CN114077253B - Scheduling system integrating multiple AGVs of different types and application method thereof - Google Patents
Scheduling system integrating multiple AGVs of different types and application method thereof Download PDFInfo
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Abstract
The invention provides a dispatching system integrating a plurality of AGVs of different types and a use method thereof, and relates to the technical field of vehicle dispatching, wherein the dispatching system comprises a module system and a hardware system, and the module system comprises a plurality of AGVs of different types, an AGV multitask point configuration module, an AGV execution task attribute binding module, a multi-task data allocation management module, a map online editing and setting module, a wireless communication module and a vehicle operation monitoring module; according to the invention, the multi-type AGV vehicle management module is matched with the AGV multi-task point configuration module to divide the vehicle management module into different task types, special task points and working point actions according to different vehicle types, each type is independently distinguished and has corresponding binding attributes, all types of AGVs are managed and distributed by a module system in an upper computer, the problem of incompatibility of multi-type vehicle tasks and traffic management in the same system is solved, the efficiency is higher, and the binding setting is flexible.
Description
Technical Field
The invention relates to the technical field of vehicle dispatching, in particular to a dispatching system integrating a plurality of AGVs of different types and a using method thereof.
Background
Along with the development of present intelligent logistics industry rapidly, automatic navigation's demand is also higher and higher, however in the environment of multiple AGV operation, the AGV operation not only has the condition such as crossing, cross, more appear task data to issue confliction, probably lead to AGV idle time overlength or carry out unmatched task etc. influence operating efficiency, also there is the AGV action mistake to cause the potential safety hazard, simultaneously, if there is in the same region different types of car, can have the data intercommunication between the system with a plurality of different dispatch systems, thereby lead to AGV traffic jam, reduce logistics distribution's efficiency.
The current task management and scheduling methods are relatively limited, only one type of controllable vehicle exists in a single system, which is equivalent to a one-to-one mode, and the same road section area uniformity management cannot be carried out by being compatible with AGVs of multiple types, so that the invention provides a scheduling system integrating multiple AGVs of different types into a whole and a using method thereof to solve the problems in the prior art.
Disclosure of Invention
Aiming at the problems, the invention provides a dispatching system integrating various AGVs with different types and a using method thereof, and the dispatching system integrating the various AGVs with different types and the using method thereof solve the problem of incompatibility of the tasks of various vehicles and traffic control in the same system, and have higher efficiency and flexible binding setting.
In order to achieve the purpose of the invention, the invention is realized by the following technical scheme: the system comprises a module system and a hardware system, wherein the module system comprises a plurality of AGV vehicle management modules, an AGV multi-task point configuration module, an AGV execution task attribute binding module, a multi-task data allocation management module, a map online editing and setting module, a wireless communication module and a vehicle operation monitoring module;
the hardware system comprises an AGV body and an upper computer, wherein the AGV body comprises a vehicle-mounted controller and a communication module, the module system is loaded in the upper computer, the vehicle-mounted controller is responsible for the normal operation of the AGV, receives all sensors and external input information, and makes control decisions; the communication module is used for receiving the information sent by the module system and feeding back the information to the module system.
The further improvement is that: the AGV vehicle management modules are used for adding and distinguishing various types of AGVs, and binding the IP of the corresponding control vehicle and options of whether to start or not; the AGV multitasking point configuration module is used for binding task points, controlling areas and designating AGV queues in the areas.
The further improvement is that: the AGV executing task attribute binding module is used for setting the action, the height, the speed increasing and decreasing points of the working points and the state setting of the task points; the allocation management module of the multi-task data is used for realizing the functions of displaying, storing, inquiring, adding and deleting the data of the real-time task state and the historical task.
The further improvement is that: the map online editing and setting module is used for displaying a line for the real-time operation of the AGV, online editing map lines, adding and deleting vehicles, feeding points, discharging points and charging points; the wireless communication module is used for receiving information returned by the AGV and sending a task instruction to the AGV; the vehicle operation monitoring module is used for tracking and displaying the real-time information of the point position reached by the vehicle operation, so as to achieve the effect of monitoring.
The further improvement is that: the upper computer is a computer provided with an operating system and having a communication hardware interface, a man-machine interface and a storage function, and the upper computer realizes information receiving and transmitting through the wireless communication module.
The further improvement is that: the communication module and the wireless communication module are one of Wifi and Zigbee middle-distance modules, and are in the same working frequency band.
The further improvement is that: the vehicle-mounted controller making control decisions including parking and traveling; the information received and fed back by the communication module comprises AGV numbers, IP, vehicle running states, current map codes and task execution states.
The using method of the scheduling system integrating a plurality of AGVs of different types comprises the following steps:
step one: data binding
The module system is opened, the system automatically performs an initialization state, then the wireless connection communication configuration of the vehicle is performed by utilizing a plurality of AGV vehicle management modules according to the classification of different AGVs, and when the system is used for the first time, data which are used later and are not easy to change are bound by utilizing the AGV multi-task point configuration module;
step two: task allocation
The method comprises the steps that a task attribute binding module is executed by an AGV, task demands of a WMS system or unlimited calling equipment from an upper computer are automatically received, corresponding working points are obtained according to the demands, a queue of a corresponding control area of a matchable task is found out from a list of loading binding working points through a working point Station, then the idle and non-task AGVs in the queue are inquired through a task-free allocation management module of multi-task data, a first vehicle in the list is assigned with tasks preferentially, and a task interface of a vehicle-mounted controller is sent to a request after the AGVs are selected;
step three: request judgment
When the interface request is successful, judging whether the task data returned by the interface is effective and accords with the standard set by the interface content, if so, indicating that the task dispatch vehicle is successful, and when the interface request fails or the returned data is invalid, retransmitting the task request;
step four: querying status
After the AGV allocation is successful, the module system broadcasts and sends a query command to query the current position, the vehicle state and the task execution state information of all running AGVs at intervals of a certain period through the wireless communication module, when the information that the task execution returned by the AGV is not executed or is being executed is received, the AGV is still in a busy state, the AGV is automatically removed from a dispatchable queue through the allocation management module of the multi-task data, and the rest other AGV positions in the queue are all moved forward by one position;
step five: queuing queue updates
When the state returned by the AGV is that the task is executed, automatically adding the AGV to an AGV queuing queue of a control area of the current task number again, updating a table of a real-time task state of a man-machine interface, updating a database, continuously opening an interface for receiving WMS information of an upper computer by a module system, and performing cyclic operation until the system is closed;
step six: path planning
The allocation management module of the multi-task data is utilized to call the AGVs which are closest to the task starting point, have no alarm and are in an idle state to accept the task, the map online editing and setting module is utilized to judge whether the AGVs have path conflicts in the running process, if so, the AGVs are subjected to traffic control from the inside, and according to the tracking display of the vehicle running monitoring module, the AGVs which reach the occupied point position firstly pass preferentially and then are queued sequentially.
The further improvement is that: in the first step, binding data which are used later and are not easy to change, including the binding of parameters, attributes and control areas of task points, wherein each numbered control area is correspondingly provided with an AGV queuing queue.
The further improvement is that: in the step six, if the AGV arranged at the back fails to turn in 1 minute, the path is re-planned, and the system is circularly operated until the system is closed.
The beneficial effects of the invention are as follows:
1. according to the invention, the multi-type AGV vehicle management module is matched with the AGV multi-task point configuration module to divide the vehicle management module into different task types, special task points and working point actions according to different vehicle types, each type is independently distinguished and has corresponding binding attributes, all types of AGVs are managed and distributed by a module system in an upper computer, the problem of incompatibility of multi-type vehicle tasks and traffic management in the same system is solved, the efficiency is higher, and the binding setting is flexible.
2. According to the invention, the AGVs execute task attribute binding modules for classifying and controlling different types of AGV systems, meanwhile, adjustable AGV control queues are correspondingly arranged in different areas, when the demands of the distribution tasks exist, the corresponding types of AGVs are distributed according to the categories of the tasks through the allocation management module of the multi-task data, the idle AGVs are inquired out of the AGVs of the binding working points to be distributed, the tasks are controlled by inquiring the running state of the control vehicle and the task completion state in a fixed time interval, when the AGVs at the first position of the queues are already distributed with tasks, the module system moves the AGVs out of the queues, the AGVs in the queues move forward and stand by in place, and after the tasks are completed, the module system automatically adds the AGVs into the adjustable AGVs to allocate according to rules, so that the conditions of confusion and mistakes of the task transmission of the multi-type vehicles can be avoided, and the logistics distribution accuracy is improved.
Drawings
FIG. 1 is a schematic diagram of a modular system of the present invention;
FIG. 2 is a schematic diagram of a hardware system of the present invention;
FIG. 3 is a flow chart of a method of using the present invention.
Detailed Description
The present invention will be further described in detail with reference to the following examples, which are only for the purpose of illustrating the invention and are not to be construed as limiting the scope of the invention.
Example 1
According to fig. 1 and 2, the embodiment provides a dispatching system integrating various different types of AGVs, which comprises a module system and a hardware system, wherein the module system comprises a multi-type AGV vehicle management module, an AGV multi-task point configuration module, an AGV execution task attribute binding module, a multi-task data allocation management module, a map online editing and setting module, a wireless communication module and a vehicle operation monitoring module;
the hardware system comprises an AGV body and an upper computer, wherein the AGV body comprises a vehicle-mounted controller and a communication module, the module system is loaded in the upper computer, the vehicle-mounted controller is responsible for the normal operation of the AGV, receives all sensors and external input information, and makes control decisions; the communication module is used for receiving the information sent by the module system and feeding back the information to the module system.
The AGV vehicle management modules are used for adding and distinguishing various types of AGVs, and binding the IP of the corresponding control vehicle and options of whether to start or not; the AGV multitasking point configuration module is used for binding task points, controlling areas and designating AGV queues in the areas. The AGV executing task attribute binding module is used for setting the action, the height, the speed increasing and decreasing points of the working points and the state setting of the task points; the allocation management module of the multi-task data is used for realizing the functions of displaying, storing, inquiring, adding and deleting the data of the real-time task state and the historical task. The map online editing and setting module is used for displaying a line for the real-time operation of the AGV, online editing map lines, adding and deleting vehicles, feeding points, discharging points and charging points; the wireless communication module is used for receiving information returned by the AGV and sending a task instruction to the AGV; the vehicle operation monitoring module is used for tracking and displaying the real-time information of the point position reached by the vehicle operation, so as to achieve the effect of monitoring.
The upper computer is a computer provided with an operating system and having a communication hardware interface, a man-machine interface and a storage function, and the upper computer realizes information receiving and transmitting through the wireless communication module. The communication module and the wireless communication module are one of Wifi and Zigbee middle-distance modules, and are in the same working frequency band. The vehicle-mounted controller making control decisions including parking and traveling; the information received and fed back by the communication module comprises AGV numbers, IP, vehicle running states, current map codes and task execution states. When the system is used, the multi-type AGV vehicle management module is matched with the AGV multi-task point configuration module to divide the system into different task types, special task points and working point actions according to different vehicle types, each type is distinguished independently, corresponding binding attributes exist, all types of AGVs are managed and distributed by a module system in an upper computer, meanwhile, the AGVs execute task attribute binding modules are utilized to conduct classified management tasks on AGV systems of different types, meanwhile, adjustable AGV management and control queues are correspondingly arranged in different areas, when the demand of a distribution task exists, the AGVs of the corresponding types are distributed according to the task types through the multi-task data allocation management module, idle AGVs are inquired out of the AGVs of the binding working points to be distributed, the running state of the AGVs and the task completion state of the AGVs are managed and controlled in a fixed time interval, the module system moves the AGVs out of the queue forward, after the task is completed, the module system automatically adds the AGVs to the adjustable AGVs to conduct allocation according to an allocation rule.
Example two
According to FIG. 3, the present embodiment provides a method for using a dispatching system integrating a plurality of different types of AGVs, comprising the following steps:
step one: data binding
The method comprises the steps of opening a module system, automatically initializing the system, performing wireless connection communication configuration of vehicles according to classification of different AGVs by utilizing a plurality of types of AGV vehicle management modules, and binding data which are used later and are not easy to change by utilizing an AGV multi-task point configuration module when the system is used for the first time, wherein the data comprise parameters and attributes of task points and binding of control areas, and each numbered control area corresponds to an AGV queuing queue;
step two: task allocation
The method comprises the steps that a task attribute binding module is executed by an AGV, task demands of a WMS system or unlimited calling equipment from an upper computer are automatically received, corresponding working points are obtained according to the demands, a queue of a corresponding control area of a matchable task is found out from a list of loading binding working points through a working point Station, then the idle and non-task AGVs in the queue are inquired through a task-free allocation management module of multi-task data, a first vehicle in the list is assigned with tasks preferentially, and a task interface of a vehicle-mounted controller is sent to a request after the AGVs are selected; the problem of incompatibility of multiple types of vehicle tasks and traffic control in the same system is solved, the efficiency is higher, and the binding setting is flexible;
step three: request judgment
When the interface request is successful, judging whether the task data returned by the interface is effective and accords with the standard set by the interface content, if so, indicating that the task dispatch vehicle is successful, and when the interface request fails or the returned data is invalid, retransmitting the task request;
step four: querying status
After the AGV allocation is successful, the module system broadcasts and sends a query command to query the current position, the vehicle state and the task execution state information of all running AGVs at intervals of a certain period through the wireless communication module, when the information that the task execution returned by the AGV is not executed or is being executed is received, the AGV is still in a busy state, the AGV is automatically removed from a dispatchable queue through the allocation management module of the multi-task data, and the rest other AGV positions in the queue are all moved forward by one position;
step five: queuing queue updates
When the state returned by the AGV is that the task is executed, automatically adding the AGV to an AGV queuing queue of a control area of the current task number again, updating a table of a real-time task state of a man-machine interface, updating a database, continuously opening an interface for receiving WMS information of an upper computer by a module system, and performing cyclic operation until the system is closed;
step six: path planning
The allocation management module of the multi-task data is utilized to call the AGVs which are closest to the task starting point, have no alarm and are in an idle state to accept the task, the map online editing and setting module is utilized to judge whether the AGVs have path conflicts in the running process, if so, the AGVs are subjected to traffic control from the inside, the AGVs which reach the occupied point position firstly pass preferentially according to the tracking display of the vehicle running monitoring module, the AGVs are sequentially queued, the AGVs are arranged to fail to take turns in 1 minute, the path is re-planned, and the system is circulated until the system is closed. The condition of confusion and errors of the task transmission of the multiple types of vehicles can be avoided, and the accuracy of logistics distribution is improved.
According to the invention, the multi-type AGV vehicle management module is matched with the AGV multi-task point configuration module to divide the vehicle management module into different task types, special task points and working point actions according to different vehicle types, each type is independently distinguished and has corresponding binding attributes, all types of AGVs are managed and distributed by a module system in an upper computer, the problem of incompatibility of multi-type vehicle tasks and traffic management in the same system is solved, the efficiency is higher, and the binding setting is flexible. According to the invention, the AGVs execute task attribute binding modules for classifying and controlling the different types of AGV systems, meanwhile, the adjustable AGV control queues are correspondingly arranged in different areas, when the demands of the distribution tasks exist, the corresponding types of AGVs are distributed according to the categories of the tasks through the allocation management module of the multi-task data, the idle AGVs are inquired from the AGVs of the binding working points to be distributed, the running state of the control vehicles and the task completion state are controlled in a fixed time interval, when the AGVs at the first position of the queue are distributed with the tasks, the module system moves the AGVs out of the queue, the positions of the AGVs in the queue are all forward and backward, and after the tasks are completed, the module system automatically adds the AGVs into the adjustable AGVs to be allocated according to rules, so that the conditions of confusion and mistakes of the task transmission of the multi-type vehicles can be avoided, and the accuracy of logistics distribution is improved.
The foregoing has shown and described the basic principles, principal features and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present invention, and various changes and modifications may be made without departing from the spirit and scope of the invention, which is defined in the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (3)
1. The application method of the scheduling system integrating a plurality of AGVs of different types is characterized by comprising the following steps:
step one: data binding
The module system is opened, the system automatically performs an initialization state, then the wireless connection communication configuration of the vehicle is performed by utilizing a plurality of AGV vehicle management modules according to the classification of different AGVs, and when the system is used for the first time, data which are used later and are not easy to change are bound by utilizing the AGV multi-task point configuration module;
step two: task allocation
The method comprises the steps that a task attribute binding module is executed by an AGV, task demands of a WMS system or unlimited calling equipment from an upper computer are automatically received, corresponding working points are obtained according to the demands, a queue of a corresponding control area of a matchable task is found out from a list of loading binding working points through a working point Station, then the idle and non-task AGVs in the queue are inquired through a task-free allocation management module of multi-task data, a first vehicle in the list is assigned with tasks preferentially, and a task interface of a vehicle-mounted controller is sent to a request after the AGVs are selected;
step three: request judgment
When the interface request is successful, judging whether the task data returned by the interface is effective and accords with the standard set by the interface content, if so, indicating that the task dispatch vehicle is successful, and when the interface request fails or the returned data is invalid, retransmitting the task request;
step four: querying status
After the AGV allocation is successful, the module system broadcasts and sends a query command to query the current position, the vehicle state and the task execution state information of all running AGVs at intervals of a certain period through the wireless communication module, when the information that the task execution returned by the AGV is not executed or is being executed is received, the AGV is still in a busy state, the AGV is automatically removed from a dispatchable queue through the allocation management module of the multi-task data, and the rest other AGV positions in the queue are all moved forward by one position;
step five: queuing queue updates
When the state returned by the AGV is that the task is executed, automatically adding the AGV to an AGV queuing queue of a control area of the current task number again, updating a table of a real-time task state of a man-machine interface, updating a database, continuously opening an interface for receiving WMS information of an upper computer by a module system, and performing cyclic operation until the system is closed;
step six: path planning
The allocation management module of the multi-task data is utilized to call the AGVs which are closest to the task starting point, have no alarm and are in an idle state to accept the task, the map online editing and setting module is utilized to judge whether the AGVs have path conflicts in the running process, if so, the AGVs are subjected to traffic control from the inside, and according to the tracking display of the vehicle running monitoring module, the AGVs which reach the occupied point position firstly pass preferentially and then are queued sequentially.
2. The method of claim 1, wherein the method further comprises the step of: in the first step, binding data which are used later and are not easy to change, including the binding of parameters, attributes and control areas of task points, wherein each numbered control area is correspondingly provided with an AGV queuing queue.
3. The method of using a scheduling system that integrates a plurality of different types of AGVs as set forth in claim 2, wherein: in the step six, if the AGV arranged at the back fails to turn in 1 minute, the path is re-planned, and the system is circularly operated until the system is closed.
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