CN112306000B - Automatic guided transport vehicle scheduling method, device and system - Google Patents
Automatic guided transport vehicle scheduling method, device and system Download PDFInfo
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- CN112306000B CN112306000B CN201910669430.5A CN201910669430A CN112306000B CN 112306000 B CN112306000 B CN 112306000B CN 201910669430 A CN201910669430 A CN 201910669430A CN 112306000 B CN112306000 B CN 112306000B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM]
- G05B19/4189—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM] characterised by the transport system
- G05B19/41895—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM] characterised by the transport system using automatic guided vehicles [AGV]
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM]
- G05B19/41865—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM] characterised by job scheduling, process planning, material flow
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/60—Electric or hybrid propulsion means for production processes
Abstract
The embodiment of the invention provides a method, a device and a system for dispatching an automatic guided transport vehicle. The method comprises the following steps: receiving a fire door closing signal sent by a switch detection device of the fire door; after receiving the fire door closing signal, judging whether each AGV is in an emergency locking area of the fire door; if the AGV is determined to be in the emergency locking area of the fire door, planning the path of the AGV out of the emergency locking area of the fire door according to an AGV route map; wherein, the emergency blockade area of fire door does: the active area of the AGV that the fire door closes is affected during the closing of the fire door. The embodiment of the invention realizes automatic and emergency dispatching of the AGV.
Description
Technical Field
The invention relates to the technical field of AGV (automatic Guided Vehicle), in particular to an AGV scheduling method, device and system.
Background
An Automated Guided Vehicle (AGV) is a transport Vehicle equipped with an electromagnetic or optical automatic guide device, capable of traveling along a predetermined guide path, having safety protection and various transfer functions, and is a transport Vehicle that does not require a driver in industrial applications, and uses a rechargeable battery as a power source.
Disclosure of Invention
The embodiment of the invention provides an AGV scheduling method, device and system, so as to realize automatic and emergency scheduling of the AGV.
The technical scheme of the embodiment of the invention is realized as follows:
an AGV dispatching method of an automatic guided vehicle comprises the following steps:
receiving a fire door closing signal sent by a switch detection device of the fire door;
after receiving the fire door closing signal, judging whether each AGV is in an emergency locking area of the fire door; if the AGV is determined to be in the emergency locking area of the fire door, planning the path of the AGV out of the emergency locking area of the fire door according to an AGV route map; wherein, the emergency blockade area of fire door does: the active area of the AGV that the fire door closes is affected during the closing of the fire door.
Said determining whether the AGV is within the emergency locking area of the fire door further comprises:
and if the AGV is judged to be outside the emergency blocking area of the fire door, controlling the AGV to stop walking.
After controlling the AGV to pause the walking, the method further comprises the following steps:
and when a fire door opening signal sent by the switch detection device of the fire door is received, sending a walking resuming instruction to the AGV according to the task path before the AGV suspends the walking.
Before said determining whether the AGV is within the emergency locking area of the fire door further comprises:
and judging whether the AGV is suspended or not, and if so, sending a walking resuming instruction to the AGV.
If confirm that this AGV is in the urgent block region of this fire door, then according to AGV circuit map, plan this AGV's route outside the urgent block region of this fire door, include:
if the AGV is determined to be in the emergency locking area of the fire door, judging whether a task is currently executed by the AGV;
if so, adjusting the path of the AGV according to the AGV line map, wherein the end point of the path is positioned outside the emergency blocking area of the fire door, and the adjusted path does not pass through the fire door;
otherwise, a task is created for the AGV that moves outside the emergency lockout area of the fire door, and the path of movement does not pass through the fire door. An Automated Guided Vehicle (AGV) scheduling apparatus, comprising:
the fire door switch signal receiving module is used for receiving a fire door closing signal sent by a switch detection device of the fire door;
the emergency scheduling module is used for judging whether the AGV is in an emergency locking area of the fire door or not aiming at each AGV after the fire door closing signal is received by the fire door opening and closing signal receiving module; if the AGV is determined to be in the emergency locking area of the fire door, planning the path of the AGV out of the emergency locking area of the fire door according to an AGV route map; wherein, the emergency blockade area of fire door does: the active area of the AGV that the fire door closes is affected during the closing of the fire door.
The emergency dispatch module determines whether the AGV is within the emergency locking area of the fire door and then further:
and if the AGV is judged to be outside the emergency blocking area of the fire door, controlling the AGV to stop walking.
The emergency scheduling module controls the AGV to further:
and when a fire door opening signal sent by the switch detection device of the fire door is received, sending a walking resuming instruction to the AGV according to the task path before the AGV suspends the walking.
Further for, before the emergency dispatch module determines whether the AGV is within the emergency locked area of the fire door:
and judging whether the AGV is suspended or not, and if so, sending a walking resuming instruction to the AGV.
If the emergency scheduling module determines that the AGV is in the emergency locking area of the fire door, the emergency scheduling module plans the path of the AGV outside the emergency locking area of the fire door according to an AGV line map, and the emergency scheduling module comprises:
if the AGV is determined to be in the emergency locking area of the fire door, judging whether a task is currently executed by the AGV; if so, adjusting the path of the AGV according to the AGV line map, wherein the end point of the path is positioned outside the emergency blocking area of the fire door, and the adjusted path does not pass through the fire door; otherwise, a task is created for the AGV that moves outside the emergency lockout area of the fire door, and the path of movement does not pass through the fire door.
An Automated Guided Vehicle (AGV) scheduling system, comprising: switch detection device, dispatch server and AGV of fire door, wherein:
the fire door opening and closing detection device is used for sending a fire door closing signal to the dispatching server when detecting that the fire door is closed;
the system comprises a dispatching server, a switching detection device and a plurality of AGVs, wherein the dispatching server is used for judging whether the AGVs are in an emergency locking area of a fire door after receiving a fire door closing signal sent by the switching detection device of the fire door; if the AGV is determined to be in the emergency locking area of the fire door, planning the path of the AGV out of the emergency locking area of the fire door according to an AGV route map; wherein, the emergency blockade area of fire door does: influencing the activity area of the AGV with the closed fire door in the closing process of the fire door;
and the AGV is used for walking according to the path information sent by the scheduling server.
An Automated Guided Vehicle (AGV) scheduling system, comprising: fire door detection device and AGV, wherein:
the switch detection device of the fire door is used for sending a fire door closing signal to the AGV when detecting that the fire door is closed;
the AGV is used for judging whether the AGV is in the emergency locking area of the fire door or not aiming at the AGV or each AGV in the working area of the AGV after receiving a fire door closing signal sent by the switch detection device of the fire door; if the AGV is determined to be in the emergency locking area of the fire door, planning the path of the AGV out of the emergency locking area of the fire door according to an AGV route map; wherein, the emergency blockade area of fire door does: the active area of the AGV that the fire door closes is affected during the closing of the fire door.
When the fire door starts to be closed, judging whether the AGV is in an emergency locking area of the fire door or not for each AGV, if so, planning the path of the AGV out of the emergency locking area of the fire door according to an AGV route map; wherein, the emergency blockade area of fire door does: in-process, influence the activity area of the AGV that the fire door closed to the AGV that will be in the emergency blockade area of fire door moves outside this area fast, thereby has guaranteed not have AGV in this area, thereby has guaranteed the normal closing of fire door, has reduced the loss of personnel and property, has realized automation, emergency dispatch to AGV.
Drawings
FIG. 1 is a schematic diagram of an AGV dispatching system according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of an AGV dispatching system according to another embodiment of the present invention;
FIG. 3 is a flowchart of an AGV scheduling method according to an embodiment of the present invention;
FIG. 4 is a flowchart of an AGV scheduling method according to another embodiment of the present invention;
FIG. 5 is a schematic diagram of an emergency containment zone provided by an embodiment of the present invention;
FIG. 6 is a schematic diagram of an AGV dispatching device according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
A fire door is a door that can resist fire and insulate an airtight space from air when a fire occurs. The inventor finds that: in practical applications, when a fire door exists in the operating environment of the AGV, if an emergency occurs, such as: fire alarm, fire door need be closed, then if AGV is located the below of fire door just this moment, then can lead to the fire door can not normally close.
In order to solve the problem that emergency situations such as: in case of fire, the AGV may affect the normal closing of the fire door, and the invention provides the following solutions:
fig. 1 is a schematic structural diagram of an AGV dispatching system according to an embodiment of the present invention, which mainly includes: switch detection device, dispatch server and AGV of fire door, wherein:
and the switch detection device of the fire door is used for sending a fire door closing signal to the dispatching server when detecting that the fire door is closed.
The system comprises a dispatching server, a switching detection device and a plurality of AGVs, wherein the dispatching server is used for judging whether the AGVs are in an emergency locking area of a fire door after receiving a fire door closing signal sent by the switching detection device of the fire door; if the AGV is determined to be in the emergency locking area of the fire door, planning the path of the AGV out of the emergency locking area of the fire door according to an AGV route map; wherein, the emergency blockade area of fire door does: influencing the activity area of the AGV with the closed fire door in the closing process of the fire door;
and the AGV is used for walking according to the path information sent by the scheduling server.
The scheduling server is called as RCS (Robot Control System) in practical application, and can schedule and Control the motion and work of all AGVs, reasonably allocate matching between tasks and AGVs, and plan and schedule the AGVs in real time.
In the above embodiment, when the fire door is closed, the scheduling of the travel path of the AGV is completed by the scheduling server, and in practical application, the scheduling of the travel path of the AGV may also be completed by the AGV, which is specifically described in the following embodiment:
FIG. 2 is a schematic structural diagram of an AGV dispatching system according to another embodiment of the present invention, which mainly includes: fire door detection device and AGV, wherein:
the switch detection device of the fire door is used for sending a fire door closing signal to the AGV when detecting that the fire door is closed;
the AGV is used for judging whether the AGV is in the emergency locking area of the fire door after receiving a fire door closing signal sent by the switch detection device of the fire door, and planning the path of the AGV out of the emergency locking area of the fire door according to an AGV circuit map if the AGV is in the emergency locking area of the fire door; wherein, the emergency blockade area of fire door does: the active area of the AGV that the fire door closes is affected during the closing of the fire door.
In the implementation mode, after each AGV receives a fire door closing signal of the switch detection device, the AGV can be independently planned to a path outside an emergency blocking area. Certainly, in order to avoid collision, after each AGV finishes path planning, each AGV may synchronize the path to other AGVs, and after confirming that no collision occurs, the AGVs move according to the planned path.
In another optional mode, the AGVs may also have the function of the RCS and are responsible for uniformly managing the AGVs in the working area, at this time, after receiving a fire door closing signal sent by a switch detection device of the fire door, the AGVs determine, for each AGV in their own working area, whether the AGV is in an emergency locking area of the fire door, and if so, plan the path of the AGV outside the emergency locking area of the fire door according to an AGV route map; wherein, the emergency blockade area of fire door does: the active area of the AGV that the fire door closes is affected during the closing of the fire door.
Referring to fig. 3, a detailed flowchart of an AGV dispatching method is described as follows, taking the system shown in fig. 1 as an example, and includes the following specific steps:
step 301: receiving a fire door closing signal sent by a switch detection device of the fire door.
The opening and closing detection device of the fire door can be an acousto-optic detection device or a travel switch device.
The switch detection device of fire door can change in fire door state, if: when the system is closed or opened, a fire door closing or opening signal is actively reported to a scheduling server or an AGV; or, the dispatch server or the AGV periodically and actively queries whether the fire door is closed or opened from the switch detection device of the fire door, and if it is determined that the fire door is closed, step 302 is executed.
Step 302: after receiving the fire door closing signal, judging whether each AGV is in the emergency locking area of the fire door; if the AGV is determined to be in the emergency locking area of the fire door, planning the path of the AGV out of the emergency locking area of the fire door according to an AGV route map; wherein, the emergency blockade area of fire door does: the active area of the AGV that the fire door closes is affected during the closing of the fire door.
In practical application, if the AGV is judged to be outside the emergency blocking area of the fire door, the AGV is controlled to stop walking. And when receiving a fire door opening signal sent by the switch detection device of the fire door, sending a walking resuming instruction to the AGV according to the task path before the AGV suspends the walking.
In practice, before determining whether the AGV is within the emergency locking area of the fire door, further comprising: and judging whether the AGV is suspended or not, and if so, sending a walking resuming instruction to the AGV.
In practical application, if it is determined that the AGV is in the emergency locking area of the fire door, the routing of the AGV is planned to be outside the emergency locking area of the fire door according to an AGV route map, including:
if the AGV is determined to be in the emergency locking area of the fire door, judging whether a task is currently executed by the AGV; if so, adjusting the path of the AGV according to the AGV line map, wherein the end point of the path is positioned outside the emergency blocking area of the fire door, and the adjusted path does not pass through the fire door; otherwise, a task is created for the AGV that moves outside the emergency lockout area of the fire door, and the path of movement does not pass through the fire door.
Through the embodiment, when the fire door is started to be closed, whether the AGV is in the emergency locking area of the fire door or not is judged for each AGV, and if yes, the path of the AGV is planned to be out of the emergency locking area of the fire door according to the AGV route map; wherein, the emergency blockade area of fire door does: in the closing process of the fire door, the moving area of the AGV of the fire door is influenced, so that the AGV in the emergency blocking area of the fire door can be quickly moved out of the area, the fact that the AGV does not exist in the area is guaranteed, and normal closing of the fire door is guaranteed;
moreover, the action of the fire door is detected by adopting devices such as sound and light or a travel switch, the original environment does not need to be greatly modified, the cost is low, and the reliability is high;
and through the switch detection to the fire door, the emergence of automatic identification emergency starts the dispatch of emergent scheme, does not need artifical any participation to intervene, and fire door is avoided to near the AGV of reasonable dispatch, reduces the loss of personnel and property.
The execution subject of steps 301 to 302 may be a dispatch server or an AGV.
The embodiment of the invention is suitable for a scene with a plurality of fire doors, namely, the regional management of the plurality of fire doors is supported, and when any one fire door is closed, the technical scheme provided by the embodiment of the invention is suitable. When multiple fire doors are closed simultaneously, the path of each AGV may be planned out of the emergency containment area of the multiple fire doors in step 302.
FIG. 4 is a flowchart of an AGV scheduling method according to another embodiment of the present invention, which includes the following steps:
step 401
: according to AGV's size in advance, every fire door in AGV's whole work environment sets up urgent blockade area all around, and wherein, the setting basis in urgent blockade area is: the active area of the AGV with the fire door closed may be affected during the closing of the fire door.
Specifically, during the closing process of the fire door, if a part of any AGV is just below the fire door, the closing of the fire door is affected, and therefore the active area of the AGV which affects the closing of the fire door is set as an emergency blocking area. The range of the emergency blocking area is shown in fig. 5, that is, the emergency blocking area is a rectangular area on the left and right sides of the fire door, the rectangular area uses the fire door as a symmetry axis, the width of the rectangular area is the same as the width of the fire door, and the length of the rectangular area is greater than or equal to the length of the AGV plus the thickness of the fire door. The reason for setting the length of the rectangular area to be greater than or equal to the length of the AGV plus the thickness of the fire door is: the position of the AGV is usually expressed in terms of its geometric center position, and therefore, to ensure that an AGV located within the emergency lockout area can be identified, the length of the emergency lockout area on either of the left and right sides of the fire door must be at least equal to one-half the length of the AGV, i.e., the length of the entire emergency lockout area (i.e., the length of the rectangular area) must be at least equal to the length of the AGV plus the thickness of the fire door.
Step 402: the dispatch server stores the location of each fire door and the range information of the emergency containment zone of each fire door.
Step 403: and the dispatching server receives a closing signal sent by a switch detection device of any fire door, and sets the emergency blocking area of the fire door as a forbidden area on the AGV line map according to the range information of the emergency blocking area of the fire door stored by the dispatching server.
The AGV route map, that is, the map of the entire travel range of the AGV, is the basis for the scheduling server to plan the route for the AGV.
After setting an area on the map as a no-go area, the dispatch server will bypass the area when planning a path for the AGV.
The switch detection device may be a laser switch or a travel switch or the like.
Step 404: for each AGV, the dispatching server judges whether the AGV is in the emergency locking area of the fire door, if so, the step 406 is executed; otherwise, step 405 is performed.
Step 405: and the dispatching server sends a walking pause instruction to the AGV, and the process is ended.
And then, when the dispatching server receives an opening signal sent by the switch detection device of the fire door, the dispatching server resumes sending the walking instruction carrying the path information to the AGV according to the original task path of the AGV before the pause.
Step 406: the scheduling server determines whether the traveling state last reported by the AGV is manually suspended, if so, step 407 is executed; otherwise, step 408 is performed.
Step 407: the dispatch server sends a resume walk instruction to the AGV and continues with step 408.
Step 408: the scheduling server determines whether the AGV is executing a task, if yes, step 409 is executed; otherwise, step 410 is performed.
Step 409: and the dispatching server replans a task path for the current task of the AGV according to the AGV line map, the terminal point of the task path is a position outside the emergency blocking area of the fire door, a walking instruction carrying path information is sent to the AGV according to the planned task path, and the process is ended.
And after that, the scheduling server stops planning the path of the AGV until receiving a fire door opening signal sent by a switch detection device of the fire door, plans a task path for the AGV again according to the current task of the AGV, finishes planning, and sends a traveling instruction carrying path information to the AGV.
Step 410: and the dispatching server creates a task with a terminal point outside the emergency blocking area of the fire door for the AGV, plans a task path which does not pass through the fire door for the task according to the AGV circuit map, sends a traveling instruction carrying path information to the AGV according to the planned task path, and finishes the process.
And then, the dispatching server stops planning the path of the AGV until receiving a fire door opening signal sent by a switch detection device of the fire door, and if a new task aiming at the AGV exists, planning a task path for the AGV.
Through above embodiment, when the fire door began to close, dispatch server set up the emergency blockade area of this fire door as forbidden area on AGV route map earlier, like this, will avoid planning AGV's new task route to this area, later, has considered AGV's various states and includes: located outside the AGV area and within the AGV area, for the AGV area, again taking into account: the system has the advantages that the system is manually suspended, is executing tasks and is not executing the tasks, AGV in various states are correspondingly processed and transferred to the outside of the area, so that the situation that no AGV exists in the area is guaranteed, normal closing of a fire door is guaranteed, and loss of personnel and property is reduced.
In the embodiment of the invention, the communication mode between the dispatching server and the AGV can adopt an Ethernet communication mode.
Fig. 6 is a schematic structural diagram of an AGV dispatching device provided in an embodiment of the present invention, where the AGV dispatching device is located on a dispatching server, and the AGV dispatching device mainly includes: fire door switch signal receiving module 61 and emergency dispatch module 62, wherein:
and a fire door switch signal receiving module 61 for receiving a fire door closing signal from the fire door switch detection device.
An emergency scheduling module 62, which determines whether each AGV is in the emergency locking area of the fire door after the fire door closing signal is received by the fire door switch signal receiving module 61; if the AGV is determined to be in the emergency locking area of the fire door, planning the path of the AGV out of the emergency locking area of the fire door according to an AGV route map; wherein, the emergency blockade area of fire door does: the active area of the AGV that the fire door closes is affected during the closing of the fire door.
In a preferred embodiment, the emergency dispatch module 62 further functions to determine whether the AGV is within the emergency locked area of the fire door: and if the AGV is judged to be outside the emergency blocking area of the fire door, controlling the AGV to stop walking.
In a preferred embodiment, the emergency dispatch module 62 controls the AGV to suspend traveling and then further: and when a fire door opening signal sent by the switch detection device of the fire door is received, sending a walking resuming instruction to the AGV according to the task path before the AGV suspends the walking.
In a preferred embodiment, before the emergency dispatch module 62 determines whether the AGV is within the emergency locked area of the fire door, it is further used to: and judging whether the AGV is suspended or not, and if so, sending a walking resuming instruction to the AGV.
In a preferred embodiment, if the AGV is determined to be in the emergency locking area of the fire door, the emergency dispatch module 62 plans the AGV path to be outside the emergency locking area of the fire door according to the AGV route map, including:
if the AGV is determined to be in the emergency locking area of the fire door, judging whether a task is currently executed by the AGV; if so, adjusting the path of the AGV according to the AGV line map, wherein the end point of the path is positioned outside the emergency blocking area of the fire door, and the adjusted path does not pass through the fire door; otherwise, a task is created for the AGV that moves outside the emergency lockout area of the fire door, and the path of movement does not pass through the fire door.
Embodiments of the present invention also provide a non-transitory computer readable storage medium storing instructions that, when executed by a processor, cause the processor to perform the steps of the AGV walking control method as described in fig. 3 or fig. 4.
Embodiments of the present invention also provide an electronic device, including the non-transitory computer readable storage medium as described above, and the above processor having access to the non-transitory computer readable storage medium.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (12)
1. An AGV dispatching method for an automatic guided vehicle is characterized by comprising the following steps:
receiving a fire door closing signal sent by a switch detection device of the fire door;
after receiving the fire door closing signal, judging whether each AGV is in an emergency locking area of the fire door;
if the AGV is determined to be in the emergency locking area of the fire door, planning the path of the AGV out of the emergency locking area of the fire door according to an AGV route map;
wherein, the emergency blockade region of fire door is according to AGV's size and set up around the fire door to, the emergency blockade region of fire door is: the active area of the AGV that the fire door closes is affected during the closing of the fire door.
2. The method of claim 1, wherein said determining if the AGV is within the emergency locking area of the fire door further comprises:
and if the AGV is judged to be outside the emergency blocking area of the fire door, controlling the AGV to stop walking.
3. The method of claim 2 wherein said controlling the AGV to suspend travel further comprises, after:
and when a fire door opening signal sent by the switch detection device of the fire door is received, sending a walking resuming instruction to the AGV according to the task path before the AGV suspends the walking.
4. The method of claim 1, further comprising, prior to said determining whether the AGV is within the emergency locking area of the fire door:
and judging whether the AGV is suspended or not, and if so, sending a walking resuming instruction to the AGV.
5. The method of claim 1, wherein if the AGV is determined to be within the emergency locking area of the fire door, then planning the path of the AGV outside the emergency locking area of the fire door according to an AGV route map comprises:
if the AGV is determined to be in the emergency locking area of the fire door, judging whether a task is currently executed by the AGV;
if so, adjusting the path of the AGV according to the AGV line map, wherein the end point of the path is positioned outside the emergency blocking area of the fire door, and the adjusted path does not pass through the fire door;
otherwise, a task is created for the AGV that moves outside the emergency lockout area of the fire door, and the path of movement does not pass through the fire door.
6. An Automated Guided Vehicle (AGV) scheduling apparatus, comprising:
the fire door switch signal receiving module is used for receiving a fire door closing signal sent by a switch detection device of the fire door;
the emergency scheduling module is used for judging whether the AGV is in an emergency locking area of the fire door or not aiming at each AGV after the fire door closing signal is received by the fire door opening and closing signal receiving module; if the AGV is determined to be in the emergency locking area of the fire door, planning the path of the AGV out of the emergency locking area of the fire door according to an AGV route map; wherein, the emergency blockade region of fire door is according to AGV's size and set up around the fire door to, the emergency blockade region of fire door is: the active area of the AGV that the fire door closes is affected during the closing of the fire door.
7. The apparatus of claim 6, wherein said emergency dispatch module, after determining that the AGV is within the emergency locked area of the fire door, is further configured to:
and if the AGV is judged to be outside the emergency blocking area of the fire door, controlling the AGV to stop walking.
8. The apparatus of claim 7 wherein said emergency dispatch module, after controlling the AGV to suspend traveling, is further configured to:
and when a fire door opening signal sent by the switch detection device of the fire door is received, sending a walking resuming instruction to the AGV according to the task path before the AGV suspends the walking.
9. The apparatus of claim 6, wherein before said emergency dispatch module determines whether the AGV is within the emergency locked area of the fire door, further:
and judging whether the AGV is suspended or not, and if so, sending a walking resuming instruction to the AGV.
10. The apparatus of claim 6, wherein the emergency dispatch module, if determining that the AGV is within the emergency locking area of the fire door, plans the AGV path outside the emergency locking area of the fire door according to an AGV route map, comprising:
if the AGV is determined to be in the emergency locking area of the fire door, judging whether a task is currently executed by the AGV; if so, adjusting the path of the AGV according to the AGV line map, wherein the end point of the path is positioned outside the emergency blocking area of the fire door, and the adjusted path does not pass through the fire door; otherwise, a task is created for the AGV that moves outside the emergency lockout area of the fire door, and the path of movement does not pass through the fire door.
11. An Automated Guided Vehicle (AGV) scheduling system, comprising: switch detection device, dispatch server and AGV of fire door, wherein:
the fire door opening and closing detection device is used for sending a fire door closing signal to the dispatching server when detecting that the fire door is closed;
the system comprises a dispatching server, a switching detection device and a plurality of AGVs, wherein the dispatching server is used for judging whether the AGVs are in an emergency locking area of a fire door after receiving a fire door closing signal sent by the switching detection device of the fire door; if the AGV is determined to be in the emergency locking area of the fire door, planning the path of the AGV out of the emergency locking area of the fire door according to an AGV route map; wherein, the emergency blockade region of fire door is according to AGV's size and set up around the fire door to, the emergency blockade region of fire door is: influencing the activity area of the AGV with the closed fire door in the closing process of the fire door;
and the AGV is used for walking according to the path information sent by the scheduling server.
12. An Automated Guided Vehicle (AGV) scheduling system, comprising: fire door detection device and AGV, wherein:
the switch detection device of the fire door is used for sending a fire door closing signal to the AGV when detecting that the fire door is closed;
the AGV is used for judging whether the AGV is in the emergency locking area of the fire door or not aiming at the AGV or each AGV in the working area of the AGV after receiving a fire door closing signal sent by the switch detection device of the fire door; if the AGV is determined to be in the emergency locking area of the fire door, planning the path of the AGV out of the emergency locking area of the fire door according to an AGV route map; wherein, the emergency blockade region of fire door is according to AGV's size and set up around the fire door to, the emergency blockade region of fire door is: the active area of the AGV that the fire door closes is affected during the closing of the fire door.
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