CN113467486A - AGV task management method and device, electronic equipment and storage medium - Google Patents

Abstract

The invention relates to the technical field of AGV control management, and provides an AGV task management method, an AGV task management device, electronic equipment and a storage medium, wherein a task file is loaded; the task file records a plurality of lines of information, each line of information comprises a scene number, a task number and navigation information, and the navigation information comprises position information of a plurality of sequentially arranged navigation points; acquiring scene number information of a scene where an AGV is located currently and task number information of a task to be executed by the AGV; extracting navigation information from corresponding line information of the task file according to the scene number information and the task number information; generating a navigation instruction according to the navigation information, and sending the navigation instruction to the AGV so that the AGV sequentially moves to each navigation point defined by the navigation information; therefore, the situation that the navigation target point needs to be set before the AGV executes the task every time can be avoided, the working efficiency is improved, and the practicability is good.

Description

AGV task management method and device, electronic equipment and storage medium

Technical Field

The invention relates to the technical field of AGV control management, in particular to an AGV task management method and device, electronic equipment and a storage medium.

Background

An AGV (automated Guided vehicle) generally travels along a specified guide path during operation, and the use of an AGV for transporting goods in warehouses and factories can reduce labor cost and improve work efficiency.

At present, a method for controlling and managing an AGV vehicle sets a series of navigation target points by using an open source RVIZ or other GUI visual interface programs, and then sends the navigation target points to the AGV vehicle, so that the AGV vehicle sequentially moves to each navigation target point in sequence.

Disclosure of Invention

In view of the defects of the prior art, an object of the present application is to provide an AGV task management method, an apparatus, an electronic device, and a storage medium, which are convenient for quickly obtaining a corresponding navigation target point according to an operation scene to navigate an AGV, thereby improving work efficiency.

In a first aspect, the present application provides an AGV task management method, including the steps of:

A1. loading a task file; the task file records a plurality of lines of information, each line of information comprises a scene number, a task number and navigation information, and the navigation information comprises position information of a plurality of sequentially arranged navigation points;

A2. acquiring scene number information of a scene where an AGV is located currently and task number information of a task to be executed by the AGV;

A3. extracting navigation information from corresponding line information of the task file according to the scene number information and the task number information;

A4. and generating a navigation instruction according to the navigation information, and sending the navigation instruction to the AGV so that the AGV sequentially moves to each navigation point defined by the navigation information.

According to the AGV task management method, the corresponding navigation point positions are set in advance according to different scenes and tasks, corresponding row information is generated according to the scene numbers of the scenes, the task numbers of the tasks and the corresponding navigation point position information and recorded in a task file, when the AGV vehicle works, the corresponding navigation point position information is directly extracted from the corresponding row information of the task file according to the scene numbers of the scenes where the AGV vehicle is located and the task numbers of the tasks to be executed so as to navigate the AGV vehicle, the situation that a navigation target point needs to be set before each task is executed is avoided, the working efficiency is improved, and the practicability is good.

In some embodiments, step a4 includes:

generating a first navigation instruction according to the position information of all navigation points in the navigation information;

and sending the first navigation instruction to the AGV, so that the AGV sequentially moves to each navigation point defined by the navigation information.

In other embodiments, step a4 includes:

generating a second navigation instruction according to the position information of the target navigation point by taking a first navigation point in the navigation information as the target navigation point;

sending the second navigation instruction to the AGV so that the AGV moves to the target navigation point;

circularly executing the following steps until all navigation points in the navigation information are traversed:

after feedback information which is sent by the AGV and indicates that the AGV reaches a target navigation point is received, taking the next navigation point in the navigation information as a new target navigation point, and generating a new second navigation instruction according to the new target navigation point;

and sending the new second navigation instruction to the AGV so that the AGV moves to the new target navigation point.

Preferably, the line information further includes status information, where the status information is first calibration information for calibrating the line information as invalid information, or second calibration information for calibrating the line information as valid information;

after the step a1, the method further includes the steps of:

and if a task deleting instruction is received, changing the state information of the corresponding row information in the task file into first calibration information according to the task deleting instruction.

Preferably, after the step a1, the method further comprises the steps of:

acquiring the number of rows of the invalid row; the invalid line is line information of which the state information is first calibration information;

calculating the proportion of the number of the invalid lines to the total number of the lines of the task file;

judging whether the proportion exceeds a preset proportion threshold value or not;

and if so, clearing all invalid lines from the task file.

Preferably, the proportion threshold is 25%.

Preferably, the step of clearing all invalid lines from the task file if yes comprises:

B1. taking the current first line invalid behavior as a target invalid line;

B2. judging whether a valid line exists after the target invalid line, if so, executing the step B3, otherwise, executing the step B4; the effective line is line information of which the state information is second calibration information;

B3. copying the target effective line to cover the target ineffective line by using the first effective line after the target ineffective line as the target effective line, changing the state information of the target effective line into first calibration information, and turning to the step B1;

B4. and clearing all data after the last row of state information is the row information of the second calibration information.

In a second aspect, an embodiment of the present application provides an AGV task management device, including:

the loading module is used for loading the task file; the task file records a plurality of lines of information, each line of information comprises a scene number, a task number and navigation information, and the navigation information comprises position information of a plurality of sequentially arranged navigation points;

the system comprises a first acquisition module, a second acquisition module and a third acquisition module, wherein the first acquisition module is used for acquiring scene number information of a scene where an AGV is located currently and task number information of a task to be executed by the AGV;

the navigation information extraction module is used for extracting navigation information from corresponding line information of the task file according to the scene number information and the task number information;

and the navigation module is used for generating a navigation instruction according to the navigation information and sending the navigation instruction to the AGV so that the AGV sequentially moves to each navigation point defined by the navigation information.

In a third aspect, an embodiment of the present application provides an electronic device, including a processor and a memory, where the memory stores a computer program, and the processor is configured to execute the steps of the AGV task management method by calling the computer program stored in the memory.

In a fourth aspect, embodiments of the present application provide a storage medium having a computer program stored thereon, where the computer program is executed by a processor to execute the steps of the AGV task management method.

Has the advantages that:

according to the AGV task management method and device, the electronic equipment and the storage medium, the task file is loaded; the task file records a plurality of lines of information, each line of information comprises a scene number, a task number and navigation information, and the navigation information comprises position information of a plurality of sequentially arranged navigation points; acquiring scene number information of a scene where an AGV is located currently and task number information of a task to be executed by the AGV; extracting navigation information from corresponding line information of the task file according to the scene number information and the task number information; generating a navigation instruction according to the navigation information, and sending the navigation instruction to the AGV so that the AGV sequentially moves to each navigation point defined by the navigation information; therefore, when the AGV works, corresponding navigation point position information is directly extracted from corresponding row information of the task file according to the scene number of the scene where the AGV is located and the task number of the task to be executed so as to navigate the AGV, the situation that a navigation target point needs to be set before the task is executed every time is avoided, the working efficiency is improved, and the practicability is good.

Drawings

Fig. 1 is a flowchart of an AGV task management method according to an embodiment of the present application.

Fig. 2 is a schematic configuration diagram of line information.

FIG. 3 is a flow chart of a process of flushing invalid lines.

FIG. 4 is a schematic diagram of task file information prior to clearing invalid lines.

FIG. 5 is a diagram of task file information in the exemplary process of clearing invalid lines with the fifth line replacing the third line.

FIG. 6 is a diagram of task file information in the exemplary process of clearing invalid lines with the fourth line replaced with the sixth line.

Fig. 7 is a task file information diagram after completing invalid line replacement in an exemplary process of clearing invalid lines.

FIG. 8 is a schematic diagram of task file information after clearing invalid lines.

FIG. 9 is a schematic structural diagram of an AGV task management apparatus according to an embodiment of the present application.

Fig. 10 is a schematic structural diagram of an electronic device according to an embodiment of the present application.

FIG. 11 is a diagram illustrating an AGV task management system.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", may explicitly or implicitly include one or more of the described features. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

The following disclosure provides embodiments or examples for implementing different configurations of the invention. To simplify the disclosure of the present invention, the components and arrangements of specific examples are described below. Of course, they are merely examples and are not intended to limit the present invention. Furthermore, the present invention may repeat reference numerals and/or letters in the various examples, such repetition is for the purpose of simplicity and clarity and does not in itself dictate a relationship between the various embodiments and/or configurations discussed. In addition, the present invention provides examples of various specific processes and materials, but those of ordinary skill in the art will recognize applications of other processes and/or uses of other materials.

Referring to fig. 1, an AGV task management method provided in an embodiment of the present application includes:

A1. loading a task file; the task file records a plurality of lines of information, each line of information comprises a scene number, a task number and navigation information, and the navigation information comprises position information of a plurality of sequentially arranged navigation points;

A2. acquiring scene number information of a scene where an AGV is located currently and task number information of a task to be executed by the AGV;

A3. extracting navigation information from corresponding line information of the task file according to the scene number information and the task number information;

A4. and generating a navigation instruction according to the navigation information, and sending the navigation instruction to the AGV so that the AGV sequentially moves to each navigation point defined by the navigation information.

In practical application, the AGV task management method can be applied to a guiding device 90 of an AGV task management system shown in fig. 11, where the AGV task management system includes an AGV vehicle 91 and the guiding device 90, and the guiding device 90 can be an upper computer used for navigating the AGV vehicle 91.

The AGV task management method includes the steps that corresponding navigation point (navigation point is a position point which must pass through the AGV in the moving process) positions are set in advance according to different scenes and tasks, corresponding row information is generated according to scene numbers of the scenes, task numbers of the tasks and corresponding navigation point position information and recorded in a task file, when the AGV works, the corresponding navigation point position information is directly extracted from the corresponding row information of the task file according to the scene numbers of the scenes where the AGV is located and the task numbers of the tasks to be executed, and then a navigation instruction is generated according to the navigation point position information to navigate the AGV, so that the AGV sequentially passes through the navigation points, the situation that a navigation target point needs to be set before each task is executed is avoided, the working efficiency is improved, and the practicability is good.

In some embodiments, step a4 includes:

generating a first navigation instruction according to the position information of all navigation points in the navigation information;

and sending the first navigation instruction to the AGV, so that the AGV sequentially moves to each navigation point defined by the navigation information.

That is, in this embodiment, one first navigation command is generated at a time based on the position information of all the navigation points, and the first navigation command includes the position information of each navigation point and the direction angle information of the AGV vehicle between the adjacent navigation points. When the AGV moves, after the AGV reaches one navigation point, the AGV can automatically go to the next navigation point, and in the process of moving from the previous navigation point to the next navigation point, the AGV moves linearly according to the corresponding direction angle.

The guiding device can comprise a display screen, when the AGV reaches one navigation point, feedback information which indicates that the AGV reaches the corresponding navigation point can be sent to the guiding device, and the guiding device displays the position of the AGV according to the feedback information so that a worker can monitor the running condition of the AGV. In the implementation mode, the AGV does not need manual intervention in the working process, is high in efficiency, and is suitable for being used in a simpler scene.

In other embodiments, step a4 includes:

generating a second navigation instruction according to the position information of the target navigation point by taking a first navigation point in the navigation information as the target navigation point;

sending the second navigation instruction to the AGV so that the AGV moves to the target navigation point;

circularly executing the following steps until all navigation points in the navigation information are traversed:

after feedback information which is sent by the AGV and indicates that the AGV reaches a target navigation point is received, taking the next navigation point in the navigation information as a new target navigation point, and generating a new second navigation instruction according to the new target navigation point;

and sending the new second navigation instruction to the AGV so that the AGV moves to the new target navigation point.

That is, in this embodiment, the guiding device generates one second navigation instruction each time according to the position information of only one navigation point to guide the AGV to move next; when the AGV reaches one navigation point, a feedback message needs to be sent to the guiding device, and after the guiding device sends a next navigation instruction, the AGV moves to the next navigation point. And when the AGV moves, the AGV moves linearly according to the direction angle until reaching the target navigation point.

After the guiding device receives each piece of feedback information, a worker may need to perform some manual approval works or manual tasks (for example, at a navigation point, the worker needs to manually check the integrity and the model information of an object transported by the AGV, and whether the information is correct or not), and then sends a next navigation instruction through the guiding device after the completion, so that the AGV is guaranteed to correctly complete the tasks. In the implementation mode, the AGV vehicle needs manual intervention in the working process, and can better ensure that the AGV vehicle can correctly complete tasks in a scene needing man-machine cooperative work.

Certainly, in some complex application scenarios, for example, manual approval work or manual tasks need to be performed at some navigation points, and manual approval work or manual tasks do not need to be performed at other navigation points, the navigation information in the navigation information may further include type information of each navigation point, for example, the type information of the navigation point is "1", which indicates that the navigation point is a first type of navigation point, and the AGV needs to perform manual approval work or manual tasks after reaching the corresponding navigation point; the type information of the navigation point is '2', which indicates that the navigation point is a second type of navigation point, and the AGV does not need to carry out manual approval work or manual tasks after reaching the corresponding navigation point; thus, step a4 may include:

generating a third navigation instruction according to the position information of all navigation points in the navigation information;

sending the third navigation instruction to the AGV car, so that the AGV car sequentially moves to each navigation point defined by the navigation information and stops moving when reaching the first type of navigation point to wait for a fourth navigation instruction; and the fourth navigation instruction is used for enabling the AGV to continuously move.

The third navigation instruction comprises position information and type information of each navigation point, and comprises direction angle information of the AGV between the adjacent navigation points. When moving, the AGV moves to each navigation point in sequence, and in the process of moving from the previous navigation point to the next navigation point, linear motion is carried out according to the corresponding direction angle; when the AGV arrives at each navigation point, the type of the currently arrived navigation point is judged, if the type of the currently arrived navigation point is the first type of navigation point, the AGV stops moving until a fourth navigation instruction sent back by the guiding device is received (the fourth navigation instruction is sent back by the guiding device after manual examination and approval work or a manual task is completed), then continues to go to the next navigation point, and if the type of the AGV arrives at the second type of navigation point, the AGV automatically goes to the next navigation point. Therefore, the requirement of man-machine cooperative work can be met, the AGV is prevented from stopping at the second type of navigation point too much, and the working efficiency is improved.

In practical application, after the guiding device loads the task file, the user can modify the navigation information in the row information through the guiding device. Thus, in some embodiments, after step A3 and before step a4, further comprising:

and if a navigation point position modification instruction is received, modifying the position information of the corresponding navigation point in the corresponding line information of the task file according to the navigation point position modification instruction.

For example, after the step A3 and before the step a4, the method further includes: extracting corresponding grid map information from a database according to the scene number information; displaying a grid map according to the extracted grid map information (wherein the database is stored in the guiding device, the grid map information of each preset scene is stored in the database, and the serial numbers of the grid map information correspond to the scene serial numbers one by one, so that the corresponding grid map can be displayed on a user interface according to the acquired scene serial number information); and displaying each navigation point icon at a position corresponding to the displayed grid map according to the navigation information. Therefore, when the user drags the position of the navigation point icon, the navigation point position modification instruction is generated by the guiding device according to the dragged position of the navigation point icon; or the navigation point position modification instruction is generated by the guiding device according to the input coordinate data when the user selects the navigation point icon and inputs new coordinate data.

The position information of the navigation point in the task file is coordinate information based on a grid map coordinate system; the dimension in the grid map coordinate system and the dimension in the real scene may be the same or proportional, if the latter is the case, the database further stores the scale data between each grid map and the real scene, or the row information further includes the scale data between the corresponding grid map and the real scene. Therefore, when the guiding device generates the navigation instruction according to the navigation information, the guiding device firstly converts the position information of each navigation point into the position information in the real scene according to the scale data, and then produces the navigation instruction according to the position information in the real scene.

In practical application, after the guiding device loads the task file, the user can delete the navigation point in the row information through the guiding device. Thus, after step A3 and before step a4, the method further comprises the steps of:

and if a navigation point deleting instruction is received, deleting the position information of the corresponding navigation point in the corresponding row information of the task file according to the navigation point deleting instruction.

For example, after the step A3 and before the step a4, the method further includes: extracting corresponding grid map information from a database according to the scene number information; displaying the grid map according to the extracted grid map information; and displaying each navigation point icon at a position corresponding to the displayed grid map according to the navigation information. Thus, the navigation point deletion command is generated by the guidance device according to the deleted navigation point icon when the user selects the navigation point icon and deletes the navigation point icon (e.g., presses the del key).

In practical applications, after the guiding device loads the task file, the user can adjust the sequence of the navigation points in the row information (so as to adjust the moving sequence of the AGV). Thus, after step A3 and before step a4, the method further comprises the steps of:

and if a navigation point sequencing adjustment instruction is received, changing the sequencing of the position information of the corresponding navigation point in the corresponding row information of the task file according to the navigation point sequencing adjustment instruction.

For example, after the step A3 and before the step a4, the method further includes: and displaying a navigation point coordinate data list according to the sequence of each navigation point (a plurality of coordinate data lines are displayed in the list, and each coordinate data line records the horizontal coordinate and the vertical coordinate of one navigation point). Therefore, when the user drags the navigation point coordinate data line in the navigation point ordered list to adjust the navigation point ordering, the navigation point ordering adjustment instruction is generated by the guiding device according to the adjusted ordering.

Further, the user may also perform an operation of adding a navigation point, for example, inserting a new navigation point coordinate data line into the navigation point coordinate data list, so as to guide the device to insert the position information of the new navigation point at a corresponding position in the corresponding line information of the task file. Namely, after the step of displaying the navigation point coordinate data list according to the sequence of the navigation points, the method also comprises the following steps: and if a navigation point inserting instruction is received, inserting new navigation point position information in a corresponding position in the corresponding row information of the task file according to the navigation point inserting instruction. The navigation point insertion command is generated by the guidance device based on the inserted navigation point coordinate data line when a new navigation point coordinate data line is inserted in the navigation point coordinate data list.

Preferably, the line information further contains status information, the status information is first calibration information for calibrating the line information as invalid information (for example, the first calibration information is "delayed"), or second calibration information for calibrating the line information as valid information (for example, the second calibration information is "State");

after the step a1, the method further includes the steps of:

and if a task deleting instruction is received, changing the state information of the corresponding row information in the task file into first calibration information according to the task deleting instruction.

The method has the advantages that only the state information of the row information to be deleted needs to be modified, the cost of CPU requirements is minimum, the cost of disk operation is minimum, the efficiency is highest, if the row information to be deleted is directly emptied, the whole row information needs to be set to zero, or the whole row information is directly deleted and sequentially filled by subsequent rows, more CPU and more disk io are occupied, more disk fragments are generated, and more CPU power consumption is consumed. Compared with the method of directly emptying the information row of the task to be deleted, the row information deleted by the method has the opportunity of being recovered to be used before being completely emptied, and the excessive fragmentation of the disk space for storing the task file caused by excessive deletion record operation can be avoided, so that the method is more efficient.

Further, the user may also add a new task in the task file through the guiding device, so that, after step a1, the method further includes the following steps:

if an adding instruction which indicates that a new task is to be added is received, acquiring a target scene number;

extracting corresponding grid map information from a database according to the target scene number;

according to the extracted grid map information, displaying a grid map;

acquiring position information of a navigation point designed by a user;

allocating a task number for the new task;

and generating new line information according to the target scene number, the distributed task number and the position information of the navigation point and recording the new line information in the task file.

Preferably, the step of "generating new line information from the target scene number, the assigned task number, and the position information of the navigation point and recording the new line information in the task file" includes:

and replacing the first line state information with the new line information to obtain the line information of the first calibration information.

And replacing invalid lines (namely the line information of which the state information is the first calibration information) with new line information, so that the task file does not need to be frequently expanded (new lines are added at the tail of the file), and the generation of disk fragments is favorably reduced.

The specific structure of the row information may be set according to actual needs, for example, in fig. 2, the row information of each row includes, from left to right, a scene number (scene id), a task number (UUID), a task name (nickName), State information (State or DELETED), a task index number (index), and navigation information. The navigation information comprises the number of navigation points (M _ arroCount), the number of connecting lines (M _ lineCount, the number of connecting lines between guidance navigation points) and a plurality of navigation point data structure information; each navigation point data structure comprises connection starting point position information (M _ startPoint, which is position information of one navigation point and comprises an x coordinate value and a y coordinate value), connection end point position information (M _ endPoint, which is position information of one navigation point and comprises an x coordinate value and a y coordinate value), a connection index number (M _ index), and a navigation point number (uuid and comprises the numbers of a connection starting point and a connection end point); after the guiding device 90 displays each navigation point icon at the position corresponding to the grid map, the straight line with an arrow pointing from the connection start point to the connection end point can be displayed according to the connection start point position information and the connection end point position information in each navigation point data structure, so that the user can visually see the moving sequence of the AGV 1; it should be noted that the starting point of the connecting line of the navigation point data structure is the same as the ending point of the connecting line of another navigation point data structure adjacent to the front side, and the ending point of the connecting line of the navigation point data structure is the same as the starting point of the connecting line of another navigation point data structure adjacent to the rear side. In some embodiments, each navigation point data structure further includes navigation point completion trigger condition information (M _ way), when the AGV arrives at each navigation point, if the navigation point completion trigger condition information indicates that manual intervention or manual approval is required, the AGV may suspend moving until the manual process is completed and then continue moving, if the navigation point completion trigger condition information indicates that a fixed number of beats (time) is required to stop, the AGV may stop for a corresponding number of beats (time) and continue moving, and if the navigation point completion trigger condition information indicates that waiting is not required, the AGV may continue moving without stopping.

In practical application, if too much row information whose state information is the first calibration information is present in the task file, the invalid row information needs to be cleared, so as to reduce the disk space occupied by the task file. After the step a1, the method further includes the steps of:

acquiring the number of rows of the invalid row; the invalid line is line information of which the state information is first calibration information;

calculating the proportion of the number of the invalid lines to the total number of the lines of the task file;

judging whether the proportion exceeds a preset proportion threshold value or not;

and if so, clearing all invalid lines from the task file.

The proportion threshold may be set according to actual needs, for example, the proportion threshold is 25%, but is not limited thereto.

Preferably, referring to fig. 3, the step of "if, clearing all invalid lines from the task file" includes:

B1. taking the current first line invalid behavior as a target invalid line;

B2. judging whether a valid line exists after the target invalid line, if so, executing the step B3, otherwise, executing the step B4; the effective line is line information of which the state information is second calibration information;

B3. copying the target effective line to cover the target ineffective line by using the first effective line after the target ineffective line as the target effective line, changing the state information of the target effective line into first calibration information, and turning to the step B1;

B4. and clearing all data after the last row of state information is the row information of the second calibration information.

For example, in the task file information shown in fig. 4, the information of the third and fourth rows is an invalid row, and needs to be cleared, the third row is first used as a target invalid row, the first row is followed by a fifth row, the fifth row is used as a target valid row, the fifth row is copied to cover the third row (as shown in fig. 5), and then the status information of the fifth row is changed to be invalid information (as shown in fig. 6, the status information of the fifth row is changed from "delete"); thus, the fourth line is changed into the first line invalid line, the fourth line is taken as the target invalid line, the sixth line is taken as the target valid line, and the above process is repeated, the task file information at this time is as shown in fig. 7, as long as the last two lines are invalid lines; further, the position of the row information of which the last row of state information is valid information is found, and all data after the position (excluding the row information of which the last row of state information is valid information) is emptied, and the task file information after the emptying is shown in fig. 8.

In practical application, when an invalid row is cleared, all row information with state information as invalid information can be directly cleared, but by adopting the direct clearing mode, zero is required to be set for the whole row information, or the whole row information is directly and sequentially filled with deleted subsequent rows, more cpus and disk io are occupied, more disk fragments are generated, more cpu power consumption is consumed, the time for performing concurrent locking operation is longer, and high concurrency is poor, and by adopting the steps of B1-B4 for clearing, zero is not required to be set for the whole row information or sequential filling is not required for the whole row information deleted subsequent rows, so that occupation of the cpus and the disk io is reduced, and generation of the disk fragments is reduced, thereby avoiding the phenomena of 'more cpu power consumption is consumed, the time for performing concurrent locking operation is longer, and high concurrency is poor'.

According to the AGV task management method, the task files are loaded; the task file records a plurality of lines of information, each line of information comprises a scene number, a task number and navigation information, and the navigation information comprises position information of a plurality of sequentially arranged navigation points; acquiring scene number information of a scene where an AGV is located currently and task number information of a task to be executed by the AGV; extracting navigation information from corresponding line information of the task file according to the scene number information and the task number information; generating a navigation instruction according to the navigation information, and sending the navigation instruction to the AGV so that the AGV sequentially moves to each navigation point defined by the navigation information; therefore, when the AGV works, corresponding navigation point position information is directly extracted from corresponding row information of the task file according to the scene number of the scene where the AGV is located and the task number of the task to be executed so as to navigate the AGV, the situation that a navigation target point needs to be set before the task is executed every time is avoided, the working efficiency is improved, and the practicability is good.

Referring to fig. 9, an AGV task management device according to an embodiment of the present application includes:

the loading module 1 is used for loading the task file; the task file records a plurality of lines of information, each line of information comprises a scene number, a task number and navigation information, and the navigation information comprises position information of a plurality of sequentially arranged navigation points;

the first acquisition module 2 is used for acquiring scene number information of a scene where the AGV is located currently and task number information of a task to be executed by the AGV;

the navigation information extraction module 3 is used for extracting navigation information from corresponding line information of the task file according to the scene number information and the task number information;

and the navigation module 4 is used for generating a navigation instruction according to the navigation information and sending the navigation instruction to the AGV so that the AGV sequentially moves to each navigation point defined by the navigation information.

The AGV task management apparatus can be applied to the guidance apparatus 90 of the AGV task management system shown in fig. 11.

In some embodiments, the navigation module 4 is configured to:

generating a first navigation instruction according to the position information of all navigation points in the navigation information;

and sending the first navigation instruction to the AGV, so that the AGV sequentially moves to each navigation point defined by the navigation information.

That is, in this embodiment, one first navigation command is generated at a time based on the position information of all the navigation points, and the first navigation command includes the position information of each navigation point and the direction angle information of the AGV vehicle between the adjacent navigation points. When the AGV moves, after the AGV reaches one navigation point, the AGV can automatically go to the next navigation point, and in the process of moving from the previous navigation point to the next navigation point, the AGV moves linearly according to the corresponding direction angle.

The guiding device can comprise a display screen, when the AGV reaches one navigation point, feedback information which indicates that the AGV reaches the corresponding navigation point can be sent to the guiding device, and the guiding device displays the position of the AGV according to the feedback information so that a worker can monitor the running condition of the AGV. In the implementation mode, the AGV does not need manual intervention in the working process, is high in efficiency, and is suitable for being used in a simpler scene.

In other embodiments, the navigation module 4 is configured to:

generating a second navigation instruction according to the position information of the target navigation point by taking a first navigation point in the navigation information as the target navigation point;

sending the second navigation instruction to the AGV so that the AGV moves to the target navigation point;

circularly executing the following steps until all navigation points in the navigation information are traversed:

after feedback information which is sent by the AGV and indicates that the AGV reaches a target navigation point is received, taking the next navigation point in the navigation information as a new target navigation point, and generating a new second navigation instruction according to the new target navigation point;

and sending the new second navigation instruction to the AGV so that the AGV moves to the new target navigation point.

That is, in this embodiment, the guiding device generates one second navigation instruction each time according to the position information of only one navigation point to guide the AGV to move next; when the AGV reaches one navigation point, a feedback message needs to be sent to the guiding device, and after the guiding device sends a next navigation instruction, the AGV moves to the next navigation point. And when the AGV moves, the AGV moves linearly according to the direction angle until reaching the target navigation point.

After the guiding device receives each piece of feedback information, a worker may need to perform some manual approval works or manual tasks (for example, at a navigation point, the worker needs to manually check the integrity and the model information of an object transported by the AGV, and whether the information is correct or not), and then sends a next navigation instruction through the guiding device after the completion, so that the AGV is guaranteed to correctly complete the tasks. In the implementation mode, the AGV vehicle needs manual intervention in the working process, and can better ensure that the AGV vehicle can correctly complete tasks in a scene needing man-machine cooperative work.

Certainly, in some complex application scenarios, for example, manual approval work or manual tasks need to be performed at some navigation points, and manual approval work or manual tasks do not need to be performed at other navigation points, the navigation information in the navigation information may further include type information of each navigation point, for example, the type information of the navigation point is "1", which indicates that the navigation point is a first type of navigation point, and the AGV needs to perform manual approval work or manual tasks after reaching the corresponding navigation point; the type information of the navigation point is '2', which indicates that the navigation point is a second type of navigation point, and the AGV does not need to carry out manual approval work or manual tasks after reaching the corresponding navigation point; thus, the navigation module 4 is configured to:

generating a third navigation instruction according to the position information of all navigation points in the navigation information;

sending the third navigation instruction to the AGV car, so that the AGV car sequentially moves to each navigation point defined by the navigation information and stops moving when reaching the first type of navigation point to wait for a fourth navigation instruction; and the fourth navigation instruction is used for enabling the AGV to continuously move.

The third navigation instruction comprises position information and type information of each navigation point, and comprises direction angle information of the AGV between the adjacent navigation points. When moving, the AGV moves to each navigation point in sequence, and in the process of moving from the previous navigation point to the next navigation point, linear motion is carried out according to the corresponding direction angle; when the AGV arrives at each navigation point, the type of the currently arrived navigation point is judged, if the type of the currently arrived navigation point is the first type of navigation point, the AGV stops moving until a fourth navigation instruction sent back by the guiding device is received (the fourth navigation instruction is sent back by the guiding device after manual examination and approval work or a manual task is completed), then continues to go to the next navigation point, and if the type of the AGV arrives at the second type of navigation point, the AGV automatically goes to the next navigation point. Therefore, the requirement of man-machine cooperative work can be met, the AGV is prevented from stopping at the second type of navigation point too much, and the working efficiency is improved.

In practical application, after the guiding device loads the task file, the user can modify the navigation information in the row information through the guiding device. Thus, in some embodiments, the AGV task management apparatus further comprises:

and the navigation point position modification module is used for modifying the position information of the corresponding navigation point in the corresponding line information of the task file according to the navigation point position modification instruction when the navigation point position modification instruction is received.

For example, the AGV task management device further includes: the first display module is used for extracting corresponding grid map information from a database according to the scene number information, displaying a grid map according to the extracted grid map information (wherein the database is stored in the guiding device, the grid map information of each preset scene is stored in the database, and the number of each grid map information corresponds to the scene number one by one, so that the corresponding grid map can be displayed on a user interface according to the acquired scene number information), and displaying each navigation point icon on the corresponding position of the displayed grid map according to the navigation information. Therefore, when the user drags the position of the navigation point icon, the navigation point position modification instruction is generated by the guiding device according to the dragged position of the navigation point icon; or the navigation point position modification instruction is generated by the guiding device according to the input coordinate data when the user selects the navigation point icon and inputs new coordinate data.

The position information of the navigation point in the task file is coordinate information based on a grid map coordinate system; the dimension in the grid map coordinate system and the dimension in the real scene may be the same or proportional, if the latter is the case, the database further stores the scale data between each grid map and the real scene, or the row information further includes the scale data between the corresponding grid map and the real scene. Therefore, when the guiding device generates the navigation instruction according to the navigation information, the guiding device firstly converts the position information of each navigation point into the position information in the real scene according to the scale data, and then produces the navigation instruction according to the position information in the real scene.

In practical application, after the guiding device loads the task file, the user can delete the navigation point in the row information through the guiding device. Thus, the AGV task management device further includes:

and the navigation point deleting module is used for deleting the position information of the corresponding navigation point in the corresponding row information of the task file according to the navigation point deleting instruction when the navigation point deleting instruction is received.

For example, the AGV task management device further includes: and the first display module is used for extracting corresponding grid map information from a database according to the scene number information, displaying a grid map according to the extracted grid map information, and displaying each navigation point icon on a position corresponding to the displayed grid map according to the navigation information. Thus, the navigation point deletion command is generated by the guidance device according to the deleted navigation point icon when the user selects the navigation point icon and deletes the navigation point icon (e.g., presses the del key).

In practical applications, after the guiding device loads the task file, the user can adjust the sequence of the navigation points in the row information (so as to adjust the moving sequence of the AGV). Thus, the AGV task management device further includes:

and the navigation point sequencing adjustment module is used for changing the sequencing of the position information of the corresponding navigation points in the corresponding row information of the task file according to the navigation point sequencing adjustment instruction when receiving the navigation point sequencing adjustment instruction.

For example, the AGV task management device further includes: and the second display module is used for displaying a navigation point coordinate data list according to the sequence of each navigation point (a plurality of coordinate data lines are displayed in the list, and each coordinate data line records the horizontal coordinate and the vertical coordinate of one navigation point). Therefore, when the user drags the navigation point coordinate data line in the navigation point ordered list to adjust the navigation point ordering, the navigation point ordering adjustment instruction is generated by the guiding device according to the adjusted ordering.

Further, the user may also perform an operation of adding a navigation point, for example, inserting a new navigation point coordinate data line into the navigation point coordinate data list, so as to guide the device to insert the position information of the new navigation point at a corresponding position in the corresponding line information of the task file. Namely, the AGV task management apparatus further includes: and the navigation point inserting module is used for inserting the position information of a new navigation point into the corresponding position in the corresponding row information of the task file according to the navigation point inserting instruction when the navigation point inserting instruction is received. The navigation point insertion command is generated by the guidance device based on the inserted navigation point coordinate data line when a new navigation point coordinate data line is inserted in the navigation point coordinate data list.

Preferably, the line information further contains status information, the status information is first calibration information for calibrating the line information as invalid information (for example, the first calibration information is "delayed"), or second calibration information for calibrating the line information as valid information (for example, the second calibration information is "State");

this AGV task management device still includes:

and the task deleting module is used for changing the state information of the corresponding row information in the task file into first calibration information according to the task deleting instruction when the task deleting instruction is received.

The method has the advantages that only the state information of the row information to be deleted needs to be modified, the cost of CPU requirements is minimum, the cost of disk operation is minimum, the efficiency is highest, if the row information to be deleted is directly emptied, the whole row information needs to be set to zero, or the whole row information is directly deleted and sequentially filled by subsequent rows, more CPU and more disk io are occupied, more disk fragments are generated, and more CPU power consumption is consumed.

Further, the user may add a new task to the task file through the guidance device, and thus the AGV task management device further includes:

the task adding module is used for acquiring a target scene number when an adding instruction which indicates that a new task is to be added is received;

extracting corresponding grid map information from a database according to the target scene number;

according to the extracted grid map information, displaying a grid map;

acquiring position information of a navigation point designed by a user;

allocating a task number for the new task;

and generating new line information according to the target scene number, the distributed task number and the position information of the navigation point and recording the new line information in the task file.

Preferably, the task adding module is further configured to, when new line information is generated according to the target scene number, the assigned task number, and the position information of the navigation point and recorded in the task file:

and replacing the first line state information with the new line information to obtain the line information of the first calibration information.

And replacing invalid lines (namely the line information of which the state information is the first calibration information) with new line information, so that the task file does not need to be frequently expanded (new lines are added at the tail of the file), and the generation of disk fragments is favorably reduced. Compared with the method that new row information is directly added at the last of the task file, the new row information is used for replacing the row information of which the state information is the first calibration information, so that the phenomenon that the disk space for storing the task file is excessively fragmented due to excessive adding and deleting recording operations can be avoided, and the method is more efficient.

The specific structure of the row information may be set according to actual needs, for example, in fig. 2, the row information of each row includes, from left to right, a scene number (scene id), a task number (UUID), a task name (nickName), State information (State or DELETED), a task index number (index), and navigation information. The navigation information comprises the number of navigation points (M _ arroCount), the number of connecting lines (M _ lineCount, the number of connecting lines between guidance navigation points) and a plurality of navigation point data structure information; each navigation point data structure comprises connection starting point position information (M _ startPoint, which is position information of one navigation point and comprises an x coordinate value and a y coordinate value), connection end point position information (M _ endPoint, which is position information of one navigation point and comprises an x coordinate value and a y coordinate value), a connection index number (M _ index), and a navigation point number (uuid and comprises the numbers of a connection starting point and a connection end point); after the guiding device 90 displays each navigation point icon at the position corresponding to the grid map, the straight line with an arrow pointing from the connection start point to the connection end point can be displayed according to the connection start point position information and the connection end point position information in each navigation point data structure, so that the user can visually see the moving sequence of the AGV 1; it should be noted that the starting point of the connecting line of the navigation point data structure is the same as the ending point of the connecting line of another navigation point data structure adjacent to the front side, and the ending point of the connecting line of the navigation point data structure is the same as the starting point of the connecting line of another navigation point data structure adjacent to the rear side. In some embodiments, each navigation point data structure further includes navigation point completion trigger condition information (M _ way), when the AGV arrives at each navigation point, if the navigation point completion trigger condition information indicates that manual intervention or manual approval is required, the AGV may suspend moving until the manual process is completed and then continue moving, if the navigation point completion trigger condition information indicates that a fixed number of beats (time) is required to stop, the AGV may stop for a corresponding number of beats (time) and continue moving, and if the navigation point completion trigger condition information indicates that waiting is not required, the AGV may continue moving without stopping.

In practical application, if too much row information whose state information is the first calibration information is present in the task file, the invalid row information needs to be cleared, so as to reduce the disk space occupied by the task file. This AGV task management device still includes:

the second acquisition module is used for acquiring the row number of the invalid row; the invalid line is line information of which the state information is first calibration information;

the first calculation module is used for calculating the proportion of the number of the invalid lines to the total number of the lines of the task file;

the first judgment module is used for judging whether the proportion exceeds a preset proportion threshold value;

and the first execution module is used for clearing all invalid lines from the task file when the proportion exceeds a preset proportion threshold value.

The proportion threshold may be set according to actual needs, for example, the proportion threshold is 25%, but is not limited thereto.

Preferably, referring to fig. 3, the first execution module is further configured to, when all invalid lines are cleared from the task file:

B1. taking the current first line invalid behavior as a target invalid line;

B2. judging whether a valid line exists after the target invalid line, if so, executing the step B3, otherwise, executing the step B4; the effective line is line information of which the state information is second calibration information;

B3. copying the target effective line to cover the target ineffective line by using the first effective line after the target ineffective line as the target effective line, changing the state information of the target effective line into first calibration information, and turning to the step B1;

B4. and clearing all data after the last row of state information is the row information of the second calibration information.

For example, in the task file information shown in fig. 4, the information of the third and fourth rows is an invalid row, and needs to be cleared, the third row is first used as a target invalid row, the first row is followed by a fifth row, the fifth row is used as a target valid row, the fifth row is copied to cover the third row (as shown in fig. 5), and then the status information of the fifth row is changed to be invalid information (as shown in fig. 6, the status information of the fifth row is changed from "delete"); thus, the fourth line is changed into the first line invalid line, the fourth line is taken as the target invalid line, the sixth line is taken as the target valid line, and the above process is repeated, the task file information at this time is as shown in fig. 7, as long as the last two lines are invalid lines; further, the position of the row information of which the last row of state information is valid information is found, and all data after the position (excluding the row information of which the last row of state information is valid information) is emptied, and the task file information after the emptying is shown in fig. 8.

In practical application, when an invalid row is cleared, all row information with state information as invalid information can be directly cleared, but by adopting the direct clearing mode, zero is required to be set for the whole row information, or the whole row information is directly and sequentially filled with deleted subsequent rows, more cpus and disk io are occupied, more disk fragments are generated, more cpu power consumption is consumed, the time for performing concurrent locking operation is longer, and high concurrency is poor, and by adopting the steps of B1-B4 for clearing, zero is not required to be set for the whole row information or sequential filling is not required for the whole row information deleted subsequent rows, so that occupation of the cpus and the disk io is reduced, and generation of the disk fragments is reduced, thereby avoiding the phenomena of 'more cpu power consumption is consumed, the time for performing concurrent locking operation is longer, and high concurrency is poor'.

Therefore, the AGV task management device loads the task file; the task file records a plurality of lines of information, each line of information comprises a scene number, a task number and navigation information, and the navigation information comprises position information of a plurality of sequentially arranged navigation points; acquiring scene number information of a scene where an AGV is located currently and task number information of a task to be executed by the AGV; extracting navigation information from corresponding line information of the task file according to the scene number information and the task number information; generating a navigation instruction according to the navigation information, and sending the navigation instruction to the AGV so that the AGV sequentially moves to each navigation point defined by the navigation information; therefore, when the AGV works, corresponding navigation point position information is directly extracted from corresponding row information of the task file according to the scene number of the scene where the AGV is located and the task number of the task to be executed so as to navigate the AGV, the situation that a navigation target point needs to be set before the task is executed every time is avoided, the working efficiency is improved, and the practicability is good.

Referring to fig. 10, an electronic device 100 according to an embodiment of the present application further includes a processor 101 and a memory 102, where the memory 102 stores a computer program, and the processor 101 is configured to execute the above-mentioned steps of the AGV task management method by calling the computer program stored in the memory 102.

The processor 101 is electrically connected to the memory 102. The processor 101 is a control center of the electronic device 100, connects various parts of the entire electronic device using various interfaces and lines, and performs various functions of the electronic device and processes data by running or calling a computer program stored in the memory 102 and calling data stored in the memory 102, thereby performing overall monitoring of the electronic device.

The memory 102 may be used to store computer programs and data. The memory 102 stores computer programs containing instructions executable in the processor. The computer program may constitute various functional modules. The processor 101 executes various functional applications and data processing by calling a computer program stored in the memory 102.

In this embodiment, the processor 101 in the electronic device 100 loads instructions corresponding to one or more processes of the computer program into the memory 102, and the processor 101 runs the computer program stored in the memory 102 according to the following steps, so as to implement various functions: loading a task file; the task file records a plurality of lines of information, each line of information comprises a scene number, a task number and navigation information, and the navigation information comprises position information of a plurality of sequentially arranged navigation points; acquiring scene number information of a scene where an AGV is located currently and task number information of a task to be executed by the AGV; extracting navigation information from corresponding line information of the task file according to the scene number information and the task number information; and generating a navigation instruction according to the navigation information, and sending the navigation instruction to the AGV so that the AGV sequentially moves to each navigation point defined by the navigation information.

As can be seen from the above, the electronic device, by loading the task file; the task file records a plurality of lines of information, each line of information comprises a scene number, a task number and navigation information, and the navigation information comprises position information of a plurality of sequentially arranged navigation points; acquiring scene number information of a scene where an AGV is located currently and task number information of a task to be executed by the AGV; extracting navigation information from corresponding line information of the task file according to the scene number information and the task number information; generating a navigation instruction according to the navigation information, and sending the navigation instruction to the AGV so that the AGV sequentially moves to each navigation point defined by the navigation information; therefore, when the AGV works, corresponding navigation point position information is directly extracted from corresponding row information of the task file according to the scene number of the scene where the AGV is located and the task number of the task to be executed so as to navigate the AGV, the situation that a navigation target point needs to be set before the task is executed every time is avoided, the working efficiency is improved, and the practicability is good.

An embodiment of the present application further provides a storage medium, on which a computer program is stored, where the computer program runs the steps of the AGV task management method described above when being executed by a processor, so as to implement the following functions: provided is an AGV task management method.

The storage medium may be implemented by any type of volatile or nonvolatile storage device or combination thereof, such as a Static Random Access Memory (SRAM), an Electrically Erasable Programmable Read-Only Memory (EEPROM), an Erasable Programmable Read-Only Memory (EPROM), a Programmable Read-Only Memory (PROM), a Read-Only Memory (ROM), a magnetic Memory, a flash Memory, a magnetic disk, or an optical disk.

In summary, although the present invention has been described with reference to the preferred embodiments, the above-described preferred embodiments are not intended to limit the present invention, and those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, which are substantially the same as the present invention.

Claims (10)

1. An AGV task management method is characterized by comprising the following steps:

A1. loading a task file; the task file records a plurality of lines of information, each line of information comprises a scene number, a task number and navigation information, and the navigation information comprises position information of a plurality of sequentially arranged navigation points;

A2. acquiring scene number information of a scene where an AGV is located currently and task number information of a task to be executed by the AGV;

A3. extracting navigation information from corresponding line information of the task file according to the scene number information and the task number information;

A4. and generating a navigation instruction according to the navigation information, and sending the navigation instruction to the AGV so that the AGV sequentially moves to each navigation point defined by the navigation information.

2. The AGV task management method according to claim 1, wherein step a4 includes:

generating a first navigation instruction according to the position information of all navigation points in the navigation information;

and sending the first navigation instruction to the AGV, so that the AGV sequentially moves to each navigation point defined by the navigation information.

3. The AGV task management method according to claim 1, wherein step a4 includes:

generating a second navigation instruction according to the position information of the target navigation point by taking a first navigation point in the navigation information as the target navigation point;

sending the second navigation instruction to the AGV so that the AGV moves to the target navigation point;

circularly executing the following steps until all navigation points in the navigation information are traversed:

after feedback information which is sent by the AGV and indicates that the AGV reaches a target navigation point is received, taking the next navigation point in the navigation information as a new target navigation point, and generating a new second navigation instruction according to the new target navigation point;

and sending the new second navigation instruction to the AGV so that the AGV moves to the new target navigation point.

4. The AGV task management method according to claim 1, wherein the row information further includes status information, the status information being first calibration information for calibrating the row information as invalid information or second calibration information for calibrating the row information as valid information;

after the step a1, the method further includes the steps of:

and if a task deleting instruction is received, changing the state information of the corresponding row information in the task file into first calibration information according to the task deleting instruction.

5. The AGV task management method according to claim 4, further comprising, after step A1, the steps of:

acquiring the number of rows of the invalid row; the invalid line is line information of which the state information is first calibration information;

calculating the proportion of the number of the invalid lines to the total number of the lines of the task file;

judging whether the proportion exceeds a preset proportion threshold value or not;

and if so, clearing all invalid lines from the task file.

6. The AGV task management method of claim 5 wherein said percentage threshold is 25%.

7. The AGV task management method of claim 5, wherein the step of clearing all invalid lines from the task file if yes comprises:

B1. taking the current first line invalid behavior as a target invalid line;

B2. judging whether a valid line exists after the target invalid line, if so, executing the step B3, otherwise, executing the step B4; the effective line is line information of which the state information is second calibration information;

B3. copying the target effective line to cover the target ineffective line by using the first effective line after the target ineffective line as the target effective line, changing the state information of the target effective line into first calibration information, and turning to the step B1;

B4. and clearing all data after the last row of state information is the row information of the second calibration information.

8. An AGV task management apparatus, comprising:

the loading module is used for loading the task file; the task file records a plurality of lines of information, each line of information comprises a scene number, a task number and navigation information, and the navigation information comprises position information of a plurality of sequentially arranged navigation points;

the system comprises a first acquisition module, a second acquisition module and a third acquisition module, wherein the first acquisition module is used for acquiring scene number information of a scene where an AGV is located currently and task number information of a task to be executed by the AGV;

the navigation information extraction module is used for extracting navigation information from corresponding line information of the task file according to the scene number information and the task number information;

and the navigation module is used for generating a navigation instruction according to the navigation information and sending the navigation instruction to the AGV so that the AGV sequentially moves to each navigation point defined by the navigation information.

9. An electronic device, characterized in that it comprises a processor and a memory, said memory having stored therein a computer program, said processor being adapted to execute the steps of the AGV task management method according to any one of claims 1-7 by calling said computer program stored in said memory.

10. A storage medium having stored thereon a computer program, characterized in that the computer program, when being executed by a processor, executes the steps of the AGV task management method according to any one of claims 1-7.

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