined transport route if do not have other AGV to pass through in first predetermined transportation time first predetermined transport route, then will first predetermined transport route is as the route of marcing.
From the above description, because the time of AGV dispatch end planning route is the time of walking of much shorter than AGV, so obtain the AGV that the distance is the shortest through calculation, then judge whether this AGV's walking route can collide with other AGV, under the condition that does not collide, the walking time of selecting the AGV that the distance is the shortest before getting back to the storehouse transfer chain is the shortest, and in the same way, the AGV that selects the distance is the shortest the transfer chain arrives before the storehouse the walking time of material station demand point is also the shortest to save transport time, guarantee AGV's conveying efficiency.
Further, the step S22 is specifically:
s221, an AGV dispatching end plans a first preset homing path of a first AGV located on an AGV list and returning to a conveying line before a warehouse, calculates a first preset homing time of the first AGV returning to the conveying line before the warehouse according to the first preset homing path and an AGV speed, judges whether other AGVs pass through the first preset homing path or not in the first preset homing time, and issues a homing instruction comprising the first preset homing path if no other AGV passes through the first preset homing path in the first preset homing time;
s222, if other AGVs pass through the first preset homing path within first preset homing time, obtaining homing occupation positions and homing occupation time periods of the other AGVs staying on the first preset homing path, judging whether the first AGV passes through the homing occupation positions in the homing occupation time periods when traveling according to the first preset homing path, and if the first AGV does not pass through the homing occupation positions in the homing occupation time periods, giving a homing instruction comprising the first preset homing path to the shortest AGV during use;
s223, if the first AGV passes through the homing occupation position in the homing occupation time period, calculating homing conflict time of the first AGV and other AGVs on the homing occupation position, and adding the homing conflict time to the first preset homing time to obtain first actual homing time;
s224, the AGV dispatching end plans a second preset homing path of a second AGV located on the AGV list and located at the second position to return to the conveying line before the warehouse so as to obtain second preset homing time, plans a third preset homing path of a third AGV located on the AGV list and located at the third position to return to the conveying line before the warehouse so as to obtain third preset homing time, and plans a first alternative preset homing path of the first AGV returning to the conveying line before the warehouse so as to obtain first alternative preset homing time;
s225, the AGV dispatching end calculates second actual homing time, third actual homing time and first alternative actual homing time in sequence according to the step 221, the step 222 and the step 223, and sends a homing instruction to the shortest AGV in use time according to the shortest AGV in use time obtained by the first actual homing time, the second actual homing time, the third actual homing time and the first alternative actual homing time;
the step S24 specifically includes:
s241, in the process that the first AGV returns to the front conveying line, an AGV dispatching end plans a first preset conveying path from the front conveying line to the material station demand point, calculates first preset conveying time of the first AGV from the front conveying line to the material station demand point according to the first preset conveying path and the AGV speed, judges whether other AGVs pass through the first preset conveying path or not within the first preset conveying time, and takes the first preset conveying path as a traveling path if no other AGV passes through the first preset conveying path within the first preset conveying time;
s242, if other AGVs pass through the first preset conveying path within first preset conveying time, obtaining conveying occupied positions and conveying occupied time periods of the other AGVs staying on the first preset conveying path, judging whether the time-consuming shortest AGV passes through the conveying occupied positions within the conveying occupied time periods when traveling according to the first preset conveying path, and if the time-consuming shortest AGV does not pass through the conveying occupied positions within the conveying occupied time periods, taking the first preset conveying path as a traveling path;
s243, if the shortest AGV passes through the conveying occupation position in the conveying occupation time period, calculating the conveying conflict time of the shortest AGV and other AGVs on the conveying occupation position, and adding the conveying conflict time to the first preset conveying time to obtain first actual conveying time;
s244, the AGV dispatching end plans a first alternative preset conveying path, a second alternative preset conveying path and a third alternative preset conveying path from the front conveying line to the material station demand point of the AGV with the shortest time to obtain first alternative preset conveying time, second alternative preset conveying time and third alternative preset conveying time;
and S245, the AGV dispatching end calculates first candidate actual conveying time, second candidate actual conveying time and third candidate actual conveying time in sequence according to the steps 241, 242 and 243, and obtains a shortest time-consuming conveying path with the smallest time value according to the first actual conveying time, the first candidate actual conveying time, the second candidate actual conveying time and the third candidate actual conveying time, and the shortest time-consuming conveying path is used as a travelling path.
From the above description, if the shortest distance AGV collides with other AGVs on the preset path of the conveyor line before returning to the library, the shortest distance AGV needs to wait for a period of time, so the time actually required by the shortest distance AGV may not be the optimal choice, at this time, the secondary routing path from the second short AGV, the third short AGV and the shortest distance AGV is selected for re-planning, the actually required time of each path in each AGV can be obtained in the same way, the minimum value among the paths is selected for conveying, thereby saving the conveying time as much as possible, and ensuring the conveying efficiency of the AGVs.
As shown in fig. 2, a logistics flowing system includes a warehouse management end, an AGV dispatching end and an AGV, the warehouse management end includes a first memory, a first processor and a first computer program stored on the first memory and operable on the first processor, the AGV dispatching end includes a second memory, a second processor and a second computer program stored on the second memory and operable on the second processor, the AGV includes a third memory, a third processor and a third computer program stored on the third memory and operable on the third processor, the first processor implements the following steps when executing the first computer program:
s1, receiving a process material using plan to obtain a material demand order, generating a material picking order and material station demand point information, sending the material station demand point information to an AGV dispatching end, and writing the material picking order into an RFID label of a picked and prepared material to be delivered out of a warehouse;
s4, reading the RFID tag to obtain material information and confirming the receipt of the material;
the second processor, when executing the second computer program, implements the steps of:
s2, receiving the material station demand point information, planning a shortest travel path in use, and sending the travel path to an AGV;
the third processor, when executing the third computer program, performs the steps of:
and S3, reading the RFID tags to obtain material information, binding the material information with the AGV, and walking according to the traveling path until reaching a material station demand point.
From the above description, the beneficial effects of the present invention are: the warehouse management end writes the material picking order into the RFID tags of the picked and prepared materials to be delivered, and the RFID tags are read and bound by the AGV, so that the real-time tracking and recording of the materials such as raw materials, semi-finished products, finished products and the like from the warehouse, flowing and on-line are realized, the intelligent delivery/storage management of the materials such as the raw materials, the semi-finished products, the finished products and the like is realized, and the quality and the intelligent degree of logistics are improved.
Further, the step S1 may be replaced by: the method comprises the steps that a warehouse management end receives a process material using plan, a material demand order is obtained, a material picking order and material station demand point information are generated, and the material station demand point information is sent to an AGV dispatching end;
the step S2 further includes: transmitting the material conveying information comprising the AGVs and the traveling path to a warehouse management end;
between the step S2 and the step S3, the first processor, when executing the first computer program, implements the steps of:
s21, writing the material order and the travel path to an RFID label of the AGV;
the step S3 is replaced by: and walking according to the travelling path in the RFID label until reaching a material station demand point.
According to the technical scheme, the RFID tags are installed on the AGVs, the material information needing to be conveyed is written in the RFID tags of the corresponding AGVs, a warehouse worker learns the materials needing to be conveyed by the AGVs through scanning the RFID tags and places the materials on the AGVs, the AGVs convey the materials to material station demand points according to the traveling paths in the RFID tags, the station worker learns the specific information of the materials through scanning the RFID tags, and therefore real-time tracking and recording of the materials such as raw materials, semi-finished products and finished products from the warehouse, flowing and arriving on line are achieved.
Further, the implementation of the step S1 by the first processor when executing the first computer program further includes: generating a production auxiliary material picking order and production auxiliary material station demand point information according to preset time, wherein the production auxiliary material comprises an adhesive tape, solder paste or a rolled tape;
the step S3 is implemented when the third processor executes the third computer program, and the method further includes: the amount of material transported and the number of round trips were recorded.
From the above description, because the production auxiliary materials such as the adhesive tape, the solder paste or the rolled strip have certain regularity, the delivery can be more reasonable according to the usage period amount in a certain time, and the replenishment can be carried out in time under the condition of being idle, so that the reasonable utilization of the whole logistics is facilitated, and the logistics efficiency is improved; the material quantity and the back-and-forth times are recorded so as to conveniently inquire the material information and the logistics information at any time.
Further, when the second processor executes the second computer program, the implementation of step S2 specifically includes:
s21, receiving the material station demand point information, and acquiring an AGV list which is in an idle state and is arranged in sequence from near to far according to the distance from a conveying line in front of a warehouse, wherein the conveying line in front of the warehouse is a storage position for placing sorted and prepared materials to be delivered out of the warehouse;
s22, planning a first preset homing path of a first AGV located on the AGV list and returning to a conveying line before the first AGV returns to a library, calculating to obtain first preset homing time of the first AGV and returning to the conveying line before the library according to the first preset homing path and the AGV speed, judging whether other AGVs pass through the first preset homing path or not in the first preset homing time, and if no other AGV passes through the first preset homing path in the first preset homing time, issuing a homing instruction comprising the first preset homing path;
s24, planning a first preset conveying path from the front conveying line to the material station demand point in the process that the first AGV returns to the front conveying line, calculating to obtain first preset conveying time of the first AGV from the front conveying line to the material station demand point according to the first preset conveying path and the AGV speed, judging whether other AGVs pass through the first preset conveying path or not within the first preset conveying time, and taking the first preset conveying path as a traveling path if no other AGV passes through the first preset conveying path within the first preset conveying time;
the third processor, when executing the third computer program, further performs the steps of:
and S23, the first AGV receives the homing instruction and returns to the front conveying line of the library according to the first preset homing path.
From the above description, because the time of AGV dispatch end planning route is the time of walking of much shorter than AGV, so obtain the AGV that the distance is the shortest through calculation, then judge whether this AGV's walking route can collide with other AGV, under the condition that does not collide, the walking time of selecting the AGV that the distance is the shortest before getting back to the storehouse transfer chain is the shortest, and in the same way, the AGV that selects the distance is the shortest the transfer chain arrives before the storehouse the walking time of material station demand point is also the shortest to save transport time, guarantee AGV's conveying efficiency.
Further, when the second processor executes the second computer program, the implementation of step S22 specifically includes:
s221, planning a first preset homing path of a first AGV located on the AGV list and returning to a conveying line before the first AGV returns to a warehouse, calculating to obtain first preset homing time of the first AGV returning to the conveying line before the warehouse according to the first preset homing path and the AGV speed, judging whether other AGVs pass through the first preset homing path or not in the first preset homing time, and if no other AGV passes through the first preset homing path in the first preset homing time, issuing a homing instruction comprising the first preset homing path;
s222, if other AGVs pass through the first preset homing path within first preset homing time, obtaining homing occupation positions and homing occupation time periods of the other AGVs staying on the first preset homing path, judging whether the first AGV passes through the homing occupation positions in the homing occupation time periods when traveling according to the first preset homing path, and if the first AGV does not pass through the homing occupation positions in the homing occupation time periods, giving a homing instruction comprising the first preset homing path to the shortest AGV during use;
s223, if the first AGV passes through the homing occupation position in the homing occupation time period, calculating homing conflict time of the first AGV and other AGVs on the homing occupation position, and adding the homing conflict time to the first preset homing time to obtain first actual homing time;
s224, planning a second preset homing path of a second AGV positioned on the AGV list and positioned at a second position to the conveying line before the second AGV returns to the warehouse to obtain second preset homing time, planning a third preset homing path of a third AGV positioned on the AGV list and positioned at a third position to the conveying line before the third AGV returns to the warehouse to obtain third preset homing time, and planning a first alternative preset homing path of the first AGV returning to the conveying line before the warehouse to obtain first alternative preset homing time;
s225, sequentially calculating second actual homing time, third actual homing time and first alternative actual homing time according to the step 221, the step 222 and the step 223, and issuing a homing instruction to the shortest-time AGV according to the shortest time value obtained by the first actual homing time, the second actual homing time, the third actual homing time and the first alternative actual homing time;
when the second processor executes the second computer program, the implementation of step S24 specifically includes:
s241, in the process that the first AGV returns to the front conveying line, planning a first preset conveying path from the front conveying line to the material station demand point, calculating first preset conveying time of the first AGV from the front conveying line to the material station demand point according to the first preset conveying path and the AGV speed, judging whether other AGVs pass through the first preset conveying path within the first preset conveying time, and if no other AGV passes through the first preset conveying path within the first preset conveying time, taking the first preset conveying path as a traveling path;
s242, if other AGVs pass through the first preset conveying path within first preset conveying time, obtaining conveying occupied positions and conveying occupied time periods of the other AGVs staying on the first preset conveying path, judging whether the time-consuming shortest AGV passes through the conveying occupied positions within the conveying occupied time periods when traveling according to the first preset conveying path, and if the time-consuming shortest AGV does not pass through the conveying occupied positions within the conveying occupied time periods, taking the first preset conveying path as a traveling path;
s243, if the shortest AGV passes through the conveying occupation position in the conveying occupation time period, calculating the conveying conflict time of the shortest AGV and other AGVs on the conveying occupation position, and adding the conveying conflict time to the first preset conveying time to obtain first actual conveying time;
s244, planning a first alternative preset conveying path, a second alternative preset conveying path and a third alternative preset conveying path from the front conveying line to the material station demand point of the AGV with the shortest time to obtain first alternative preset conveying time, second alternative preset conveying time and third alternative preset conveying time;
and S245, sequentially calculating a first candidate actual conveying time, a second candidate actual conveying time and a third candidate actual conveying time according to the steps 241, 242 and 243, obtaining a shortest time-consuming conveying path with the smallest time value according to the first actual conveying time, the first candidate actual conveying time, the second candidate actual conveying time and the third candidate actual conveying time, and taking the shortest time-consuming conveying path as a traveling path.
From the above description, if the shortest distance AGV collides with other AGVs on the preset path of the conveyor line before returning to the library, the shortest distance AGV needs to wait for a period of time, so the time actually required by the shortest distance AGV may not be the optimal choice, at this time, the secondary routing path from the second short AGV, the third short AGV and the shortest distance AGV is selected for re-planning, the actually required time of each path in each AGV can be obtained in the same way, the minimum value among the paths is selected for conveying, thereby saving the conveying time as much as possible, and ensuring the conveying efficiency of the AGVs.
Referring to fig. 1, a first embodiment of the present invention is:
a method of stream flow comprising the steps of:
s1, the warehouse management end receives the process material using plan to obtain a material demand order, generates a material picking order and material station demand point information, sends the material station demand point information to the AGV dispatching end, and writes the material picking order into the RFID label of the picked and matched material to be delivered out of the warehouse;
s2, the AGV dispatching end receives the material station demand point information, plans the shortest travel path in use and sends the travel path to the AGV;
s3, the AGV reads the RFID tags to obtain material information, the material information and the AGV are bound, and the AGV travels according to the traveling path until reaching a material station demand point;
and S4, the warehouse management terminal reads the RFID tag to obtain material information and confirms the receipt of the material.
Wherein, step S1 further includes: the warehouse management terminal generates a production auxiliary material picking order and production auxiliary material station demand point information according to preset time, wherein the production auxiliary material comprises an adhesive tape, solder paste or a rolling tape;
step S3 further includes: the AGV records the amount of material being transported and the number of times to make and fro.
In the embodiment, as some materials are not directly delivered to the material station demand point, the delivery type of the material to be delivered needs to be judged first, if the material is of the direct delivery type, according to the steps, the AGV carries the RFID tag and directly delivers the RFID tag to the material station demand point, and the material station demand point returns the delivered information to the warehouse management end; if the type is a temporary storage type of the line side library, the AGV carries the RFID tag and transfers the RFID tag to the line side library, then the AGV carries the RFID tag and transfers the RFID tag from the line side library to a material station demand point, and the material station demand point returns the information of leaving the warehouse to a warehouse management end; if the type of the moved warehouse is the AGV type, the AGV carries the RFID tag and is firstly transferred to the line side warehouse, and the line side warehouse returns the information of the moved warehouse to the warehouse management end.
Referring to fig. 1, the second embodiment of the present invention is:
a method of stream flow comprising the steps of:
s1, the warehouse management terminal receives the process material using plan to obtain a material demand order, generates a material picking order and material station demand point information, and sends the material station demand point information to the AGV dispatching terminal;
s2, the AGV dispatching end receives the material station demand point information, plans a shortest travel path in use, sends the travel path to the AGV and sends material conveying information comprising the AGV and the travel path to the warehouse management end;
s30, the warehouse management end writes the material picking order and the traveling path into an RFID label of the AGV;
s3, the AGV walks according to the traveling path in the RFID tag until reaching a material station demand point.
And S4, the warehouse management terminal reads the RFID tag to obtain material information and confirms the receipt of the material.
That is, in this embodiment, the RFID tag is mounted on the AGV.
Referring to fig. 1, a third embodiment of the present invention is:
a material flow method, based on the first embodiment, the step S2 is specifically as follows:
s21, the AGV dispatching end receives the material station demand point information, and obtains an AGV list which is in an idle state and is arranged in sequence from near to far according to the distance from a conveying line in front of the warehouse, wherein the conveying line in front of the warehouse is a storage position for placing the sorted and prepared materials to be delivered out of the warehouse;
s22, the AGV dispatching end plans a first preset homing path of a first AGV located on the AGV list and returning to a conveying line before the AGV returns to the library, first preset homing time of the first AGV returning to the conveying line before the library is obtained through calculation according to the first preset homing path and the AGV speed, whether other AGVs pass through the first preset homing path or not is judged in the first preset homing time, and if no other AGV passes through the first preset homing path in the first preset homing time, a homing instruction comprising the first preset homing path is issued;
s23, the first AGV receives the homing instruction and returns to the front-of-library conveying line according to the first preset homing path;
s24, planning a first preset conveying path from the front conveying line to the material station demand point by the AGV scheduling end in the process that the first AGV returns to the front conveying line of the warehouse, calculating to obtain first preset conveying time of the first AGV from the front conveying line of the warehouse to the material station demand point according to the first preset conveying path and the AGV speed, judging whether other AGVs pass through the first preset conveying path or not in the first preset conveying time, and if no other AGVs pass through the first preset conveying path in the first preset conveying time, taking the first preset conveying path as a traveling path.
Wherein, step S22 specifically includes:
s221, an AGV dispatching end plans a first preset homing path of a first AGV positioned on an AGV list and returning to a conveying line before a warehouse, calculates and obtains first preset homing time of the first AGV returning to the conveying line before the warehouse according to the first preset homing path and the AGV speed, judges whether other AGVs pass through the first preset homing path or not in the first preset homing time, and issues a homing instruction comprising the first preset homing path if no other AGV passes through the first preset homing path in the first preset homing time;
s222, if other AGVs pass through the first preset homing path within the first preset homing time, obtaining homing occupation positions and homing occupation time periods of the other AGVs staying on the first preset homing path, judging whether the first AGV passes through the homing occupation positions within the homing occupation time periods when traveling according to the first preset homing path, if the first AGV does not pass through the homing occupation positions within the homing occupation time periods, the first AGV is the shortest AGV in use, and issuing a homing instruction comprising the first preset homing path to the shortest AGV in use;
s223, if the first AGV passes through the homing occupation position in the homing occupation time period, calculating the homing conflict time of the first AGV and other AGVs on the homing occupation position, and adding the homing conflict time to first preset homing time to obtain first actual homing time;
s224, the AGV dispatching end plans a second preset homing path of a second AGV located on the AGV list and returning to the conveying line before the warehouse to obtain second preset homing time, plans a third preset homing path of a third AGV located on the AGV list and returning to the conveying line before the warehouse to obtain third preset homing time, and plans a first alternative preset homing path of the first AGV returning to the conveying line before the warehouse to obtain first alternative preset homing time;
s225, the AGV dispatching end calculates second actual homing time, third actual homing time and first alternative actual homing time in sequence according to the step 221, the step 222 and the step 223, obtains the shortest time-consuming AGV with the minimum time value according to the first actual homing time, the second actual homing time, the third actual homing time and the first alternative actual homing time, and sends a homing instruction to the shortest time-consuming AGV;
wherein, step S24 specifically includes:
s241, in the process that a first AGV returns to a front conveying line, an AGV dispatching end plans a first preset conveying path from the front conveying line to a material station demand point, calculates first preset conveying time of the first AGV from the front conveying line to the material station demand point according to the first preset conveying path and the AGV speed, judges whether other AGVs pass through the first preset conveying path or not within the first preset conveying time, and takes the first preset conveying path as a traveling path if no other AGV passes through the first preset conveying path within the first preset conveying time;
s242, if other AGVs pass through the first preset conveying path in the first preset conveying time, obtaining the conveying occupied positions and the conveying occupied time periods of the other AGVs staying on the first preset conveying path, judging whether the shortest AGV passes through the conveying occupied positions in the conveying occupied time periods when traveling according to the first preset conveying path, and if the shortest AGV does not pass through the conveying occupied positions in the conveying occupied time periods, taking the first preset conveying path as a traveling path;
s243, if the shortest AGV passes through the conveying occupation position in the conveying occupation time period, calculating the conveying conflict time of the shortest AGV and other AGVs at the conveying occupation position, and adding the conveying conflict time to the first preset conveying time to obtain first actual conveying time;
s244, planning a first alternative preset conveying path, a second alternative preset conveying path and a third alternative preset conveying path from the front conveying line to the material station demand point of the shortest AGV for use by the AGV scheduling end so as to obtain first alternative preset conveying time, second alternative preset conveying time and third alternative preset conveying time;
and S245, the AGV dispatching end calculates the first candidate actual conveying time, the second candidate actual conveying time and the third candidate actual conveying time in sequence according to the steps 241, 242 and 243, obtains the shortest time-consuming conveying path with the minimum time value according to the first actual conveying time, the first candidate actual conveying time, the second candidate actual conveying time and the third candidate actual conveying time, and takes the shortest time-consuming conveying path as the advancing path.
Referring to fig. 1, a fourth embodiment of the present invention is:
a method of stream flow comprising the steps of:
s1, the first terminal receives a material distribution application and a material distribution setting, wherein the material distribution application comprises a material list, the material distribution setting comprises a docking station and a terminal position, and the material distribution setting is sent to an AGV dispatching end;
the docking wharfs are intermediate docking positions, and a plurality of docking wharfs can be arranged according to actual requirements;
s2, the AGV dispatching end receives the material distribution setting, plans out the shortest travel path, sends the travel path to the AGV and sends the material conveying information comprising the AGV and the travel path to the warehouse management end;
s30, the warehouse management end writes the bill of material and the travel path into the RFID label of the AGV, and returns the travel path and the AGV to the first terminal;
at this time, the first terminal receives the traveling path and the AGV, and can monitor the real-time running state, position, parameters and track of the AGV through the APP on the first terminal;
s3, the AGV walks according to the traveling path in the RFID tag until reaching a material station demand point;
s4, reading the RFID tag by the warehouse management end to obtain material information and confirm that the material is received;
s5, the second APP end receives the unloading completion information and returns the unloading completion information to the first terminal;
first terminal can receive the warning message of unloading finished information promptly, and this embodiment realizes the accurate dispatch to AGV through effectual information transfer promptly, improves material delivery efficiency and accuracy, improves production efficiency.
Referring to fig. 2, a fifth embodiment of the present invention is:
a logistics flow system 1, comprising a warehouse management terminal 2, an AGV dispatching terminal 5 and AGVs 8, wherein the warehouse management terminal 2 comprises a first memory 4, a first processor 3 and a first computer program stored in the first memory 4 and operable on the first processor 3, the AGV dispatching terminal 5 comprises a second memory 7, a second processor 6 and a second computer program stored in the second memory 7 and operable on the second processor 6, the AGV8 comprises a third memory 10, a third processor 9 and a third computer program stored in the third memory 10 and operable on the third processor 9, and the first processor 3 implements steps S1 and S4 in the first embodiment when executing the first computer program; the second processor 6 implements step S2 in the first embodiment described above when executing the second computer program; the third processor 9 implements step S3 in the first embodiment described above when executing the third computer program.
Referring to fig. 2, a sixth embodiment of the present invention is:
a material flow system 1, on the basis of the fifth embodiment, when the first processor 3 executes the first computer program, the steps S1, S30 and S4 in the second embodiment are implemented; the second processor 6 implements step S2 in the second embodiment described above when executing the second computer program; the third processor 9 implements step S3 in the second embodiment described above when executing the third computer program.
Referring to fig. 2, a seventh embodiment of the present invention is:
a material flow system 1, on the basis of the fifth embodiment, when a first processor 3 executes a first computer program, the steps S1 and S4 in the third embodiment are implemented; the second processor 6 implements the other steps than step S23 in step S2 in the third embodiment described above when executing the second computer program; the third processor 9 implements steps S23 and S3 in step S2 in the third embodiment described above when executing the third computer program.
In summary, according to the logistics flow method and system provided by the invention, the warehouse management end writes the material picking order into the picked and prepared RFID tag of the material to be delivered from the warehouse or installs the material picking order in the RFID tag of the AGV, and the AGV reads and binds the RFID tag to realize real-time tracking and recording of the material such as raw material, semi-finished product, finished product and the like from the warehouse, flowing and on-line, so that the delivery/storage intelligent management of the material such as raw material, semi-finished product, finished product and the like is realized, and the quality and the intelligent degree of logistics are improved; the time of planning the path through the AGV dispatching end is used for selecting the AGV with the shortest time and the corresponding travelling path, so that the transportation time is saved, and the transportation efficiency of the AGV is ensured.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all equivalent changes made by using the contents of the present specification and the drawings, or applied directly or indirectly to the related technical fields, are included in the scope of the present invention.
Claims (6)
1. A method of stream flow comprising the steps of:
s1, receiving a process material using plan by the warehouse management terminal to obtain a material demand order, generating a material picking order and material station demand point information, sending the material station demand point information to the AGV dispatching terminal, and writing the material picking order into the RFID label of the picked and prepared material to be delivered out of the warehouse;
s2, the AGV dispatching end receives the material station demand point information, plans a shortest travel path in use and sends the travel path to the AGV;
s3, the AGV reads the RFID tags to obtain material information, binds the material information with the AGV, and walks according to the traveling path until reaching a material station demand point;
s4, the warehouse management end reads the RFID tag to obtain material information and confirms that the material is received;
the step S2 specifically includes:
s21, the AGV dispatching end receives the material station demand point information, and obtains an AGV list which is in an idle state and is arranged in sequence from near to far according to the distance from a conveying line in front of the warehouse, wherein the conveying line in front of the warehouse is a storage position for placing the sorted and prepared materials to be delivered out of the warehouse;
s22, an AGV dispatching end plans a first preset homing path of a first AGV located on an AGV list and returning to a conveying line before a warehouse, first preset homing time of the first AGV returning to the conveying line before the warehouse is obtained through calculation according to the first preset homing path and the AGV speed, whether other AGVs pass through the first preset homing path or not is judged, and if no other AGV passes through the first preset homing path in the first preset homing time, a homing instruction comprising the first preset homing path is issued;
s23, the first AGV receives the homing instruction and returns to the front conveying line of the library according to the first preset homing path;
s24, planning a first preset conveying path from the front conveying line to the material station demand point by an AGV dispatching end in the process that the first AGV returns to the front conveying line, calculating to obtain first preset conveying time of the first AGV from the front conveying line to the material station demand point according to the first preset conveying path and the AGV speed, judging whether other AGVs pass through the first preset conveying path or not within the first preset conveying time, and if no other AGV passes through the first preset conveying path within the first preset conveying time, taking the first preset conveying path as a traveling path;
the step S22 specifically includes:
s221, an AGV dispatching end plans a first preset homing path of a first AGV located on an AGV list and returning to a conveying line before a warehouse, calculates a first preset homing time of the first AGV returning to the conveying line before the warehouse according to the first preset homing path and an AGV speed, judges whether other AGVs pass through the first preset homing path or not in the first preset homing time, and issues a homing instruction comprising the first preset homing path if no other AGV passes through the first preset homing path in the first preset homing time;
s222, if other AGVs pass through the first preset homing path within first preset homing time, obtaining homing occupation positions and homing occupation time periods of the other AGVs staying on the first preset homing path, judging whether the first AGV passes through the homing occupation positions in the homing occupation time periods when traveling according to the first preset homing path, and if the first AGV does not pass through the homing occupation positions in the homing occupation time periods, giving a homing instruction comprising the first preset homing path to the shortest AGV during use;
s223, if the first AGV passes through the homing occupation position in the homing occupation time period, calculating homing conflict time of the first AGV and other AGVs on the homing occupation position, and adding the homing conflict time to the first preset homing time to obtain first actual homing time;
s224, the AGV dispatching end plans a second preset homing path of a second AGV located on the AGV list and located at the second position to return to the conveying line before the warehouse so as to obtain second preset homing time, plans a third preset homing path of a third AGV located on the AGV list and located at the third position to return to the conveying line before the warehouse so as to obtain third preset homing time, and plans a first alternative preset homing path of the first AGV returning to the conveying line before the warehouse so as to obtain first alternative preset homing time;
s225, the AGV dispatching end calculates second actual homing time, third actual homing time and first alternative actual homing time in sequence according to the step 221, the step 222 and the step 223, and sends a homing instruction to the shortest AGV in use time according to the shortest AGV in use time obtained by the first actual homing time, the second actual homing time, the third actual homing time and the first alternative actual homing time;
the step S24 specifically includes:
s241, in the process that the first AGV returns to the front conveying line, an AGV dispatching end plans a first preset conveying path from the front conveying line to the material station demand point, calculates first preset conveying time of the first AGV from the front conveying line to the material station demand point according to the first preset conveying path and the AGV speed, judges whether other AGVs pass through the first preset conveying path or not within the first preset conveying time, and takes the first preset conveying path as a traveling path if no other AGV passes through the first preset conveying path within the first preset conveying time;
s242, if other AGVs pass through the first preset conveying path within first preset conveying time, obtaining conveying occupied positions and conveying occupied time periods of the other AGVs staying on the first preset conveying path, judging whether the time-consuming shortest AGV passes through the conveying occupied positions within the conveying occupied time periods when traveling according to the first preset conveying path, and if the time-consuming shortest AGV does not pass through the conveying occupied positions within the conveying occupied time periods, taking the first preset conveying path as a traveling path;
s243, if the shortest AGV passes through the conveying occupation position in the conveying occupation time period, calculating the conveying conflict time of the shortest AGV and other AGVs on the conveying occupation position, and adding the conveying conflict time to the first preset conveying time to obtain first actual conveying time;
s244, the AGV dispatching end plans a first alternative preset conveying path, a second alternative preset conveying path and a third alternative preset conveying path from the front conveying line to the material station demand point of the AGV with the shortest time to obtain first alternative preset conveying time, second alternative preset conveying time and third alternative preset conveying time;
and S245, the AGV dispatching end calculates first candidate actual conveying time, second candidate actual conveying time and third candidate actual conveying time in sequence according to the steps 241, 242 and 243, and obtains a shortest time-consuming conveying path with the smallest time value according to the first actual conveying time, the first candidate actual conveying time, the second candidate actual conveying time and the third candidate actual conveying time, and the shortest time-consuming conveying path is used as a travelling path.
2. The stream flowing method according to claim 1, wherein the step S1 is replaced by: the method comprises the steps that a warehouse management end receives a process material using plan, a material demand order is obtained, a material picking order and material station demand point information are generated, and the material station demand point information is sent to an AGV dispatching end;
the step S2 further includes: transmitting the material conveying information comprising the AGVs and the traveling path to a warehouse management end;
the step between the step S2 and the step S3 further comprises the steps of:
s30, the warehouse management end writes the material order and the traveling path into an RFID label of the AGV;
the step S3 is replaced by: and the AGV walks according to the traveling path in the RFID label until reaching a material station demand point.
3. The stream flowing method according to claim 1, wherein said step S1 further comprises: the warehouse management terminal generates a production auxiliary material picking order and production auxiliary material station demand point information according to preset time, wherein the production auxiliary material comprises an adhesive tape, solder paste or a rolling tape;
the step S3 further includes: the AGV records the amount of material being transported and the number of times to make and fro.
4. A logistics flow system comprises a warehouse management end, an AGV dispatching end and an AGV, wherein the warehouse management end comprises a first memory, a first processor and a first computer program which is stored on the first memory and can run on the first processor, the AGV dispatching end comprises a second memory, a second processor and a second computer program which is stored on the second memory and can run on the second processor, the AGV comprises a third memory, a third processor and a third computer program which is stored on the third memory and can run on the third processor, and the first processor executes the first computer program to realize the following steps:
s1, receiving a process material using plan to obtain a material demand order, generating a material picking order and material station demand point information, sending the material station demand point information to an AGV dispatching end, and writing the material picking order into an RFID label of a picked and prepared material to be delivered out of a warehouse;
s4, reading the RFID tag to obtain material information and confirming the receipt of the material;
the second processor, when executing the second computer program, implements the steps of:
s2, receiving the material station demand point information, planning a shortest travel path in use, and sending the travel path to an AGV;
the third processor, when executing the third computer program, performs the steps of:
s3, reading the RFID tags to obtain material information, binding the material information with the AGV, and walking according to the traveling path until reaching a material station demand point;
when the second processor executes the second computer program, the implementation of step S2 specifically includes:
s21, receiving the material station demand point information, and acquiring an AGV list which is in an idle state and is arranged in sequence from near to far according to the distance from a conveying line in front of a warehouse, wherein the conveying line in front of the warehouse is a storage position for placing sorted and prepared materials to be delivered out of the warehouse;
s22, planning a first preset homing path of a first AGV located on the AGV list and returning to a conveying line before the first AGV returns to a library, calculating to obtain first preset homing time of the first AGV and returning to the conveying line before the library according to the first preset homing path and the AGV speed, judging whether other AGVs pass through the first preset homing path or not in the first preset homing time, and if no other AGV passes through the first preset homing path in the first preset homing time, issuing a homing instruction comprising the first preset homing path;
s24, planning a first preset conveying path from the front conveying line to the material station demand point in the process that the first AGV returns to the front conveying line, calculating to obtain first preset conveying time of the first AGV from the front conveying line to the material station demand point according to the first preset conveying path and the AGV speed, judging whether other AGVs pass through the first preset conveying path or not within the first preset conveying time, and taking the first preset conveying path as a traveling path if no other AGV passes through the first preset conveying path within the first preset conveying time;
the third processor, when executing the third computer program, further performs the steps of:
s23, the first AGV receives the homing instruction and returns to the front conveying line of the library according to the first preset homing path;
when the second processor executes the second computer program, the implementation of step S22 specifically includes:
s221, planning a first preset homing path of a first AGV located on the AGV list and returning to a conveying line before the first AGV returns to a warehouse, calculating to obtain first preset homing time of the first AGV returning to the conveying line before the warehouse according to the first preset homing path and the AGV speed, judging whether other AGVs pass through the first preset homing path or not in the first preset homing time, and if no other AGV passes through the first preset homing path in the first preset homing time, issuing a homing instruction comprising the first preset homing path;
s222, if other AGVs pass through the first preset homing path within first preset homing time, obtaining homing occupation positions and homing occupation time periods of the other AGVs staying on the first preset homing path, judging whether the first AGV passes through the homing occupation positions in the homing occupation time periods when traveling according to the first preset homing path, and if the first AGV does not pass through the homing occupation positions in the homing occupation time periods, giving a homing instruction comprising the first preset homing path to the shortest AGV during use;
s223, if the first AGV passes through the homing occupation position in the homing occupation time period, calculating homing conflict time of the first AGV and other AGVs on the homing occupation position, and adding the homing conflict time to the first preset homing time to obtain first actual homing time;
s224, planning a second preset homing path of a second AGV positioned on the AGV list and positioned at a second position to the conveying line before the second AGV returns to the warehouse to obtain second preset homing time, planning a third preset homing path of a third AGV positioned on the AGV list and positioned at a third position to the conveying line before the third AGV returns to the warehouse to obtain third preset homing time, and planning a first alternative preset homing path of the first AGV returning to the conveying line before the warehouse to obtain first alternative preset homing time;
s225, sequentially calculating second actual homing time, third actual homing time and first alternative actual homing time according to the step 221, the step 222 and the step 223, and issuing a homing instruction to the shortest-time AGV according to the shortest time value obtained by the first actual homing time, the second actual homing time, the third actual homing time and the first alternative actual homing time;
when the second processor executes the second computer program, the implementation of step S24 specifically includes:
s241, in the process that the first AGV returns to the front conveying line, planning a first preset conveying path from the front conveying line to the material station demand point, calculating first preset conveying time of the first AGV from the front conveying line to the material station demand point according to the first preset conveying path and the AGV speed, judging whether other AGVs pass through the first preset conveying path within the first preset conveying time, and if no other AGV passes through the first preset conveying path within the first preset conveying time, taking the first preset conveying path as a traveling path;
s242, if other AGVs pass through the first preset conveying path within first preset conveying time, obtaining conveying occupied positions and conveying occupied time periods of the other AGVs staying on the first preset conveying path, judging whether the time-consuming shortest AGV passes through the conveying occupied positions within the conveying occupied time periods when traveling according to the first preset conveying path, and if the time-consuming shortest AGV does not pass through the conveying occupied positions within the conveying occupied time periods, taking the first preset conveying path as a traveling path;
s243, if the shortest AGV passes through the conveying occupation position in the conveying occupation time period, calculating the conveying conflict time of the shortest AGV and other AGVs on the conveying occupation position, and adding the conveying conflict time to the first preset conveying time to obtain first actual conveying time;
s244, planning a first alternative preset conveying path, a second alternative preset conveying path and a third alternative preset conveying path from the front conveying line to the material station demand point of the AGV with the shortest time to obtain first alternative preset conveying time, second alternative preset conveying time and third alternative preset conveying time;
and S245, sequentially calculating a first candidate actual conveying time, a second candidate actual conveying time and a third candidate actual conveying time according to the steps 241, 242 and 243, obtaining a shortest time-consuming conveying path with the smallest time value according to the first actual conveying time, the first candidate actual conveying time, the second candidate actual conveying time and the third candidate actual conveying time, and taking the shortest time-consuming conveying path as a traveling path.
5. The material flow system as claimed in claim 4, wherein said step S1 is replaced by: the method comprises the steps that a warehouse management end receives a process material using plan, a material demand order is obtained, a material picking order and material station demand point information are generated, and the material station demand point information is sent to an AGV dispatching end;
the step S2 further includes: transmitting the material conveying information comprising the AGVs and the traveling path to a warehouse management end;
between the step S2 and the step S3, the first processor, when executing the first computer program, implements the steps of:
s21, writing the material order and the travel path to an RFID label of the AGV;
the step S3 is replaced by: and walking according to the travelling path in the RFID label until reaching a material station demand point.
6. The system according to claim 5, wherein the step S1 is implemented when the first processor executes the first computer program, and further comprising: generating a production auxiliary material picking order and production auxiliary material station demand point information according to preset time, wherein the production auxiliary material comprises an adhesive tape, solder paste or a rolled tape;
the step S3 is implemented when the third processor executes the third computer program, and the method further includes: the amount of material transported and the number of round trips were recorded.
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