CN111573114A - Storage container transport control method, storage container transport control device, storage container transport control apparatus, and storage medium - Google Patents
Storage container transport control method, storage container transport control device, storage container transport control apparatus, and storage medium Download PDFInfo
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- CN111573114A CN111573114A CN201910124869.XA CN201910124869A CN111573114A CN 111573114 A CN111573114 A CN 111573114A CN 201910124869 A CN201910124869 A CN 201910124869A CN 111573114 A CN111573114 A CN 111573114A
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- transport vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
- B65G1/1376—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses the orders being assembled on a commissioning conveyor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/02—Control or detection
- B65G2203/0208—Control or detection relating to the transported articles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/02—Control or detection
- B65G2203/0266—Control or detection relating to the load carrier(s)
Abstract
The embodiment of the invention discloses a storage container carrying control method, a storage container carrying control device, storage container carrying control equipment and a storage medium. The method comprises the following steps: determining a target combination mode of the automatic guided transport vehicle required for transporting the container to be transported according to the attribute information of the container to be transported and the attribute information of the automatic guided transport vehicle; controlling the automatic guided vehicles to combine according to the target combination mode to form a target vehicle combination; and controlling the target transport vehicle combination to transport the container to be transported. The embodiment of the invention adopts the technical means of arranging and combining the AGVs on the basis of the conventional AGV, overcomes the technical problem that a single AGV is difficult to adapt to various storage containers and cannot be transported, realizes the adaptation of different storage containers in a storage system, and further achieves the technical effects of increasing the application range of the AGV, improving the transport efficiency of the storage containers and reducing the input cost of the AGV in the storage system.
Description
Technical Field
The embodiment of the invention relates to the technical field of warehouse logistics, in particular to a storage container carrying control method, a storage container carrying control device, storage container carrying equipment and a storage medium.
Background
With the rapid development of modern warehouse storage technology, an Automated Guided Vehicle (AGV) plays an increasingly important role in the warehousing field, and the AGV carries storage containers such as trays and shelves to carry and store goods.
In the existing warehousing system, AGVs generally carry square or nearly square storage containers, one AGV corresponds to one storage container such as a shelf or tray with a size, a weight grade or a model, and for the storage containers with different sizes, weight grades or models, different AGVs corresponding to the AGVs are usually designed in an adaptive manner so as to meet the carrying requirements of the storage containers. Therefore, in the process of transporting the storage container, the AGV is matched with the storage container to be transported, and the matched AGV is controlled to lift up the storage container to be transported and drive to a destination so as to execute a transporting action.
In the process of implementing the invention, the inventor finds that at least the following problems exist in the prior art: the AGV has the advantages that the application range of the AGV in the prior art is single, the carrying mode is inflexible, various storage containers in the storage system are difficult to adapt, the carrying efficiency of the storage containers is reduced, and the input cost of the AGV in the storage system is increased.
Disclosure of Invention
The embodiment of the invention provides a storage container carrying control method, a storage container carrying control device, storage container carrying control equipment and a storage medium, which can be adapted to various storage containers and improve the carrying efficiency of the storage containers.
In a first aspect, an embodiment of the present invention provides a storage container transportation control method, including:
determining a target combination mode of the automatic guided transport vehicle required for transporting the container to be transported according to the attribute information of the container to be transported and the attribute information of the automatic guided transport vehicle;
controlling the automatic guided vehicles to combine according to the target combination mode to form a target vehicle combination;
and controlling the target transport vehicle combination to transport the container to be transported.
In a second aspect, an embodiment of the present invention provides a storage container handling control apparatus, including:
the carrying mode planning module is used for determining a target combination mode of the automatic guided transport vehicle required for carrying the container to be carried according to the attribute information of the container to be carried and the attribute information of the automatic guided transport vehicle;
the combined control module is used for controlling the automatic guided transport vehicles to be combined according to the target combination mode to form a target transport vehicle combination;
and the container carrying module is used for controlling the target transport vehicle combination to carry the container to be carried.
In a third aspect, an embodiment of the present invention provides an apparatus, including:
one or more processors;
a memory for storing one or more programs;
when the one or more programs are executed by the one or more processors, the one or more processors implement the method for controlling the handling of a storage container according to any embodiment of the present invention.
In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements a storage container transportation control method according to any embodiment of the present invention.
The embodiment of the invention has the following beneficial effects that according to the attribute information of the container to be carried and the attribute information of the automatic guided transport vehicle, the target combination mode of the AGV carrying the container to be carried is planned, the AGV in the storage environment is controlled to be combined according to the target combination mode, so that the target transport vehicle combination is formed, and the target transport vehicle combination consisting of at least two AGVs is controlled to carry one container to be carried together. Therefore, the embodiment of the invention adopts the technical means of arranging and combining the AGVs on the basis of the conventional AGV, overcomes the technical problem that a single AGV is difficult to adapt to various storage containers and cannot be transported, realizes the adaptation of different storage containers in the storage system, and further achieves the technical effects of increasing the application range of the AGV, improving the transport efficiency of the storage containers and reducing the input cost of the AGV in the storage system.
Drawings
Fig. 1 is a flowchart of a storage container handling control method according to an embodiment of the present invention;
fig. 2 is a flowchart of a storage container handling control method according to a second embodiment of the present invention;
FIG. 3 is an exemplary diagram of a target arrangement provided in the second embodiment of the present invention;
FIG. 4 is an exemplary diagram of another arrangement of objects provided by the second embodiment of the present invention;
FIG. 5 is a block diagram of a control system in an AGV according to a second embodiment of the present invention;
fig. 6 is a block diagram of a control system in a target vehicle combination according to a second embodiment of the present invention;
FIG. 7 is a diagram illustrating an example of a response movement of a combination of target vehicles according to a second embodiment of the present invention;
fig. 8 is a schematic structural diagram of a storage container handling control apparatus according to a third embodiment of the present invention;
fig. 9 is a schematic structural diagram of an apparatus according to a fourth embodiment of the present invention.
Detailed Description
The embodiments of the present invention will be described in further detail with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the embodiments of the invention and that no limitation of the invention is intended. It should be further noted that, for convenience of description, only some structures, not all structures, relating to the embodiments of the present invention are shown in the drawings.
Example one
Fig. 1 is a flowchart of a storage container handling control method according to an embodiment of the present invention, which may be implemented by a storage container handling control apparatus implemented in software and/or hardware, and preferably configured in a storage console. The method specifically comprises the following steps:
and step 110, determining a target combination mode of the automatic guided vehicle required for conveying the container to be conveyed according to the attribute information of the container to be conveyed and the attribute information of the automatic guided vehicle.
In an embodiment of the present invention, the storage environment may be divided into work areas such as storage areas and workstations, wherein the storage areas store various storage containers according to a certain storage rule, such as shelves, trays or bins, for storing corresponding articles by categories. An Automated Guided Vehicle (AGV) is a transport Vehicle equipped with an electromagnetic or optical automatic guide device, which can travel along a predetermined guide path and has safety protection and various transfer functions. Through the control of the storage console, the AGV can be controlled to shuttle in each working area of the storage environment, and tasks such as taking containers, placing containers and carrying containers are executed. According to the tasks related to container transportation, such as tally tasks, warehouse-out tasks and the like issued by the warehousing console, the storage containers to be transported can be regarded as containers to be transported, and the containers to be transported can be located in each working area in the warehousing environment, such as a storage area or a workstation.
In this embodiment, in order to avoid designing the corresponding AGV to various storage container adaptations in the storage environment, reduce the input cost of AGV kind and quantity in AGV design cost and the storage environment, on the basis of current AGV in the storage environment, arrange the combination with AGV to form and wait to carry container assorted target transport vechicle combination. The target combination mode of the AGV required for transporting the container to be transported can be determined according to the attribute information of the container to be transported and the attribute information of the automatic guided transport vehicle.
Specifically, the attribute information of the container to be handled includes at least one of a weight grade, a container size, and a container model, and the attribute information of the automated guided vehicle includes at least one of a type, a load capacity, a load bearing size, and a vehicle model to which the automated guided vehicle belongs. The target combination mode defines a combination mode of the AGVs adapted to the containers to be conveyed, wherein at least the target type, the target arrangement form, the target quantity and the like of the AGVs can be included, and the combination mode can be determined through the matching of the attribute information according to the attribute information of the containers to be conveyed and the attribute information of the automatic guided vehicle. For example, what conventional AGVs carried all is the goods shelves/tray of square or nearly square, to the goods shelves/tray of irregular shape, like rectangular shape tray, then can confirm that two at least conventional AGVs arrange into with the rectangular shape combination mode of rectangular shape tray size assorted to a plurality of AGVs that realize utilizing the rectangular shape combination carry this rectangular shape tray jointly.
Exemplarily, the target type of the automated guided vehicle required in the target combination mode is determined according to the attribute information of the container to be handled and the attribute information of each type of automated guided vehicle; determining a target arrangement form of the automatic guided transport vehicles in the target combination mode according to the attribute information of the automatic guided transport vehicles of the target types and the attribute information of the containers to be carried; the target number of automated guided vehicles required in the target combination mode is determined according to the target arrangement form.
And step 120, controlling the automatic guided vehicles to combine according to the target combination mode to form a target vehicle combination.
In the embodiment of the invention, the storage control console plans the target combination mode for transporting the container to be transported in advance according to the AGV condition in the storage environment and the information of the container to be transported, so that the AGV specified by the target combination mode is selected from the storage environment according to the target combination mode, and the selected AGV is combined according to the target combination mode to form the target transport vehicle combination adaptive to transporting the container to be transported. The target transport vehicle combination can be matched with the containers to be transported on the basis of load capacity and bearing size, so that the AGV is matched without special design of special AGV which only aims at the containers to be transported, and the design cost of the AGV and the input cost of the AGV are reduced.
Specifically, the target combination mode at least includes a target type, a target arrangement form, a target number and the like of the AGVs, and the AGVs with the target types and the target numbers can be selected as the AGVs to be combined according to the target combination mode; the AGV to be combined is idle, and the distance between the AGV to be combined and the container to be transported meets a preset condition, for example, the AGV which is closest to the container to be transported. And secondly, respectively controlling each AGV to be combined to move to a preset position for arrangement according to the target arrangement form in the target combination mode. The AGV control system comprises a main control board and a transport control board, wherein the main control board is used for receiving a control instruction issued by a storage console and issuing an action instruction to the transport control board, and the transport control board is used for receiving the action instruction issued by the main control board and controlling a motor and the like to realize the movement of the AGV. Therefore, in the present embodiment, after the AGVs to be combined are arranged in the form, the main control board of one target AGV can be determined from the AGVs to be combined as the main control board, the communication connection between the main control board and the operation control board in each AGV to be combined is disconnected, and the communication connection between the main control board and the operation control board of each AGV to be combined is established, so as to form the target transport vehicle combination, thereby forming the unified control in the communication mode.
Therefore, when the container to be transported exceeds the bearing range of a single AGV, at least two AGVs are combined together to form a brand-new target transport vehicle combination matched with the container to be transported through the external combination form and the internal communication mode of the AGV, and the application range of the AGV and the flexibility of transporting the storage container are greatly improved.
And step 130, controlling the target transport vehicle combination to transport the container to be transported.
In the embodiment of the invention, the target transport vehicle set is combined into a whole, and the whole control and action can be realized. Therefore, after the adaptive target transport vehicle combination is obtained for the container to be transported, the warehousing control console can control the target transport vehicle to transport the container to be transported, such as to perform the actions of executing, rotating, jacking, lowering and the like.
Specifically, a carrying task instruction including a container to be carried is sent to a main control board of the target transport vehicle combination, and carrying action control instructions generated based on the carrying task instruction are respectively and synchronously sent to the carrying control boards of all the AGVs in the target transport vehicle combination by the main control board so as to control the target transport vehicle combination to carry the container to be carried.
In view of the fact that the total main control board issues the transport action control instruction to the transport control boards of the AGVs, the transport control boards of the AGVs have time delay and response delay of the hardware transmission lines, so as to avoid dangerous phenomena such as tilting and overturning of the transported containers due to asynchronous actions of the AGVs in the target transport vehicle combination caused by the delay, the embodiment solves the problem of synchronous action response of the AGVs in the target transport vehicle, and is elaborated in detail in the following embodiments.
The technical scheme of this embodiment has following beneficial effect, according to the attribute information of waiting to carry the container and the attribute information of automated guided transporting vehicle, plans through the target combination mode to the AGV that the transport was waiting to carry the container, and AGV in the control storage environment makes up according to the target combination mode, forms the combination of target transport vehicle to control the common transport of the combination of target transport vehicles who comprises two at least AGV treats a transport container. Therefore, the embodiment of the invention adopts the technical means of arranging and combining the AGVs on the basis of the conventional AGV, overcomes the technical problem that a single AGV is difficult to adapt to various storage containers and cannot be transported, realizes the adaptation of different storage containers in the storage system, and further achieves the technical effects of increasing the application range of the AGV, improving the transport efficiency of the storage containers and reducing the input cost of the AGV in the storage system.
Example two
In this embodiment, on the basis of the first embodiment, a preferred embodiment of the storage container transportation control method is provided, which is capable of planning a target combination mode to combine AGVs, and controlling a target transport vehicle combination to perform a synchronous transportation operation response. Fig. 2 is a flowchart of a storage container handling control method according to a second embodiment of the present invention, as shown in fig. 2, the method includes the following specific steps:
and step 210, determining the target type of the automatic guided vehicle required in the target combination mode according to the attribute information of the container to be carried and the attribute information of each type of automatic guided vehicle.
In the specific embodiment of the present invention, the storage environment may include more than one type of AGVs, and when the target combination mode is planned, an AGV that meets the transport requirement of a container to be transported may be determined from the storage environment, and the selected AGV type may be determined as the target type of the target combination mode. The target type can be one type or multiple types according to the carrying requirement of the container to be carried.
Specifically, the target type may be determined according to the property information of the containers to be transported and the AGVs of various types in the storage environment. The attribute information of the container to be handled comprises at least one of a weight grade, a container size and a container model, wherein the weight grade of the container to be handled covers the weight of the container capable of bearing the articles, or the attribute information of the container to be handled further comprises the weight information of the articles stored in the container. The attribute information of the AGV includes at least one of a type, a load capacity, a load size, and a transport model. When the target combination mode is planned, the attribute information of the container to be carried is adapted to the attribute information of each type of AGV in the storage environment, and the type of the AGV which meets the carrying requirements of the container to be carried in the aspects of bearing and size after combination can be selected as the target type. The present embodiment does not limit the adaptation mode of the AGV type, and any information matching mode may be applied to the present embodiment.
And step 220, determining the target arrangement form of the automatic guided vehicles in the target combination mode according to the attribute information of the automatic guided vehicles of the target types and the attribute information of the containers to be carried.
In particular embodiments of the present invention, conventional AGVs are generally adapted to handle storage containers having a square or near-square bottom, and are therefore incapable of handling storage containers of inconsistent or irregular dimensions. Therefore, after determining the target types of the to-be-transported containers and the AGVs transporting the to-be-transported containers, the present embodiment may plan the target arrangement form of the AGVs from the combination form according to the attribute information of the AGVs of the target types and the attribute information of the to-be-transported containers, such as information about size and shape, in the case of adopting the minimum number of AGVs, so that the combined target transport vehicle combination can stably receive the to-be-transported containers in the form. The information of the shape, size or area of the AGV in the target arrangement form can be consistent with the shape, size or area of the bottom surface of the container to be transported, and the shape information does not need to be completely consistent according to the transport characteristics of the AGV of the target type, and the target transport vehicle combination can stably receive the container to be transported in shape.
For example, multiple AGVs may be arranged in different matrix shapes depending on the shape of the container to be handled. For example, as shown in fig. 3, for a square rack with a large size, an arrangement form in which the target arrangement form is a 2 × 2 matrix may be planned, and a plurality of AGVs can collectively transport the square rack with the large size. For another example, as shown in fig. 4, a rectangular rack may be arranged in a 1 × N matrix, and a plurality of AGVs may collectively transport a large rectangular rack. The target arrangement form in this embodiment is not limited to the matrix arrangement form, and any arrangement form that can meet the transportation requirement of the container to be transported may be applied to this embodiment.
In this embodiment, the target arrangement form can adopt a compact arrangement mode, that is, the distance between adjacent AGVs is planned to be the minimum, and simultaneously, a movable space is reserved between the adjacent AGVs, so that the influence on the stability of the receiving container caused by collision between the adjacent AGVs in the moving process such as rotation is avoided. In addition, the target arrangement mode can also adopt a non-compact arrangement mode, namely a certain distance between adjacent AGVs can be planned, and the stability of the receiving container is not influenced. Taking the target arrangement of fig. 4 as an example, fig. 4 adopts a compact arrangement; in addition, the stability of rectangle goods shelves lies in long limit, consequently can adopt 2 to 3 AGVs to long limit as the standard, constitutes the target arrangement form that has the symmetry to the quantity that has reduced combination AGV. However, when the container to be handled is handled, the center of the bottom of the container to be handled is aligned with the symmetry in the target arrangement, and the container to be handled is handled in a laterally symmetrical structural relationship.
In an exemplary embodiment of the present invention, the number of targets needed for an AGV may be determined based on the arrangement of the targets. For example, in the example of fig. 3 described above, according to the object arrangement form of the 2 × 2 matrix, the number of objects of AGVs required in the object combination mode can be determined to be 4.
Step 240, selecting the target number of the automatic guided vehicles with the types as the target types as the automatic guided vehicles to be combined according to the target combination mode; the working state of the automatic guided transport vehicle to be combined is idle, and the distance between the automatic guided transport vehicle to be combined and the container to be carried meets a preset condition.
In the embodiment of the invention, after the container to be transported is determined and the target combination mode is planned, the combination and transport control of the AGV can be realized according to the target combination mode. Specifically, according to the target combination mode, the automatic guided vehicles with the target number and the target types of the automatic guided vehicles are selected as the AGV to be combined. In order to improve the combination efficiency of the AGVs and the transport efficiency of the containers, the AGVs whose distance to transport the containers meets the preset conditions may be selected from the AGVs whose operating states are idle and whose types are target types. The preset conditions may be based on the principle of proximity, and AGVs with the number of targets closest to the distance between the containers to be transported are selected as AGVs to be combined.
And step 250, respectively controlling each automatic guided vehicle to be combined to move to a preset position for arrangement according to the target arrangement form in the target combination mode.
In an embodiment of the present invention, the storage console may determine an initial location in advance according to the current position of the container to be handled, and determine the specific position of each AGV to be assembled to move at the initial location according to the target arrangement form in the target assembling mode. The specific position is the position corresponding to each AGV position planned in the target arrangement. Therefore, the AGVs to be combined are controlled to move to the preset positions respectively, and the arrangement of the AGVs to be combined on the form can be finished when the AGVs to be combined are arranged on each position.
Optionally, according to the position relationship between each automatic guided transport vehicle to be combined and the container to be carried, associating each automatic guided transport vehicle to be combined with each position number in the target arrangement form; and respectively controlling each automatic guided vehicle to be combined to move to the position indicated by the associated position number according to the associated relation between each automatic guided vehicle to be combined and each position number.
In this embodiment, in order to improve the control efficiency, globally unique position numbers may be set for each planned AGV position in the target arrangement form, and each AGV to be combined and each position number in the target arrangement form may be associated with each position number in the target arrangement form in a most efficient moving manner, for example, a manner that the time required for predicting that all AGVs to be combined move to each preset position is shortest, according to the position relationship between each AGV and the container to be transported. Therefore, according to the association relationship between each AGV to be combined and each position number in the target arrangement form, the AGV to be combined is controlled to move to the position indicated by the associated position number.
And step 260, determining a main control board of a target automatic guided vehicle from the automatic guided vehicles to be combined as a main control board.
In an exemplary embodiment of the present invention, FIG. 5 is a block diagram of a control system in an AGV. As shown in fig. 5, the control system in the AGV includes a main control board and a control board, and the main control board is in communication connection with the control board. The main control board is used for receiving a control instruction issued by the storage console and issuing an action instruction to the operation control board; correspondingly, the operation control board is used for receiving the action instruction issued by the main control board and controlling the motor and the like to realize the motion of the AGV.
In this embodiment, in order to realize synchronous control of the AGVs to be combined after arrangement, the main control board of one target AGV is determined from all the AGVs to be combined as the main control board. Therefore, each AGV to be combined receives the control instruction issued by the storage console through one main control board, and issues the action instruction to the operation control board of each AGV to be combined through one main control board, so that unified control is realized. The master control board of any AGV to be combined can be used as the main control board, for example, the master control board of the AGV to be combined closest to the container to be transported can be used as the main control board. The present embodiment does not limit the determination manner of the main control board.
And 270, disconnecting the communication connection between the main control board and the operation control board in each automatic guided transport vehicle to be combined, and establishing the communication connection between the main control board and the operation control board of each automatic guided transport vehicle to be combined to form the target transport vehicle combination.
In the embodiment of the invention, the combination of the AGVs to be combined in the communication mode is realized by adjusting the communication mode between the main control board and the operation control board in each AGV to be combined, so that a target transport vehicle combination, also called a unified whole, is formed.
Specifically, after the master control board is determined, the communication connection between the master control board and the operation control board in each AGV to be combined is disconnected, and the communication connection between the master control board and the operation control board of each AGV to be combined is established, so that the target transport vehicle combination is formed.
For example, fig. 6 is a block diagram of a control system in a target vehicle combination. As shown in fig. 6, the main control board is configured to receive a control instruction issued by the warehousing console, and issue an action instruction to the operation control boards of the AGVs in the target transport vehicle combination synchronously. Correspondingly, the operation control board of each AGV is used for receiving the action instruction issued by the main control board and controlling the motor and the like to realize the movement of the AGV.
In the embodiment of the invention, the target transport vehicle set is combined into a whole, and the whole control and action can be realized. Therefore, after the adaptive target transport vehicle combination is obtained for the container to be transported, the warehousing control console can send a transport task instruction to the main control board of the target transport vehicle combination, wherein the transport task instruction comprises the container to be transported, and the target transport vehicle is controlled to transport the container to be transported. Correspondingly, the main control board determines specific carrying action control instructions of the AGVs when carrying tasks are executed based on the carrying task instructions and the positions of the AGVs in the target transport vehicle combination, so that the main control board respectively synchronously sends the carrying action control instructions to the carrying control boards of the AGVs in the target transport vehicle combination so as to control the target transport vehicle combination to synchronously respond to containers to be carried.
The AGV comprises a main control board, a plurality of AGV control boards and a plurality of AGV control boards, wherein the main control board sends a conveying action control instruction to the conveying control boards of the AGVs, and each AGV control board has time delay and response delay of a hardware transmission line, so that dangerous phenomena such as inclination, overturning and the like of a container conveyed due to asynchronous actions of the AGVs in a target transport vehicle combination caused by delay are avoided, and the problem of synchronous action response of the AGVs can be solved according to the following operations.
Optionally, determining, by the master control board of the target transport vehicle combination, a first maximum delay of the transport control board of each automated guided transport vehicle in the target transport vehicle combination receiving the transport action control instruction sent by the master control board, and a second maximum delay of the transport control board of each automated guided transport vehicle responding to the transport action control instruction sent by the master control board; and determining the total delay of the target transport vehicle combination according to the first maximum delay and the second maximum delay of the operation control board of each automatic guided transport vehicle.
In this embodiment, the first maximum delay is a delay of the operation control board receiving the instruction sent by the main control board, that is, a hardware transmission line delay; the second maximum delay is the delay of the operation control board responding to the instruction sent by the main control board. The total delay is the sum of the first maximum delay and the second maximum delay, namely the time length between two time points from the time when the total main control board issues the transport action control command to each transport control board in the target transport vehicle combination to the time when all the transport control boards start responding to the transport action control command.
For example, after determining the hardware transmission line delay and response delay for each AGV, the total delay for the target transport vehicle combination may be determined by the following equation: dTotal time delay＝max[T1,T2,…,TN]+max[t1,t2,…,tN]. Wherein D isTotal time delayRepresenting the total delay of the target vehicle combination; t represents the hardware transmission line delay of each AGV; t represents the response delay of each AGV, and max represents the fetchA maximum function.
Optionally, determining a synchronous response time point of the target transport vehicle combination according to the total delay and a time point of synchronously sending a transport action control instruction to the transport control boards of the automatic guided transport vehicles through the total main control board of the target transport vehicle combination; and determining the conveying action control instruction of each automatic guided transport vehicle according to the conveying task instruction and the position number associated with each automatic guided transport vehicle, and synchronously sending the conveying action control instruction comprising the synchronous response time point to the conveying control board of each automatic guided transport vehicle so that each automatic guided transport vehicle executes the conveying action control instruction for the container to be conveyed based on the synchronous response time point.
In this embodiment, in order to ensure the synchronization of the operation responses of the AGVs in the target transport vehicle combination, the main control board is first controlled to synchronously send the transport operation control instruction to the operation control boards, and a time point when the main control board synchronously sends the transport operation control instruction to the operation control boards of the AGVs is determined. Correspondingly, the total main control board of the target transport vehicle combination is used for determining the time point of each AGV in the target transport vehicle combination capable of synchronously responding to the action by delaying the time length of the total delay backwards from the time point of synchronously sending the transport action control instruction to the transport control boards of the AGVs.
Accordingly, there may be differences in the manner in which each AGV in the target transport vehicle combination acts when performing non-linear movement tasks. Therefore, the transport operation control command of each AGV is determined according to the transport task command and the position number associated with each AGV. And synchronously sending a conveying action control command comprising a synchronous response time point to the operation control board of each AGV so that each AGV executes the conveying action control command for the container to be conveyed based on the synchronous response time point.
For example, when only the container to be transported performs the linear transportation task, the operation control boards of the AGVs in the target transport vehicle combination can receive the same transportation action control instruction issued by the same main control board, and all the operation control boards respond to the same action. For example, all AGVs advance M code points at 1.5M/s, thereby achieving the goal of collectively transporting containers. When the container to be transported executes the pose transformation task, the operation control boards of all the AGVs in the target transport vehicle combination receive different operation control instructions issued by the same main control board, and each operation control board respectively responds to different operations. For example, as shown in fig. 7, the elongated tray is changed from the vertical position to the horizontal position. The target transport vehicle combination is controlled to move in a clockwise direction to change positions, assuming a center point between the AGV2 and the AGV 3. The AGVs 1 and 2 move in an arc to the right and the AGVs 3 and 4 move in an arc to the left; and the AGV1 and AGV4 are at the same speed, AGV2 and AGV3 are at the same speed, and AGV1 and AGV2 are at the same angular speed, but the linear speed is different due to the different radius of rotation relative to the center of rotation.
The technical scheme of this embodiment has following beneficial effects, according to the attribute information of waiting to carry the container and the attribute information of automated guided transporting vehicle, through planning the target combination mode to carrying the AGV of waiting to carry the container, confirm the required target type of AGV in the target combination mode, target arrangement form and target quantity, select the AGV that belongs to the type and be the target quantity of target type as waiting to make up the AGV, and according to the adjustment of target combination mode control waiting to make up the AGV and carry out the range of form and communication mode, form the combination of target transporting vehicle, thereby control each AGV in the combination of target transporting vehicle and carry out the synchronization action, realize the transport of waiting to carry the container. Therefore, the embodiment of the invention adopts the technical means of arranging and combining the AGVs on the basis of the conventional AGV, overcomes the technical problem that a single AGV is difficult to adapt to various storage containers and cannot be carried, realizes the adaptation of different storage containers in a storage system, and further increases the application range of the AGV; the technical problem of synchronous action of a plurality of AGV is solved, the carrying efficiency and the safety stability of the storage container are improved, and the investment cost of the AGV in the storage system is reduced.
EXAMPLE III
Fig. 8 is a schematic structural diagram of a storage container transportation control apparatus according to a third embodiment of the present invention, which is applicable to controlling an automated guided vehicle to transport various storage containers, and which can implement the storage container transportation control method according to any embodiment of the present invention. The device specifically includes:
the transportation mode planning module 810 is configured to determine a target combination mode of the automated guided vehicle required for transporting the container to be transported according to the attribute information of the container to be transported and the attribute information of the automated guided vehicle;
the combination control module 820 is used for controlling the automatic guided vehicles to combine according to the target combination mode to form a target vehicle combination;
and a container handling module 830, configured to control the target transport vehicle combination to handle the container to be handled.
Optionally, the transportation mode planning module 810 is specifically configured to:
determining the target type of the automatic guided transport vehicle required in the target combination mode according to the attribute information of the container to be carried and the attribute information of each type of automatic guided transport vehicle;
determining a target arrangement form of the automatic guided transport vehicles in the target combination mode according to the attribute information of the automatic guided transport vehicles of the target types and the attribute information of the containers to be carried;
and determining the target number of the automatic guided vehicles required in the target combination mode according to the target arrangement mode.
Optionally, the combination control module 820 includes:
the AGV to be combined selection unit is used for selecting the automatic guided vehicles with the types of the targets and the target number as the automatic guided vehicles to be combined according to the target combination mode; the automatic guided transport vehicle to be combined is idle and the distance between the automatic guided transport vehicle to be combined and the container to be carried meets a preset condition;
the AGV arrangement unit to be combined is used for respectively controlling each automatic guided transport vehicle to be combined to move to a preset position for arrangement according to the target arrangement form in the target combination mode;
a main control board selection unit, configured to determine, from the automated guided vehicles to be combined, a main control board of a target automated guided vehicle as a main control board;
and the communication mode adjusting unit is used for disconnecting the communication connection between the main control board and the operation control board in each automatic guided transport vehicle to be combined, and establishing the communication connection between the main control board and the operation control board of each automatic guided transport vehicle to be combined to form a target transport vehicle combination.
Optionally, the AGV arrangement unit to be combined is specifically configured to:
respectively associating each automatic guided transport vehicle to be combined with each position number in the target arrangement form according to the position relation between each automatic guided transport vehicle to be combined and the container to be carried;
and respectively controlling each automatic guided vehicle to be combined to move to the position indicated by the associated position number according to the associated relation between each automatic guided vehicle to be combined and each position number.
Optionally, the container handling module 830 is specifically configured to:
and sending a carrying task instruction comprising the container to be carried to a main control board of the target transport vehicle combination, and respectively and synchronously sending carrying action control instructions generated based on the carrying task instruction to carrying control boards of all automatic guided transport vehicles in the target transport vehicle combination by the main control board so as to control the target transport vehicle combination to carry the container to be carried.
Further, the container handling module 830 is further configured to:
determining, by the master control board of the target vehicle combination, a first maximum delay of the transport control board of each automated guided vehicle in the target vehicle combination receiving the transport action control instruction sent by the master control board, and a second maximum delay of the transport control board of each automated guided vehicle responding to the transport action control instruction sent by the master control board; determining the total delay of the target transport vehicle combination according to the first maximum delay and the second maximum delay of the operation control board of each automatic guided transport vehicle;
determining a synchronous response time point of the target transport vehicle combination according to the total delay and a time point of synchronously sending a transport action control instruction to the transport control boards of all the automatic guided transport vehicles through the total main control board of the target transport vehicle combination;
and determining the carrying action control instruction of each automatic guided transport vehicle according to the carrying task instruction and the position number associated with each automatic guided transport vehicle through the main control board of the target transport vehicle combination, and synchronously sending the carrying action control instruction comprising the synchronous response time point to the carrying control board of each automatic guided transport vehicle so as to enable each automatic guided transport vehicle to execute the carrying action control instruction for the container to be carried based on the synchronous response time point.
Optionally, the attribute information of the container to be handled includes at least one of a weight grade, a container size, and a container model, and the attribute information of the automated guided vehicle includes at least one of a type, a load capacity, a load bearing size, and a vehicle model.
According to the technical scheme of the embodiment, functions such as planning of the target combination mode, selection of the AGV to be combined, arrangement of the target transport vehicle combination, adjustment of the communication mode and synchronous control of the target transport vehicle combination are achieved through mutual matching of the functional modules. Therefore, the embodiment of the invention adopts the technical means of arranging and combining the AGVs on the basis of the conventional AGV, overcomes the technical problem that a single AGV is difficult to adapt to various storage containers and cannot be carried, realizes the adaptation of different storage containers in a storage system, and further increases the application range of the AGV; the technical problem of synchronous action of a plurality of AGV is solved, the carrying efficiency and the safety stability of the storage container are improved, and the investment cost of the AGV in the storage system is reduced.
Example four
Fig. 9 is a schematic structural diagram of an apparatus according to a fourth embodiment of the present invention. As shown in fig. 9, the apparatus specifically includes: one or more processors 910, one processor 910 being illustrated in FIG. 9; the memory 920 is used for storing one or more programs, and when the one or more programs are executed by the one or more processors 910, the one or more processors 910 implement the storage container handling control method according to any embodiment of the present invention. The processor 910 and the memory 920 may be connected by a bus or other means, such as a bus connection in fig. 9.
The memory 920, which is a computer-readable storage medium, can be used for storing software programs, computer-executable programs, and modules, such as program instructions corresponding to the storage container handling control method in the embodiment of the present invention (for example, the planning of the target combination mode and the formation and handling control of the target transportation vehicle combination). The processor 910 executes various functional applications and data processing of the apparatus by running software programs, instructions, and modules stored in the memory 920, thereby implementing the storage container conveyance control method described above.
The memory 920 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required for at least one function; the storage data area may store data created according to use of the device, and the like. Further, the memory 920 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, the memory 920 may further include memory located remotely from the processor 910, which may be connected to devices over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
EXAMPLE five
An embodiment of the present invention further provides a computer-readable storage medium, on which a computer program (or referred to as computer-executable instructions) is stored, where the computer program is used for executing a storage container transportation control method when executed by a processor, and the method includes:
determining a target combination mode of the automatic guided transport vehicle required for transporting the container to be transported according to the attribute information of the container to be transported and the attribute information of the automatic guided transport vehicle;
controlling the automatic guided vehicles to combine according to the target combination mode to form a target vehicle combination;
and controlling the target transport vehicle combination to transport the container to be transported.
Of course, the computer-readable storage medium provided by the embodiments of the present invention has computer-executable instructions that are not limited to the operations of the method described above, and may also perform related operations in the storage container handling control method provided by any embodiments of the present invention.
From the above description of the embodiments, it is obvious for those skilled in the art that the embodiments of the present invention can be implemented by software and necessary general hardware, and certainly can be implemented by hardware, but the former is a better implementation in many cases. Based on such understanding, the technical solutions of the embodiments of the present invention may be embodied in the form of a software product, which may be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes several instructions to make a computer device (which may be a personal computer, a server, or a network device) execute the methods according to the embodiments of the present invention.
It should be noted that, in the embodiment of the apparatus, the included units and modules are merely divided according to functional logic, but are not limited to the above division as long as the corresponding functions can be implemented; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the embodiments of the present invention have been described in more detail through the above embodiments, the embodiments of the present invention are not limited to the above embodiments, and many other equivalent embodiments may be included without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. A storage container transfer control method, comprising:
determining a target combination mode of the automatic guided transport vehicle required for transporting the container to be transported according to the attribute information of the container to be transported and the attribute information of the automatic guided transport vehicle;
controlling the automatic guided vehicles to combine according to the target combination mode to form a target vehicle combination;
and controlling the target transport vehicle combination to transport the container to be transported.
2. The method according to claim 1, wherein determining the target combination pattern of the automated guided vehicle required for carrying the container to be carried according to the attribute information of the container to be carried and the attribute information of the automated guided vehicle comprises:
determining the target type of the automatic guided transport vehicle required in the target combination mode according to the attribute information of the container to be carried and the attribute information of each type of automatic guided transport vehicle;
determining a target arrangement form of the automatic guided transport vehicles in the target combination mode according to the attribute information of the automatic guided transport vehicles of the target types and the attribute information of the containers to be carried;
and determining the target number of the automatic guided vehicles required in the target combination mode according to the target arrangement mode.
3. The method of claim 2, wherein controlling the automated guided vehicles to combine in the target combination mode to form a target vehicle combination comprises:
selecting the automatic guided vehicles with the types of the targets and the target number as the automatic guided vehicles to be combined according to the target combination mode; the automatic guided transport vehicle to be combined is idle and the distance between the automatic guided transport vehicle to be combined and the container to be carried meets a preset condition;
respectively controlling each automatic guided vehicle to be combined to move to a preset position for arrangement according to a target arrangement form in the target combination mode;
determining a main control board of a target automatic guided transport vehicle from the automatic guided transport vehicles to be combined as a main control board;
and disconnecting the communication connection between the main control board and the operation control board in each automatic guided transport vehicle to be combined, and establishing the communication connection between the main control board and the operation control board of each automatic guided transport vehicle to be combined respectively to form a target transport vehicle combination.
4. The method according to claim 3, wherein the controlling of the automatic guided vehicles to be combined to move to the preset positions for arrangement according to the target arrangement form in the target combination mode comprises:
respectively associating each automatic guided transport vehicle to be combined with each position number in the target arrangement form according to the position relation between each automatic guided transport vehicle to be combined and the container to be carried;
and respectively controlling each automatic guided vehicle to be combined to move to the position indicated by the associated position number according to the associated relation between each automatic guided vehicle to be combined and each position number.
5. The method according to claim 3, wherein the controlling the target transporter combination to transport the container to be transported comprises:
and sending a carrying task instruction comprising the container to be carried to a main control board of the target transport vehicle combination, and respectively and synchronously sending carrying action control instructions generated based on the carrying task instruction to carrying control boards of all automatic guided transport vehicles in the target transport vehicle combination by the main control board so as to control the target transport vehicle combination to carry the container to be carried.
6. The method according to claim 5, wherein after sending a transfer task instruction including the container to be transferred to the master control board of the target transporter combination, the method further comprises:
determining, by the master control board of the target vehicle combination, a first maximum delay of the transport control board of each automated guided vehicle in the target vehicle combination receiving the transport action control instruction sent by the master control board, and a second maximum delay of the transport control board of each automated guided vehicle responding to the transport action control instruction sent by the master control board; determining the total delay of the target transport vehicle combination according to the first maximum delay and the second maximum delay of the operation control board of each automatic guided transport vehicle;
determining a synchronous response time point of the target transport vehicle combination according to the total delay and a time point of synchronously sending a transport action control instruction to the transport control boards of all the automatic guided transport vehicles through the total main control board of the target transport vehicle combination;
and determining the carrying action control instruction of each automatic guided transport vehicle according to the carrying task instruction and the position number associated with each automatic guided transport vehicle through the main control board of the target transport vehicle combination, and synchronously sending the carrying action control instruction comprising the synchronous response time point to the carrying control board of each automatic guided transport vehicle so as to enable each automatic guided transport vehicle to execute the carrying action control instruction for the container to be carried based on the synchronous response time point.
7. The method according to any one of claims 1 to 6, wherein the property information of the container to be handled comprises at least one of a weight class, a container size and a container model, and the property information of the automated guided vehicle comprises at least one of a belonging type, a load capacity, a carrying size and a vehicle model.
8. A storage container handling control apparatus, comprising:
the carrying mode planning module is used for determining a target combination mode of the automatic guided transport vehicle required for carrying the container to be carried according to the attribute information of the container to be carried and the attribute information of the automatic guided transport vehicle;
the combined control module is used for controlling the automatic guided transport vehicles to be combined according to the target combination mode to form a target transport vehicle combination;
and the container carrying module is used for controlling the target transport vehicle combination to carry the container to be carried.
9. An apparatus, comprising:
one or more processors;
a memory for storing one or more programs;
when executed by the one or more processors, cause the one or more processors to implement the storage container handling control method of any of claims 1-7.
10. A computer-readable storage medium on which a computer program is stored, the program, when executed by a processor, implementing a storage container handling control method according to any one of claims 1 to 7.
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