CN110689094A - Automatic guided vehicle task allocation method and system based on Internet of things - Google Patents
Automatic guided vehicle task allocation method and system based on Internet of things Download PDFInfo
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- G06K17/00—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations
- G06K17/0022—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations arrangements or provisious for transferring data to distant stations, e.g. from a sensing device
- G06K17/0025—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations arrangements or provisious for transferring data to distant stations, e.g. from a sensing device the arrangement consisting of a wireless interrogation device in combination with a device for optically marking the record carrier
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Abstract
The invention relates to an automatic guided vehicle task allocation method and system based on the Internet of things. The invention adds the segmental task distribution device, divides each task path into a plurality of segments through the central controller, and the automatic guided vehicle only needs to record the task number in the task list of the automatic guided vehicle and the information of the nearest road section of the current task, thereby reducing the requirements of the storage capacity and the computing capacity of the automatic guided vehicle.
Description
Technical Field
The invention relates to the technical field of automatic guided vehicles, in particular to a task allocation method and system of an automatic guided vehicle based on the Internet of things.
Background
An Automated Guided Vehicle (AGV) is an unmanned Automated Vehicle that has an Automated guidance device such as a magnetic strip, a rail, or a laser, travels along a planned route, is powered by a battery, and is equipped with safety protection and various auxiliary mechanisms (e.g., a transfer and assembly mechanism). Usually, a plurality of AGVs, a control computer (control console), a navigation device, a charging device and peripheral accessory devices form an AGV system, and the main working principle of the AGV system is that under the monitoring and task scheduling of the control computer, the AGVs can accurately walk according to a specified path, and complete a series of operation tasks after reaching a task designated position, and the control computer can determine whether to charge a charging area automatically according to the electric quantity of the AGVs.
Task distribution of an existing automatic guided vehicle requires that the automatic guided vehicle moves to a central controller, the central controller distributes tasks, the automatic guided vehicle needs to store path information of a plurality of tasks, and requirements for storage capacity and computing capacity of the automatic guided vehicle are high. In addition, in the existing automatic guided vehicle, the central controller is difficult to grasp the real-time position of the automatic guided vehicle in real time during the working process, and the task execution condition of the automatic guided vehicle cannot be judged.
Disclosure of Invention
The invention provides a method and a system for distributing tasks of an automatic guided transport vehicle based on the Internet of things, which aim to overcome the defects in the prior art and increase segmented task distribution equipment.
In order to achieve the above object, the present invention has the following configurations:
the automatic guided vehicle task allocation method based on the Internet of things comprises the steps that segmented task distribution equipment is arranged at each branched intersection in the moving range of an automatic guided vehicle, each road section in the moving range is provided with a road section number, the segmented task distribution equipment comprises a first display screen and a first camera, a central controller is arranged at the control center of the automatic guided vehicle, a second camera, a two-dimensional code for identifying an identification code of the vehicle and a second display screen for displaying the number of a currently executed task are arranged on the surface of each automatic guided vehicle, and a vehicle controller is arranged inside each automatic guided vehicle;
the method comprises the following steps:
a first camera of the segmentation task distribution equipment detects that a two-dimensional code of an automatic guided transport vehicle is in front of the segmentation task distribution equipment;
the segmentation task distribution equipment acquires a number of a task being executed displayed by a second display screen of the automatic guided vehicle, and sends the two-dimensional code and the number of the task being executed to the central controller;
the central controller identifies the two-dimensional code to obtain an identification code of the automatic guided vehicle;
the central controller determines a steering angle of the automatic guided vehicle entering the next road section and a moving distance of the automatic guided vehicle on the next road section according to the number of the currently executed tasks of the automatic guided vehicle and the position of the current segmented task distribution equipment, and generates a guiding two-dimensional code, wherein information of the guiding two-dimensional code comprises the steering angle of the next road section and the moving distance of the next road section;
the central controller sends the guide two-dimensional code to the segmentation task distribution equipment, and the segmentation task distribution equipment controls the first display screen to display the guide two-dimensional code;
and when the vehicle controller of the automatic guided transport vehicle identifies that the display screen of the segmented task distribution equipment displays the guide two-dimensional code through the second camera, identifying the information of the guide two-dimensional code, and continuously moving according to the steering angle of the next road section and the moving distance of the next road section.
Optionally, the method further comprises the steps of:
the central controller sequentially selects tasks to be executed from task queues to be executed in the center, searches the task queues of the automatic guided vehicles recorded by the central controller, searches the automatic guided vehicles with the fewest tasks in the task queues, and distributes the tasks to be executed to the automatic guided vehicles with the fewest tasks at present.
Optionally, when the central controller generates the guide two-dimensional code, determining whether the currently executed task number of the automated guided vehicle is the first task in the task queue of the automated guided vehicle recorded by the central controller;
if not, the central controller sets each task in the task queue of the automatic guided vehicle before the executing task number to be completed, and removes the completed task from the task queue of the automatic guided vehicle.
Optionally, when the central controller generates the guidance two-dimensional code, it is determined whether a task not issued exists in a task queue of the automated guided vehicle recorded by the central controller, and if so, the central controller generates the guidance two-dimensional code according to a steering angle of the automated guided vehicle entering a next road section, a moving distance of the automated guided vehicle on the next road section, and a task number not issued.
Optionally, when the vehicle controller of the automated guided vehicle identifies a newly issued task number from the guidance two-dimensional code, the vehicle controller adds a newly received task to be executed to the end of the task queue of the own vehicle.
Optionally, when the central controller generates the guidance two-dimensional code, determining whether the position of the segmentation task distribution device corresponds to the end point of the currently executed task of the automated guided vehicle, if so, adding a completed mark to the currently executed task number when the central controller generates the guidance two-dimensional code, and acquiring a steering angle and a moving distance corresponding to a first road section of a next task to be executed in a task queue of the automated guided vehicle recorded by the central controller to generate the guidance two-dimensional code;
and when the automatic guided vehicle detects that the number of the currently executed task is marked as completed from the guide two-dimensional code, setting the task in the task queue as completed, setting the next task in the task queue as the task being executed, and replacing the number displayed on the second display screen as the number of the currently executed task.
Optionally, the central controller sequentially selects tasks to be executed from the task queue to be executed, and after the tasks are distributed to the automated guided vehicle, the method further includes the following steps:
the central controller plans a path for each task, and divides the path to obtain a plurality of road sections corresponding to each task and the serial numbers of each road section.
Optionally, when the central controller receives the executing task number and the two-dimensional code identifying the identification code of the automated guided vehicle, it determines whether the position of the segment task distribution device that sends the executing task number and the two-dimensional code is located in a path corresponding to the executing task number;
if not, the central controller generates an error-reporting two-dimensional code and sends the error-reporting two-dimensional code to the segmentation task distribution equipment;
a first display screen of the segmentation task distribution equipment displays the error reporting two-dimensional code;
and after the automatic guided vehicle recognizes the error reporting two-dimensional code, stopping at the current position to wait for a worker to process.
The embodiment of the invention also provides an automatic guided vehicle task allocation system based on the Internet of things, which is applied to the automatic guided vehicle task allocation method based on the Internet of things, and the system comprises:
the segmentation task distribution equipment comprises a first camera and a first display screen, and is arranged at each bifurcation junction within the moving range of the automatic guided vehicle;
the central controller is communicated with the subsection task distribution equipment and is arranged in a control center of the automatic guided transport vehicle; and
the vehicle controller is arranged inside the automatic guided transport vehicle, the second display screen and the second camera are arranged on the surface of the automatic guided transport vehicle, the second display screen displays the serial number of the executing task, and the surface of the automatic guided transport vehicle is pasted with a two-dimensional code for identifying the identification code of the vehicle;
wherein:
when a first camera of the segmentation task distribution equipment detects that a two-dimensional code of an automatic guided transport vehicle exists in front of the segmentation task distribution equipment, acquiring a task number being executed and displayed by a second display screen of the automatic guided transport vehicle, and sending the two-dimensional code and the task number being executed to the central controller;
when the central controller receives the executing task number and the two-dimensional code sent by the segmentation task distribution equipment, identifying the two-dimensional code to obtain an identification code of the automatic guided transport vehicle;
the central controller determines a steering angle of the automatic guided vehicle entering the next road section and a moving distance of the automatic guided vehicle on the next road section according to the number of the currently executed tasks of the automatic guided vehicle and the position of the current segmented task distribution equipment, and generates a guiding two-dimensional code, wherein information of the guiding two-dimensional code comprises the steering angle of the next road section and the moving distance of the next road section;
the central controller sends the guide two-dimensional code to the segmentation task distribution equipment, and the segmentation task distribution equipment controls the first display screen to display the guide two-dimensional code;
and when the vehicle controller of the automatic guided transport vehicle identifies that the display screen of the segmentation task distribution equipment displays the guide two-dimensional code, identifying the information of the guide two-dimensional code, and continuously moving according to the steering angle of the next road section and the moving distance of the next road section.
Optionally, the central controller is further configured to sequentially select tasks to be executed from the task queues to be executed in the center, search the task queue of each of the automated guided vehicles recorded by the central controller, search the automated guided vehicle with the fewest tasks in the task queue, and allocate the task to be executed to the automated guided vehicle with the fewest tasks currently.
By adopting the automatic guided vehicle task allocation method and system based on the Internet of things, the invention has the following beneficial effects:
the invention adopts the segmental task distribution equipment, each task path is divided into a plurality of segments through the central controller, and the automatic guided vehicle only needs to record the task number in the task list of the automatic guided vehicle and the information of the nearest road section of the current task, thereby reducing the requirements of the storage capacity and the computing capacity of the automatic guided vehicle; through the active uploading of the task numbers and the vehicle two-dimensional codes of the segmented task distribution equipment, the central controller can master the current position of the automatic guided transport vehicle in real time and judge whether the automatic guided transport vehicle is in a planned path or not, the task execution condition of the automatic guided transport vehicle is conveniently monitored in real time, and therefore supervision of a plurality of automatic guided transport vehicles is improved, and the automatic guided transport vehicle monitoring system is suitable for large-scale popularization and application.
Drawings
Fig. 1 is a flowchart of a task allocation method for an automatic guided vehicle based on the internet of things according to an embodiment of the present invention;
FIG. 2 is a schematic plan view of the range of motion of an automated guided vehicle according to one embodiment of the present invention;
fig. 3 is a flowchart illustrating the central controller generating the guide two-dimensional code when the automated guided vehicle moves to the end of the route of the task according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of an automatic guided vehicle task allocation system based on the internet of things according to an embodiment of the present invention.
Reference numerals:
m100 segmentation task distribution device
M110 first display screen
M120 first camera
M200 central controller
M310 vehicle controller
M320 second display screen
M330 second camera
Detailed Description
In order to more clearly describe the technical contents of the present invention, the following further description is given in conjunction with specific embodiments.
In order to solve the technical problem in the prior art, as shown in fig. 1, the invention provides an automatic guided vehicle task allocation method based on the internet of things. In an embodiment of the present invention, as shown in fig. 2, a segmented task distributing apparatus M100 is respectively disposed at each branch intersection within an activity range of an automated guided vehicle, each road segment within the activity range has a road segment number, the segmented task distributing apparatus M100 includes a first display screen M110 and a first camera M120, a central controller M200 is disposed at a control center of the automated guided vehicle, a second camera M330, a two-dimensional code identifying an identification code of the vehicle, and a second display screen M320 for displaying a task number being executed are disposed on a surface of each automated guided vehicle, and a vehicle controller M310 is disposed inside each automated guided vehicle.
As shown in fig. 1, the method for allocating tasks to the automated guided vehicle based on the internet of things includes the following steps:
the first camera M120 of the segmentation task distribution device M100 detects that there is a two-dimensional code of the automated guided vehicle in front;
the segmentation task distribution equipment M100 acquires the number of the executing task displayed by the second display screen M320 of the automatic guided vehicle, and sends the two-dimensional code and the number of the executing task to the central controller M200; after acquiring the image shot by the first camera M120, the segmentation task distribution device M100 identifies the image, divides a two-dimensional code region and a numbering region, performs digital identification in the numbering region, identifies the number of the executing task, sends the divided image of the two-dimensional code region and the identified number of the executing task to the central controller M200, and processes the image and the number by the central controller M200;
the central controller M200 identifies the two-dimensional code to obtain an identification code of the automatic guided vehicle;
the central controller M200 determines a steering angle of the automated guided vehicle entering the next road section and a moving distance of the automated guided vehicle at the next road section according to the currently executed task number of the automated guided vehicle and the position of the current segmented task distribution device M100, and generates a guidance two-dimensional code, information of which includes the steering angle of the next road section and the moving distance of the next road section; therefore, the segmentation task distribution device M100 does not need to perform complex calculation, the calculated amount and the identified amount are mainly placed in the central controller M200, and the segmentation task distribution device M100 is used as an end node of the internet of things with the central controller M200 as a center, and mainly acquires information and issues segmentation tasks through display guide two-dimensional codes;
the central controller M200 sends the guide two-dimensional code to the segmentation task distribution device M100, and the segmentation task distribution device M100 controls the first display screen M110 to display the guide two-dimensional code;
when the vehicle controller M310 of the automated guided vehicle recognizes that the display screen of the segmentation task distribution device M100 displays the guidance two-dimensional code, it recognizes information of the guidance two-dimensional code and continues to move according to the steering angle of the next road segment and the moving distance of the next road segment. Specifically, the automated guided vehicle may enter the next road section by turning at the current position according to the turning angle of the next road section, and after the distance moving along the direction of the next road section reaches the received moving distance of the next road section, the automated guided vehicle stops slightly, and waits for the camera of the segmented task distribution device M100 of the next road section to acquire the two-dimensional code information of the vehicle and the currently executed task code. Here, the time for the automatically guided vehicle to stay may be set as required, for example, stay for 30 seconds, 20 seconds, and so on, for the first camera M120 to acquire the two-dimensional code and the display data of the second display screen M320, and for the second camera M330 to acquire the image of the guide two-dimensional code. Further, the automated guided vehicle may be configured to move after scanning to the guide two-dimensional code and recognizing a steering angle and a moving distance therein, and otherwise stay in place.
The Internet of Things (The Internet of Things, IOT for short) is to collect any object or process needing monitoring, connection and interaction in real time and collect various required information such as sound, light, heat, electricity, mechanics, chemistry, biology and location through various devices and technologies such as various information sensors, radio frequency identification technologies, global positioning systems, infrared sensors and laser scanners, and to realize ubiquitous connection of objects and people through various possible network accesses, so as to realize intelligent sensing, identification and management of objects and processes. The internet of things is an information bearer based on the internet, a traditional telecommunication network and the like, and all common physical objects which can be independently addressed form an interconnected network. According to the invention, the segmented task distribution equipment M100 is added, the first camera M120 of the segmented task distribution equipment M100 is used as an end information acquisition node in the Internet of things, the first display screen M110 of the segmented task distribution equipment M100 is used as an end information display node in the Internet of things, and interaction with the automatic guided vehicle is carried out through the segmented task distribution equipment M100. Therefore, the invention adopts the segmented task distribution equipment M100, each task path is divided into a plurality of segments through the central controller M200, the automatic guided vehicle only needs to record the task number in the task list of the automatic guided vehicle and the information of the nearest road section of the current task, the requirements of the storage capacity and the computing capacity of the automatic guided vehicle are reduced, the automatic guided vehicle does not need to be additionally provided with any positioning module and wireless communication module, the self weight of the automatic guided vehicle is reduced, and the automatic guided vehicle can conveniently transport more goods and execute more tasks.
In this embodiment, the method for allocating tasks to an automated guided vehicle based on the internet of things further includes a step in which the central controller M200 allocates a transportation task to the automated guided vehicle, and specifically, allocating a transportation task includes the following steps:
the central controller M200 sequentially selects tasks to be executed from a central task queue to be executed;
the central controller M200 searches for a task queue of each of the automated guided vehicles recorded by itself;
the central controller M200 searches for the automatic guide transport vehicle with the least task in the task queue and distributes the task to be executed to the automatic guide transport vehicle with the least task at present, so that the balance of the tasks of all the automatic guide transport vehicles can be guaranteed, the reasonable arrangement and scheduling of the tasks are realized, and the phenomenon that some automatic guide transport vehicles are too idle and some automatic guide transport vehicles are too busy to delay the task execution progress is avoided.
In this embodiment, when the central controller M200 generates the guidance two-dimensional code, it is determined whether the currently executed task number of the automated guided vehicle is the first task in the task queue of the automated guided vehicle recorded by the central controller M;
if not, the central controller M200 sets each task in the task queue of the automated guided vehicle before the currently-executed task number to be completed, and removes the completed task from the task queue of the automated guided vehicle, so that the currently-executed task number displayed on the surface of the automated guided vehicle is the first task in the task queue of the automated guided vehicle recorded in the central controller M200, thereby maintaining consistency of the task queue of the own vehicle recorded by the automated guided vehicle and the task queue of the automated guided vehicle recorded in the central controller M200. Even if the central controller M200 does not directly communicate with the automated guided vehicle, the central controller M200 can grasp the task completion progress of the automated guided vehicle in real time.
In this embodiment, the central controller M200 may also issue a new task by issuing a guidance two-dimensional code, specifically, when the central controller M200 generates the guidance two-dimensional code, it determines whether there is a task that is not issued in a task queue of the automated guided vehicle recorded by the central controller M200, and if so, the central controller M200 generates the guidance two-dimensional code according to a steering angle of the automated guided vehicle entering a next road section, a moving distance of the automated guided vehicle on the next road section, and a task number that is not issued.
In this embodiment, when the vehicle controller M310 of the automated guided vehicle identifies a newly issued task number from the guidance two-dimensional code, the vehicle controller M310 adds a newly received task to be executed to the end of the task queue of the vehicle, so as to keep the task queue recorded by the vehicle consistent with the task queue recorded in the central controller M200.
As shown in fig. 3, in this embodiment, when the central controller M200 generates the guidance two-dimensional code, it is determined whether the position of the segmentation task distribution device M100 corresponds to the end point of the currently executed task of the automated guided vehicle, if so, when the central controller M200 generates the guidance two-dimensional code, a completed mark is added to the currently executed task number, and a steering angle and a moving distance corresponding to the first road segment of the next task to be executed in the task queue of the automated guided vehicle recorded by itself are obtained, so as to generate the guidance two-dimensional code;
when the automatic guided vehicle detects that the number of the currently executed task is marked as completed from the guide two-dimensional code, the task in the task queue is set to be completed, the next task in the task queue is set as the task being executed, and the number displayed on the second display screen M320 is changed to be the number of the currently executed task.
And the automatic guide transport vehicle turns according to the steering angle in the guide two-dimensional code and moves according to the moving distance, so that the automatic guide transport vehicle can enter a first road section where a next task is to be executed. Specifically, when the current task is completed and the next task is executed, the end point of the current task may be a distance from the start point of the next task, and at this time, a section from the end point of the current task to the start point of the next task needs to be added to the front end of the path of the next task, and the extended path is used as the path of the next task. Thus, the first segment of the next task may be the first segment in the transition segments from the end point of the current task to the start point of the next task.
In this embodiment, the central controller M200 sequentially selects tasks to be executed from the task queue to be executed, and after allocating the tasks to the automated guided vehicle, further includes the following steps:
the central controller M200 plans a path for each task, and divides the path to obtain a plurality of road segments corresponding to each task and the number of each road segment. Specifically, after a task is assigned to an automated guided vehicle, it is necessary to determine an excessive route between the start point of the newly assigned task and the end point of the previous task, and add the excessive route to the route of the newly assigned task as well as the route of the newly assigned task.
Further, the center controller M200 in the present invention does not directly communicate with the automated guided vehicle, but the center controller M200 determines the position of the automated guided vehicle at this time by determining the position of the segment task distributing apparatus M100 that transmits the automated guided vehicle information. That is, the central controller M200 stores the mapping relationship between the numbers and the positions of the segment task distribution devices M100, and when receiving the information sent by the segment task distribution devices M100, searches the positions of the devices according to the numbers of the devices sending the information. Specifically, when the central controller M200 receives the currently executed task number and the two-dimensional code identifying the identification code of the automated guided vehicle, it determines whether the position of the segment task distribution device M100 that transmits the currently executed task number and the two-dimensional code is located in the path corresponding to the currently executed task number;
if yes, the central controller M200 determines that the task execution of the automated guided vehicle is normal, and determines whether the position of the automated guided vehicle is normal when receiving the information of the automated guided vehicle issued by the segment task distribution device M100 next time;
if not, the central controller M200 determines that the task of the automated guided vehicle is not normally executed, generates an error-reporting two-dimensional code, and sends the error-reporting two-dimensional code to the segment task distribution device M100;
the first display screen M110 of the segmentation task distribution device M100 displays the error reporting two-dimensional code;
and after the automatic guided vehicle recognizes the error reporting two-dimensional code, stopping at the current position to wait for a worker to process.
Therefore, according to the invention, by actively uploading the task numbers and the vehicle two-dimensional codes by the segmented task distribution equipment M100, the central controller M200 can master the current position of the automatic guided vehicle in real time and judge whether the automatic guided vehicle is on a planned path, so that the task execution condition of the automatic guided vehicle can be conveniently monitored in real time, and the supervision of a plurality of automatic guided vehicles is improved.
As shown in fig. 4, an embodiment of the present invention further provides an automatic guided vehicle task allocation system based on the internet of things, which is applied to the automatic guided vehicle task allocation method based on the internet of things, and the system includes:
the segmentation task distribution equipment M100 comprises a camera and a display screen, and the segmentation task distribution equipment M100 is arranged at each bifurcation junction in the moving range of the automatic guided vehicle;
a central controller M200 communicating with the segmental task distribution device M100, the central controller M200 being provided in a control center of the automated guided vehicle; and
the vehicle controller M310 and the second display screen M320 are arranged on each automatic guided vehicle, the vehicle controller M310 is arranged inside the automatic guided vehicle, the second display screen M320 is arranged on the surface of the automatic guided vehicle, the second display screen M320 displays the serial number of the executing task, and the surface of the automatic guided vehicle is also pasted with a two-dimensional code for identifying the identification code of the vehicle;
wherein:
when the camera of the segmentation task distribution equipment M100 detects that the two-dimensional code of the automatic guided vehicle is in front of the segmentation task distribution equipment, the number of the currently executed task displayed by a second display screen M320 of the automatic guided vehicle is obtained, and the two-dimensional code and the number of the currently executed task are sent to the central controller M200;
when receiving the executing task number and the two-dimensional code sent by the segmentation task distribution equipment M100, the central controller M200 identifies the two-dimensional code to obtain an identification code of the automatic guided vehicle;
the central controller M200 determines a steering angle of the automated guided vehicle entering the next road section and a moving distance of the automated guided vehicle at the next road section according to the currently executed task number of the automated guided vehicle and the position of the current segmented task distribution device M100, and generates a guidance two-dimensional code, information of which includes the steering angle of the next road section and the moving distance of the next road section;
the central controller M200 sends the guide two-dimensional code to the segmentation task distribution device M100, and the segmentation task distribution device M100 controls the first display screen M110 to display the guide two-dimensional code;
when the vehicle controller M310 of the automated guided vehicle recognizes that the display screen of the segmentation task distribution device M100 displays the guidance two-dimensional code, it recognizes information of the guidance two-dimensional code and continues to move according to the steering angle of the next road segment and the moving distance of the next road segment.
Therefore, the automatic guided vehicle task allocation system based on the internet of things adopts the segmented task distribution device M100, each task path is divided into multiple segments through the central controller M200, the automatic guided vehicle only needs to record the task number in the task list of the automatic guided vehicle and the information of the nearest segment of the current task, and the requirements of the storage capacity and the computing capacity of the automatic guided vehicle are reduced.
In this embodiment, the central controller M200 is further configured to periodically allocate the tasks to be executed to each automated guided vehicle, and the central controller M200 maintains a task queue of each automated guided vehicle by itself, and specifically, the central controller M200 sequentially selects the tasks to be executed from the task queue to be executed in the center, searches the task queue of each automated guided vehicle recorded by itself, searches the automated guided vehicle with the fewest tasks in the task queue, and allocates the tasks to be executed to the automated guided vehicles with the fewest tasks currently, where the allocation is only that the central controller M200 adds the tasks to the task queue of the automated guided vehicle stored by the central controller M200 itself, and when the two-dimensional codes of the corresponding automated guided vehicles sent by the segmented task distribution device M100 are received, the tasks are added to the two-dimensional codes when the two-dimensional codes are generated, after the guided two-dimensional code is identified by the automatic guided vehicle, the newly allocated task in the guided two-dimensional code is automatically added into the task queue stored in the vehicle, so as to be consistent with the task queue stored in the central controller M200.
In the automatic guided vehicle task allocation system based on the internet of things, the functions of each functional module can be realized by adopting the specific implementation manner of each step in the automatic guided vehicle task allocation method based on the internet of things, and are not described herein again.
Compared with the prior art, the method and the system for distributing the tasks of the automatic guided transport vehicle based on the Internet of things have the following beneficial effects that:
the invention adopts the segmental task distribution equipment, each task path is divided into a plurality of segments through the central controller, and the automatic guided vehicle only needs to record the task number in the task list of the automatic guided vehicle and the information of the nearest road section of the current task, thereby reducing the requirements of the storage capacity and the computing capacity of the automatic guided vehicle; through the active uploading of the task numbers and the vehicle two-dimensional codes of the segmented task distribution equipment, the central controller can master the current position of the automatic guided transport vehicle in real time and judge whether the automatic guided transport vehicle is in a planned path or not, the task execution condition of the automatic guided transport vehicle is conveniently monitored in real time, and therefore supervision of a plurality of automatic guided transport vehicles is improved, and the automatic guided transport vehicle monitoring system is suitable for large-scale popularization and application.
In this specification, the invention has been described with reference to specific embodiments thereof. It will, however, be evident that various modifications and changes may be made thereto without departing from the broader spirit and scope of the invention. The specification and drawings are, accordingly, to be regarded in an illustrative rather than a restrictive sense.
Claims (10)
1. An automatic guided transport vehicle task allocation method based on the Internet of things is characterized in that segmented task distribution equipment is arranged at each branched intersection in the moving range of the automatic guided transport vehicle, each road section in the moving range is provided with a road section number, the segmented task distribution equipment comprises a first display screen and a first camera, a central controller is arranged at the control center of the automatic guided transport vehicle, a second camera, a two-dimensional code for identifying an identification code of the vehicle and a second display screen for displaying the number of the executing task are arranged on the surface of each automatic guided transport vehicle, and a vehicle controller is arranged in each automatic guided transport vehicle;
the method comprises the following steps:
a first camera of the segmentation task distribution equipment detects that a two-dimensional code of an automatic guided transport vehicle is in front of the segmentation task distribution equipment;
the segmentation task distribution equipment acquires a number of a task being executed displayed by a second display screen of the automatic guided vehicle, and sends the two-dimensional code and the number of the task being executed to the central controller;
the central controller identifies the two-dimensional code to obtain an identification code of the automatic guided vehicle;
the central controller determines a steering angle of the automatic guided vehicle entering the next road section and a moving distance of the automatic guided vehicle on the next road section according to the number of the currently executed tasks of the automatic guided vehicle and the position of the current segmented task distribution equipment, and generates a guiding two-dimensional code, wherein information of the guiding two-dimensional code comprises the steering angle of the next road section and the moving distance of the next road section;
the central controller sends the guide two-dimensional code to the segmentation task distribution equipment, and the segmentation task distribution equipment controls the first display screen to display the guide two-dimensional code;
and when the vehicle controller of the automatic guided transport vehicle identifies that the display screen of the segmented task distribution equipment displays the guide two-dimensional code through the second camera, identifying the information of the guide two-dimensional code, and continuously moving according to the steering angle of the next road section and the moving distance of the next road section.
2. The method for assigning tasks to an automated guided vehicle based on the internet of things according to claim 1, further comprising the steps of:
the central controller sequentially selects tasks to be executed from task queues to be executed in the center, searches the task queues of the automatic guided vehicles recorded by the central controller, searches the automatic guided vehicles with the fewest tasks in the task queues, and distributes the tasks to be executed to the automatic guided vehicles with the fewest tasks at present.
3. The method for allocating tasks to the automated guided vehicle based on the internet of things as claimed in claim 2, wherein when the central controller generates the guidance two-dimensional code, it is determined whether a currently executed task number of the automated guided vehicle is a first task in a task queue of the automated guided vehicle recorded by the central controller;
if not, the central controller sets each task in the task queue of the automatic guided vehicle before the executing task number to be completed, and removes the completed task from the task queue of the automatic guided vehicle.
4. The method for distributing tasks of the automated guided vehicle based on the internet of things as claimed in claim 3, wherein the central controller determines whether tasks which are not issued exist in the task queue of the automated guided vehicle recorded by the central controller when the central controller generates the guide two-dimensional code, and if so, the central controller generates the guide two-dimensional code according to a steering angle of the automated guided vehicle entering the next road section, a moving distance of the automated guided vehicle on the next road section and a task number which is not issued.
5. The method for distributing the tasks of the automated guided vehicle based on the internet of things of claim 4, wherein when the vehicle controller of the automated guided vehicle recognizes a newly issued task number from the guidance two-dimensional code, the vehicle controller adds a newly received task to be executed to the end of a task queue of the vehicle.
6. The method for allocating tasks to the automated guided vehicle based on the internet of things according to claim 5, wherein when the central controller generates the guidance two-dimensional code, it is determined whether the position of the segmentation task distribution device corresponds to the end point of the currently executed task of the automated guided vehicle, and if so, when the central controller generates the guidance two-dimensional code, a completed mark is added to the currently executed task number, and a steering angle and a moving distance corresponding to a first road segment of a next task to be executed in a task queue of the automated guided vehicle recorded by the central controller are obtained, so as to generate the guidance two-dimensional code;
and when the automatic guided vehicle detects that the number of the currently executed task is marked as completed from the guide two-dimensional code, setting the task in the task queue as completed, setting the next task in the task queue as the task being executed, and replacing the number displayed on the second display screen as the number of the currently executed task.
7. The method for distributing tasks to the automated guided vehicle based on the internet of things according to claim 4, wherein the central controller sequentially selects tasks to be executed from the task queue to be executed, and after distributing the tasks to the automated guided vehicle, the method further comprises the following steps:
the central controller plans a path for each task, and divides the path to obtain a plurality of road sections corresponding to each task and the serial numbers of each road section.
8. The method for allocating tasks to automated guided vehicles based on the internet of things of claim 7, wherein the central controller determines whether the position of the segmentation task distribution device sending the task number being executed and the two-dimensional code is located in the path corresponding to the task number being executed when receiving the task number being executed and the two-dimensional code identifying the identification code of the automated guided vehicle;
if not, the central controller generates an error-reporting two-dimensional code and sends the error-reporting two-dimensional code to the segmentation task distribution equipment;
a first display screen of the segmentation task distribution equipment displays the error reporting two-dimensional code;
and after the automatic guided vehicle recognizes the error reporting two-dimensional code, stopping at the current position to wait for a worker to process.
9. An automatic guided vehicle task allocation system based on the internet of things is applied to the automatic guided vehicle task allocation method based on the internet of things of any one of claims 1 to 8, and the system comprises the following components:
the segmentation task distribution equipment comprises a first camera and a first display screen, and is arranged at each bifurcation junction within the moving range of the automatic guided vehicle;
the central controller is communicated with the subsection task distribution equipment and is arranged in a control center of the automatic guided transport vehicle; and
the vehicle controller is arranged inside the automatic guided transport vehicle, the second display screen is arranged on the surface of the automatic guided transport vehicle, the second display screen displays the serial number of the executing task, and the surface of the automatic guided transport vehicle is also pasted with a two-dimensional code for identifying the identification code of the vehicle;
wherein:
when a first camera of the segmentation task distribution equipment detects that a two-dimensional code of an automatic guided transport vehicle exists in front of the segmentation task distribution equipment, acquiring a task number being executed and displayed by a second display screen of the automatic guided transport vehicle, and sending the two-dimensional code and the task number being executed to the central controller;
when the central controller receives the executing task number and the two-dimensional code sent by the segmentation task distribution equipment, identifying the two-dimensional code to obtain an identification code of the automatic guided transport vehicle;
the central controller determines a steering angle of the automatic guided vehicle entering the next road section and a moving distance of the automatic guided vehicle on the next road section according to the number of the currently executed tasks of the automatic guided vehicle and the position of the current segmented task distribution equipment, and generates a guiding two-dimensional code, wherein information of the guiding two-dimensional code comprises the steering angle of the next road section and the moving distance of the next road section;
the central controller sends the guide two-dimensional code to the segmentation task distribution equipment, and the segmentation task distribution equipment controls the first display screen to display the guide two-dimensional code;
and when the vehicle controller of the automatic guided transport vehicle identifies that the display screen of the segmented task distribution equipment displays the guide two-dimensional code through the second camera, identifying the information of the guide two-dimensional code, and continuously moving according to the steering angle of the next road section and the moving distance of the next road section.
10. The system for distributing tasks of automated guided vehicles based on internet of things according to claim 9, wherein the central controller is further configured to sequentially select tasks to be executed from task queues to be executed in the center, search for a task queue of each automated guided vehicle recorded by the central controller, search for an automated guided vehicle with the fewest tasks in the task queue, and distribute the tasks to be executed to the automated guided vehicles with the fewest tasks currently.
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| CN113467486A (en) * | 2021-09-03 | 2021-10-01 | 季华实验室 | AGV task management method and device, electronic equipment and storage medium |
| CN113467486B (en) * | 2021-09-03 | 2021-11-30 | 季华实验室 | AGV task management method and device, electronic equipment and storage medium |
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