CN114281030A - Automatic three-dimensional container and AGV mixed scheduling method, system, equipment and storage medium - Google Patents
Automatic three-dimensional container and AGV mixed scheduling method, system, equipment and storage medium Download PDFInfo
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Abstract
The invention discloses a method, a system, equipment and a storage medium for hybrid scheduling of an automatic three-dimensional container and an AGV (automatic guided vehicle), belonging to the technical field of logistics, wherein the hybrid scheduling is realized by adopting the linkage of the automatic three-dimensional container and the AGV, wherein the specification of the automatic three-dimensional container is determined according to the specification of a storage bin and the use environment of the automatic three-dimensional container, and the average turnover period of each tray is 20-40 s; the intelligent AGV is in a latent jacking type or latent traction type, the navigation mode is magnetic stripe or two-dimensional code navigation, the traction and navigation type visible use environment and carrying appliance design conditions are selected, the load weight is 1000KG, and the front and rear anti-collision strip detection and laser obstacle avoidance functions are achieved. According to the method, the automatic linkage hybrid scheduling of the three-dimensional container and the AGV is adopted, and the scheduling task of the AGV is determined according to the working time required by the picking and stocking link of the three-dimensional container. According to the invention, the automatic three-dimensional container is connected with the AGV, so that the connection efficiency of storage, sorting and distribution is improved, and an integrated process is formed.
Description
Technical Field
The invention belongs to the technical field of logistics, and particularly relates to a method, a system, equipment and a storage medium for hybrid scheduling of an automatic three-dimensional container and an AGV.
Background
The multi-vehicle type mixed production and single-vehicle type multi-configuration production become the mainstream trend of the development of an automobile host factory, the variety of vehicle types causes a plurality of parts, great pressure is brought to the area of a logistics area in the factory, the projection area occupied by parts is greatly increased, the KLT parts are convenient for sorting operation, the storage height of the parts is controlled to be about 1.6m, and the upper space is not utilized. The production requirements of mixed vehicle type and parts of various types not only bring higher challenges to logistics area, but also cause chain reactions of large difficulty of stock preparation, long walking distance and the like of staff. The existing solution schemes mainly carry out independent planning design aiming at the storage, selection and transportation links, all the links need to be connected manually, continuous system operation is not formed, and the problems of efficiency waste, low lean degree, unsmooth connection and the like exist.
The increase of the logistics area causes cost increase, becomes an important factor for limiting production capacity expansion and new vehicle type production, and each logistics planning department gradually puts eyes on how to utilize the upper space to realize the aim of intensive storage. And the line side library fast storage and caching and part single part sorting put higher requirements on the efficiency and the intellectualization of the intelligent storage equipment. Under this background, automatic three-dimensional containers have been produced: on one hand, the utilization of the logistics area space and the fast cache are realized through the vertical turnover of the tray; on the other hand, the manual intervention pallet loading and information system scheduling can realize the shipment guiding function of the parts, realize that shipment is needed, and greatly improve the accuracy of manual picking. Meanwhile, according to the concept of 'carrying is waste' and 'waste elimination', more and more logistics links adopt AGV carrying to replace the original manual carrying.
Through experiments, different stock orders are generated by different on-line modes and production vehicle types, the requirements for the picking operation of the three-dimensional container are different, and the scheduling condition of the AGV is directly influenced. And if the AGV is dispatched to be connected after the picking operation is finished, the time from the waiting area to the connection area is 20 s-1 min. This docking time has some variance, subject to the logistics functional block planning.
The existing operation method is full-manual operation: under the mode of batch (whole box picking of parts), most of the workers drive the tractor to pull the transfer appliance to enter a stock roadway, and the whole box of parts are sequentially transferred to the transfer appliance according to a stock bill and then driven to an upper line waiting area. After receiving the on-line instruction, driving the tractor to send the part to the side of the production line, and completing the empty-full exchange. Secondly, in an SPS (part single part sorting) mode, a stock clerk manually pushes a threading device (made of 2.2m multiplied by 1m square steel and aluminum profiles) to walk in a stock roadway, the parts are sequentially sorted into small baskets on the threading device according to a stock bill, and then the threading device is pushed to a threading waiting area. After receiving the on-line instruction, the organizer pushes and hangs the on-line device on the AGV, and the AGV finishes the on-line supply of the parts. The operation efficiency is extremely low in the two modes, on one hand, the picking and the online links need to wait and be butted, and on the other hand, the operation is carried out according to the condition that the distance of driving or walking in the picking operation is long (22m-80m), so that a great amount of labor waste is caused.
Disclosure of Invention
The invention adopts the linkage of an automatic three-dimensional container and an AGV to realize mixed scheduling, wherein the specification of the automatic three-dimensional container is determined according to the specification of a storage bin and the use environment of the automatic three-dimensional container, and the turnover period of each tray is 20-40s on average; the intelligent AGV is in a latent jacking type or latent traction type, the navigation mode is magnetic stripe or two-dimensional code navigation, the traction and navigation type visible use environment and carrying appliance design conditions are selected, the load weight is 1000KG, and the front and rear anti-collision strip detection and laser obstacle avoidance functions are achieved. According to the method, the automatic linkage hybrid scheduling of the three-dimensional container and the AGV is adopted, and the scheduling task of the AGV is determined according to the working time required by the picking and stocking link of the three-dimensional container.
The invention is realized by the following technical scheme:
in a first aspect, the present invention provides an automatic three-dimensional container and AGV hybrid scheduling method, which specifically includes the following steps:
step S1: setting parameters of a storage end of a three-dimensional container;
step S2: scanning a stock bill by using a three-dimensional container-side PDA, and transmitting stock information to an upper dispatching system;
step S3: the upper scheduling system transmits the goods preparation instruction to the three-dimensional container, and the three-dimensional container selects a matched tray according to the information of the goods preparation order and outputs the tray to a goods preparation port;
step S4: the upper dispatching system dispatches the AGV to pull an appointed on-line appliance according to the workload of the stock list and drives the AGV to the connection area;
step S5: a stock clerk takes specified parts (a whole box in a batch mode and a single part in an SPS mode) according to system prompts (coordinate indication, legend indication, projection indication and the like) of a three-dimensional container indication screen and places the parts on an online device pulled by an AGV;
step S6: after the stock clerk finishes the single stock task, triggering a 'stock finish' instruction to the dispatching system, informing the three-dimensional container that the single task is finished, and performing the next single task, namely the cyclic operation from the step S2 to the step S5;
step S7: the central control system matches the single task information with an online point and an online route which are set in the system at the same time, and sends the single task information to the intelligent AGV;
step S8: after receiving the instruction, the AGV pulls the part to the line point according to the instruction information;
step S9: after the AGV completes the on-line task, the empty tool is sent to the empty tool buffer, and then returned to the AGV waiting area, and the loop operation from step S4 to step S8 is performed.
Preferably, the step S1 specifically includes:
step S11: identifying logistics patterns (batch or SPS single portion picking);
step S12: setting a storage period principle and a pickup principle;
step S13: reasonably planning parts stored in each tray, and performing data binding with a WMS system of the three-dimensional container;
step S14: the three-dimensional container outlet is designed with a stock picking indication function (coordinate indication, legend indication or projection indication).
Preferably, the step S3 specifically includes:
step S31: the central control system reads the information of the stock list and matches the information of the order set in the system;
step S32: the central control system transmits the order information to the automatic three-dimensional container;
step S33: the three-dimensional container converts the order information into tray information matched with the order;
step S34: the three-dimensional containers dispatch the trays in sequence according to a preset sequence, and output the trays and the parts to the stock port.
Preferably, the step S4 specifically includes:
step S41: the central control scheduling system calculates the time required by stock and the time for AGV scheduling connection according to the order information;
step S42: the central control scheduling system sends scheduling information to the AGV in time according to the calculated time required by the AGV to transfer;
step S43: after receiving the dispatching instruction, the AGV goes to the empty tool storage position required by the instruction and finishes hanging connection with the empty tool;
step S44: after the AGV is hung with the empty equipment, the empty equipment is pulled to a stock area according to the requirement of a scheduling instruction for stock personnel to use for stock.
Preferably, the step S9 specifically includes:
step S91: the AGV delivers the prepared full tools to a formulated place required by the system, and the full tools are unhooked;
step S92: after unhooking, the full device stays at an upper line point for production and use of a production line;
step S93: after unhooking, the AGV runs to a temporary storage position of an appliance to be returned to be empty and is hooked with the appliance to be returned to be empty;
step S94: the AGV pulls the empty tool to travel to an empty tool cache area, and pulls the empty tool to a formulated cache position according to a system instruction;
step S95: automatically unhooking the AGV and the empty tool, and leaving the empty tool in an empty tool cache position;
step S96: the AGV drives away from the empty equipment buffer area, drives to the AGV waiting area, and waits for the next order task after charging and standby.
In a second aspect, the invention provides an automatic three-dimensional container and AGV hybrid scheduling system, which comprises an upper scheduling system, an automatic three-dimensional container, a sorting indicating system, an AGV and an on-line device; the automatic three-dimensional container comprises a warehousing management system and an equipment control system;
the upper scheduling system is used for converting the information of the stock list into order information and then respectively sending scheduling instructions to the automatic three-dimensional container and the AGV;
the picking indication system is used for indicating picking operation according to an order;
the assembly line loading device is used for placing parts required by production and assembly of the production line, is convenient for the parts required by the production line to be stored in a centralized manner, ensures the quality state of the parts before the parts reach the production line for use, and provides a safe and convenient placing environment for the parts to be conveyed to the production line;
the warehouse management system is used for calculating the inventory, adjusting the inventory quantity through an initial set value and the quantity of entering and exiting the warehouse, and sending a related information transmission by setting a threshold value when the inventory quantity reaches the threshold value;
the equipment control system is used for issuing an equipment operation instruction, controlling a system of the equipment to work, such as an output tray of the control equipment, displaying information by the control equipment according to input information, and controlling the equipment to run, turn or lift.
In a third aspect, the present invention further provides a computer device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and when the processor executes the computer program, the processor implements an automatic three-dimensional container and AGV hybrid scheduling method according to any one of the embodiments of the present invention.
In a fourth aspect, the present invention further provides a computer-readable storage medium, on which a computer program is stored, which when executed by a processor, implements an automated stereoscopic container and AGV hybrid scheduling method according to any one of the embodiments of the present invention.
Compared with the prior art, the invention has the following advantages:
the high-density storage improves the utilization efficiency of the logistics area in space;
secondly, the walking distance of personnel is reduced, goods are delivered to the personnel in the picking link, and zero walking is performed in the distribution link;
pre-sorting the parts and accompanying sorting indication, improving the sorting accuracy of the parts and eliminating manual judgment errors;
and fourthly, the automatic three-dimensional container is connected with the AGV, the connection efficiency of storage, sorting and distribution is improved, and an integrated flow is formed.
Drawings
In order to more clearly illustrate the detailed description of the invention or the technical solutions in the prior art, the drawings that are needed in the detailed description of the invention or the prior art will be briefly described below. Throughout the drawings, like elements or portions are generally identified by like reference numerals. In the drawings, elements or portions are not necessarily drawn to scale.
FIG. 1 is a flow chart of an automated method for hybrid dispatching of a three-dimensional container and an AGV according to the present invention;
FIG. 2 is a schematic structural diagram of an automated three-dimensional container and AGV hybrid dispatching system according to the present invention;
fig. 3 is a schematic structural diagram of an electronic device in embodiment 3 of the present invention.
Detailed Description
For clearly and completely describing the technical scheme and the specific working process thereof, the specific implementation mode of the invention is as follows by combining the attached drawings of the specification:
in the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Example 1
As shown in fig. 1, a flowchart of an automatic three-dimensional container and AGV hybrid scheduling method specifically includes the following steps:
step S1: setting parameters of a storage end of a three-dimensional container;
step S2: scanning a stock bill by using a three-dimensional container-side PDA, and transmitting stock information to an upper dispatching system;
step S3: the upper scheduling system transmits the goods preparation instruction to the three-dimensional container, and the three-dimensional container selects a matched tray according to the information of the goods preparation order and outputs the tray to a goods preparation port;
step S4: the upper dispatching system dispatches the AGV to pull an appointed on-line appliance according to the workload of the stock list and drives the AGV to the connection area;
step S5: a stock clerk takes specified parts (a whole box in a batch mode and a single part in an SPS mode) according to system prompts (coordinate indication, legend indication, projection indication and the like) of a three-dimensional container indication screen and places the parts on an online device pulled by an AGV;
step S6: after the stock clerk finishes the single stock task, triggering a 'stock finish' instruction to the dispatching system, informing the three-dimensional container that the single task is finished, and performing the next single task, namely the cyclic operation from the step S2 to the step S5;
step S7: the central control system matches the single task information with an online point and an online route which are set in the system at the same time, and sends the single task information to the intelligent AGV;
step S8: after receiving the instruction, the AGV pulls the part to the line point according to the instruction information;
step S9: after the AGV completes the on-line task, the empty tool is sent to the empty tool buffer, and then returned to the AGV waiting area, and the loop operation from step S4 to step S8 is performed.
The specific content of step S1 includes:
step S11: identifying logistics patterns (batch or SPS single portion picking);
step S12: setting a storage period principle and a pickup principle;
step S13: reasonably planning parts stored in each tray, and performing data binding with a WMS system of the three-dimensional container;
step S14: the three-dimensional container outlet is designed with a stock picking indication function (coordinate indication, legend indication or projection indication).
The specific content of step S3 includes:
step S31: the central control system reads the information of the stock list and matches the information of the order set in the system;
step S32: the central control system transmits the order information to the automatic three-dimensional container;
step S33: the three-dimensional container converts the order information into tray information matched with the order;
step S34: the three-dimensional containers dispatch the trays in sequence according to a preset sequence, and output the trays and the parts to the stock port.
The specific content of step S4 includes:
step S41: the central control scheduling system calculates the time required by stock and the time for AGV scheduling connection according to the order information;
step S42: the central control scheduling system sends scheduling information to the AGV in time according to the calculated time required by the AGV to transfer;
step S43: after receiving the dispatching instruction, the AGV goes to the empty tool storage position required by the instruction and finishes hanging connection with the empty tool;
step S44: after the AGV is hung with the empty equipment, the empty equipment is pulled to a stock area according to the requirement of a scheduling instruction for stock personnel to use for stock.
The specific content of step S9 includes:
step S91: the AGV delivers the prepared full tools to a formulated place required by the system, and the full tools are unhooked;
step S92: after unhooking, the full device stays at an upper line point for production and use of a production line;
step S93: after unhooking, the AGV runs to a temporary storage position of an appliance to be returned to be empty and is hooked with the appliance to be returned to be empty;
step S94: the AGV pulls the empty tool to travel to an empty tool cache area, and pulls the empty tool to a formulated cache position according to a system instruction;
step S95: automatically unhooking the AGV and the empty tool, and leaving the empty tool in an empty tool cache position;
step S96: the AGV drives away from the empty equipment buffer area, drives to the AGV waiting area, and waits for the next order task after charging and standby.
In a certain famous automobile production factory, the standard part operation link is applied according to the flow scheme.
1. After receiving the stock bill, the stock staff scans the two-dimensional code of the stock bill by using a handheld scanning gun;
2, the PDA sends the information of the stock list to a central control system;
3. the central control system converts the information of the stock order into order information and then respectively sends a scheduling instruction to the automatic three-dimensional container and the AGV;
4. the three-dimensional container matches the order information with the trays required by the order and outputs the trays and the parts to a stock port one by one according to the sequence pre-input into the system;
5. the three-dimensional library converts the order information into stock indication information and guides a stock clerk to pick stock;
after receiving a dispatching instruction of the central control system, the AGV drives to a designated empty tool cache region, hooks an empty tool and pulls to a designated position of a spare goods region;
7. the stockman places the whole selected packaged parts on the appliance;
8. after all the stock tasks of the stock list are finished, pressing a 'finishing' button to transmit information to the central control system;
9. the central control system sends an online instruction to the AGV;
10, the AGV receives an instruction and pulls the full tool to a specified upper line point;
after reaching the on-line point, the AGV is unhooked from the full appliance and is hung on the appliance to be emptied;
and 12, after the AGV pulls the empty tool to the empty tool buffer area, the empty tool is unhooked from the empty tool and then the AGV travels to the AGV standby area to complete the order task.
Example 2
As shown in fig. 2, the embodiment provides an automatic three-dimensional container and AGV hybrid scheduling system, which includes an upper scheduling system, an automatic three-dimensional container, a sorting indicating system, an AGV and an on-line device; the automatic three-dimensional container comprises a warehousing management system and an equipment control system;
the upper scheduling system is used for converting the information of the stock list into order information and then respectively sending scheduling instructions to the automatic three-dimensional container and the AGV;
the picking indication system is used for indicating picking operation according to an order;
the assembly line loading device is used for placing parts required by production and assembly of the production line, is convenient for the parts required by the production line to be stored in a centralized manner, ensures the quality state of the parts before the parts reach the production line for use, and provides a safe and convenient placing environment for the parts to be conveyed to the production line;
the warehouse management system is used for calculating the inventory, adjusting the inventory quantity through an initial set value and the quantity of entering and exiting the warehouse, and sending a related information transmission by setting a threshold value when the inventory quantity reaches the threshold value;
the equipment control system is used for issuing an equipment operation instruction, controlling a system of the equipment to work, such as an output tray of the control equipment, displaying information by the control equipment according to input information, and controlling the equipment to run, turn or lift.
Example 3
Fig. 3 is a schematic structural diagram of a computer device in a third embodiment of the present invention. FIG. 3 illustrates a block diagram of an exemplary computer device 12 suitable for use in implementing embodiments of the present invention. The computer device 12 shown in FIG. 3 is only an example and should not impose any limitation on the scope of use or functionality of embodiments of the present invention.
As shown in FIG. 3, computer device 12 is in the form of a general purpose computing device. The components of computer device 12 may include, but are not limited to: one or more processors or processing units 16, a system memory 28, and a bus 18 that couples various system components including the system memory 28 and the processing unit 16.
The system memory 28 may include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM)30 and/or cache memory 32. Computer device 12 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 34 may be used to read from and write to non-removable, nonvolatile magnetic media (not shown in FIG. 3, and commonly referred to as a "hard drive"). Although not shown in FIG. 3, a magnetic disk drive for reading from and writing to a removable, nonvolatile magnetic disk (e.g., a "floppy disk") and an optical disk drive for reading from or writing to a removable, nonvolatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to bus 18 by one or more data media interfaces. Memory 28 may include at least one program product having a set (e.g., at least one) of program modules that are configured to carry out the functions of embodiments of the invention.
A program/utility 40 having a set (at least one) of program modules 42 may be stored, for example, in memory 28, such program modules 42 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which examples or some combination thereof may comprise an implementation of a network environment. Program modules 42 generally carry out the functions and/or methodologies of the described embodiments of the invention.
The processing unit 16 executes various functional applications and data processing by running the program stored in the system memory 28, for example, implementing an automatic three-dimensional container and AGV hybrid scheduling method provided by the embodiment of the present invention.
Fourth embodiment a fourth embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements an automated stereoscopic container and AGV hybrid scheduling method as provided in all embodiments of the present invention of this application.
Any combination of one or more computer-readable media may be employed. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
The preferred embodiments of the present invention have been described in detail with reference to the accompanying drawings, however, the present invention is not limited to the specific details of the above embodiments, and various simple modifications can be made to the technical solution of the present invention within the technical idea of the present invention, and these simple modifications are within the protective scope of the present invention.
It should be noted that the various technical features described in the above embodiments can be combined in any suitable manner without contradiction, and the invention is not described in any way for the possible combinations in order to avoid unnecessary repetition.
In addition, any combination of the various embodiments of the present invention is also possible, and the same should be considered as the disclosure of the present invention as long as it does not depart from the spirit of the present invention.
Claims (9)
1. An automatic three-dimensional container and AGV mixed scheduling method is characterized by comprising the following steps:
step S1: setting parameters of a storage end of a three-dimensional container;
step S2: scanning a stock bill by using a three-dimensional container-side PDA, and transmitting stock information to an upper dispatching system;
step S3: the upper scheduling system transmits the goods preparation instruction to the three-dimensional container, and the three-dimensional container selects a matched tray according to the information of the goods preparation order and outputs the tray to a goods preparation port;
step S4: the upper dispatching system dispatches the AGV to pull an appointed on-line appliance according to the workload of the stock list and drives the AGV to the connection area;
step S5: a stock clerk takes a specified part according to the system prompt of the three-dimensional counter indication screen and places the part on an on-line device pulled by the AGV;
step S6: after the stock clerk finishes the single stock task, triggering a 'stock finish' instruction to the dispatching system, informing the three-dimensional container that the single task is finished, and performing the next single task, namely the cyclic operation from the step S2 to the step S5;
step S7: the central control system matches the single task information with an online point and an online route which are set in the system at the same time, and sends the single task information to the intelligent AGV;
step S8: after receiving the instruction, the AGV pulls the part to the line point according to the instruction information;
step S9: after the AGV completes the on-line task, the empty tool is sent to the empty tool buffer, and then returned to the AGV waiting area, and the loop operation from step S4 to step S8 is performed.
2. The method of claim 1, wherein the method further comprises the step of,
the specific content of step S1 includes:
step S11: identifying a logistics mode;
step S12: setting a storage period principle and a pickup principle;
step S13: reasonably planning parts stored in each tray, and performing data binding with a WMS system of the three-dimensional container;
step S14: the three-dimensional container outlet is designed with a stock picking indication function.
3. The method according to claim 2, wherein the logistics mode of step S11 includes batch or SPS single lot sorting; the stock picking instruction function of step S14 includes a coordinate instruction, a legend instruction, or a projection instruction.
4. The method of claim 1, wherein the step S3 specifically comprises:
step S31: the central control system reads the information of the stock list and matches the information of the order set in the system;
step S32: the central control system transmits the order information to the automatic three-dimensional container;
step S33: the three-dimensional container converts the order information into tray information matched with the order;
step S34: the three-dimensional containers dispatch the trays in sequence according to a preset sequence, and output the trays and the parts to the stock port.
5. The method of claim 1, wherein the step S4 specifically comprises:
step S41: the central control scheduling system calculates the time required by stock and the time for AGV scheduling connection according to the order information;
step S42: the central control scheduling system sends scheduling information to the AGV in time according to the calculated time required by the AGV to transfer;
step S43: after receiving the dispatching instruction, the AGV goes to the empty tool storage position required by the instruction and finishes hanging connection with the empty tool;
step S44: after the AGV is hung with the empty equipment, the empty equipment is pulled to a stock area according to the requirement of a scheduling instruction for stock personnel to use for stock.
6. The method of claim 1, wherein the step S9 specifically comprises:
step S91: the AGV delivers the prepared full tools to a formulated place required by the system, and the full tools are unhooked;
step S92: after unhooking, the full device stays at an upper line point for production and use of a production line;
step S93: after unhooking, the AGV runs to a temporary storage position of an appliance to be returned to be empty and is hooked with the appliance to be returned to be empty;
step S94: the AGV pulls the empty tool to travel to an empty tool cache area, and pulls the empty tool to a formulated cache position according to a system instruction;
step S95: automatically unhooking the AGV and the empty tool, and leaving the empty tool in an empty tool cache position;
step S96: the AGV drives away from the empty equipment buffer area, drives to the AGV waiting area, and waits for the next order task after charging and standby.
7. An automatic three-dimensional container and AGV hybrid scheduling system is used for realizing the scheduling method of any one of claims 1 to 6, and is characterized by comprising an upper scheduling system, an automatic three-dimensional container, a sorting indication system, an AGV and an on-line device; the automatic three-dimensional container comprises a warehousing management system and an equipment control system;
the upper scheduling system is used for converting the information of the stock list into order information and then respectively sending scheduling instructions to the automatic three-dimensional container and the AGV;
the picking indication system is used for indicating picking operation according to an order;
the assembly line loading device is used for placing parts required by production and assembly of the production line, is convenient for the parts required by the production line to be stored in a centralized manner, ensures the quality state of the parts before the parts reach the production line for use, and provides a safe and convenient placing environment for the parts to be conveyed to the production line;
the warehouse management system is used for calculating the inventory, adjusting the inventory quantity through an initial set value and the quantity of entering and exiting the warehouse, and sending a related information transmission by setting a threshold value when the inventory quantity reaches the threshold value;
the equipment control system is used for issuing an equipment operation instruction, controlling a system of the equipment to work, such as an output tray of the control equipment, displaying information by the control equipment according to input information, and controlling the equipment to run, turn or lift.
8. A computer arrangement comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor when executing the program implements an automated hybrid scheduling method of stereoscopic containers and AGVs according to any of claims 1-6.
9. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out a method for hybrid dispatching of an automated stereoscopic container and an AGV according to any one of claims 1-6.
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