CN114895636A - AGV control method, control system, electronic device and storage medium - Google Patents

AGV control method, control system, electronic device and storage medium Download PDF

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Publication number
CN114895636A
CN114895636A CN202210486496.2A CN202210486496A CN114895636A CN 114895636 A CN114895636 A CN 114895636A CN 202210486496 A CN202210486496 A CN 202210486496A CN 114895636 A CN114895636 A CN 114895636A
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agv
current
workbench
time
enter
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于秀芬
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Hangzhou Hikrobot Technology Co Ltd
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Hangzhou Hikrobot Technology Co Ltd
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Priority to CN202210486496.2A priority Critical patent/CN114895636A/en
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
    • G05B19/4189—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the transport system
    • G05B19/41895—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the transport system using automatic guided vehicles [AGV]
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/32—Operator till task planning
    • G05B2219/32252—Scheduling production, machining, job shop
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/60—Electric or hybrid propulsion means for production processes

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • Quality & Reliability (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Warehouses Or Storage Devices (AREA)

Abstract

The embodiment of the invention provides an AGV control method, a control system, electronic equipment and a storage medium, wherein the method comprises the following steps: receiving a request of an AGV executing a current carrying task to enter a current workbench, and determining the operating parameters of the AGV and the working state of the current workbench; and judging whether the AGV is allowed to enter the current workbench or not based on the relation between the operating parameters of the AGV and the working state of the current workbench, and controlling the AGV to enter the current workbench if the AGV is allowed. The embodiment of the invention can avoid waiting for the AGV to be idle in the current working table, and improve the carrying efficiency.

Description

AGV control method, control system, electronic device and storage medium
Technical Field
The present invention relates to the field of warehouse management technologies, and in particular, to an AGV control method, a control system, an electronic device, and a storage medium.
Background
The intelligent warehousing system is a warehousing system capable of automatically carrying and managing goods, a plurality of workbenches and a plurality of storage positions are usually arranged in the intelligent warehousing system, a plurality of goods shelves are placed in each storage position, and goods corresponding to the goods shelves can be stored on the goods shelves. A plurality of AGV (automatic Guided vehicles) carry the goods on the goods shelf from the workbench to the storage position according to the instruction of the control server and place the goods on the goods shelf at the storage position together; or the goods shelf and the goods on the goods shelf are transported to the workbench from the storage position, and after the goods are unloaded, the goods shelf is transported back to the storage position. An AGV is a transport vehicle equipped with an electromagnetic or optical automatic guide device, capable of traveling along a predetermined guide path, and having a transport function.
In the conventional AGV control method, a control server receives an order issued by a worker, generates a transport task corresponding to the order, and distributes the transport task to a batch of AGVs, thereby controlling the AGVs to execute the transport task. For example, when the order received by the control server is to transport goods on a lot of shelves and the destination address of the order is the workbench, a task of transporting the goods to the workbench is generated. The control server distributes the carrying tasks to a batch of AGVs, and controls the AGVs to carry the goods on the goods shelf to the workbench from the storage positions.
In the existing AGV control method, due to the fact that a control server receives a plurality of orders, a queuing area in front of a workbench often has the phenomenon that a plurality of AGVs carry goods on a shelf, queue up and wait for workers to pick the goods. Before the AGV receives a goods picking command and is called to pick the goods, the AGV can only wait in a queuing area and cannot execute other tasks, so that the AGV carrying efficiency is low.
Disclosure of Invention
The embodiment of the invention aims to provide an AGV control method, a control system, electronic equipment and a storage medium, so as to achieve the purpose of improving the AGV carrying efficiency. The specific technical scheme is as follows:
in a first aspect, an embodiment of the present invention provides an AGV control method, including:
receiving a request of an AGV executing a current carrying task to enter a current workbench;
determining the operating parameters of the AGV and the working state of the current workbench;
judging whether the AGV is allowed to enter the current workbench or not based on the relation between the operating parameters of the AGV and the working state of the current workbench;
and if the AGV enters the current workbench, controlling the AGV to enter the current workbench.
Optionally, the determining the operation parameters of the AGV and the working status of the current workbench includes:
determining first time required by the AGV to reach the current workbench, and determining second time required by the current workbench to process a task to be processed;
based on the relation between the operating parameters of the AGV and the working state of the current workbench, whether the AGV is allowed to enter the current workbench is judged, and the method comprises the following steps:
and judging whether the AGV is allowed to enter the current workbench or not according to the size relation between the first time and the second time.
Optionally, the method further comprises:
and if the AGV is judged not to be allowed, controlling the AGV to other work tables.
Optionally, the step of determining a first time required for the AGV to reach the current workbench and determining a second time required for the current workbench to process the task to be processed comprises:
determining first time required for the AGV to reach the current workbench according to the distance between the AGV and the current workbench and the current speed of the AGV;
and determining second time required by the current workbench for processing the tasks to be processed according to the number of the tasks to be processed of the current workbench and the processing time of each task.
Optionally, the determining whether to allow the AGV to enter the current workbench according to the magnitude relationship between the first time and the second time includes:
when the first time is greater than or equal to the second time, allowing the AGV to enter the current workbench;
when the first time is less than the second time, judging whether the absolute value of the difference value between the first time and the second time is less than a preset time threshold value or not; if so, allowing the AGV to enter the current workbench; if not, the AGV is not allowed to enter the current workbench.
Optionally, the determining whether to allow the AGV to enter the current workbench according to the magnitude relationship between the first time and the second time includes:
when the absolute value of the difference value between the first time and the second time is smaller than preset time, allowing the AGV to enter the current workbench;
and when the absolute value of the difference value between the first time and the second time is not less than the preset time, the AGV is not allowed to enter the current workbench.
Optionally, said controlling the AGV to enter the current workbench includes:
and controlling the AGV to enter a queuing area or a buffer area of the current workbench.
Optionally, the controlling the AGV to enter a queuing area or a buffer area of the current workbench includes:
when the number of the AGVs in the queuing area of the current workbench is not larger than the total number of the AGVs in the queuing area, the AGVs are controlled to enter the queuing area.
Optionally, the controlling the AGV to enter a queuing area or a buffer area of the current workbench includes:
when the number of the AGVs in the queuing area of the current workbench is larger than the total number of the AGV accommodations in the queuing area, judging whether the number of the racks placed in the buffer area is smaller than the total number of the storage positions in the buffer area;
and when the number of the shelves placed in the buffer area is smaller than the total number of the storage positions in the buffer area, controlling the AGV to enter the buffer area.
Optionally, when the number of AGVs in the queuing area of the current workbench is not greater than the total number of AGVs in the queuing area, the step of controlling the AGVs to enter the queuing area includes:
when the goods shelves quantity that have placed in the buffer is 0, and the AGV quantity in the district of lining up of current workstation is not more than when the AGV of the district of lining up can hold the total number, control AGV gets into the district of lining up.
Optionally, after controlling the AGV to enter the current workbench, the method further comprises:
and updating the current AGV queuing total number in each workbench.
Optionally, the updating the AGV queue total number in each workbench includes:
when the AGV enters the current workbench, adding 1 to the total queuing number of the AGV in the current workbench;
when the AGV leaves the current workbench, subtracting 1 from the total queuing number of the AGV in the current workbench;
and when the AGVs leave the current workbench and enter other workbenches, subtracting 1 from the total queuing number of the AGVs in the current workbench, and adding 1 to the total queuing number of the AGVs of the other workbenches.
Optionally, after controlling the AGV to enter the current workbench, the method further comprises:
after the AGV completes the current carrying task and leaves the current workbench, judging whether a goods shelf carried by the AGV corresponds to goods in other carrying tasks;
and if the corresponding goods in other carrying tasks are judged, controlling the AGV to the workbench on which the goods in other carrying tasks are placed.
In a second aspect, an embodiment of the present invention provides an AGV control system, including:
the receiving module is used for receiving a request that an AGV executing a current carrying task enters a current workbench;
the determining module is used for determining the operating parameters of the AGV and the working state of the current workbench;
the first judgment module is used for judging whether the AGV is allowed to enter the current workbench or not based on the relation between the operating parameters of the AGV and the working state of the current workbench;
and the first control module is used for controlling the AGV to enter the current workbench if the first judgment module judges that the AGV is allowed.
Optionally, the determining module is specifically configured to:
determining first time required by the AGV to reach the current workbench, and determining second time required by the current workbench to process a task to be processed;
the first determining module is specifically configured to: and judging whether the AGV is allowed to enter the current workbench or not according to the size relation between the first time and the second time.
Optionally, the system further comprises:
and the second control module is used for controlling the AGV to other work tables if the first judgment module judges that the AGV is not allowed.
Optionally, the determining module is specifically configured to:
determining first time required for the AGV to reach the current workbench according to the distance between the AGV and the current workbench and the current speed of the AGV;
and determining second time required by the current workbench for processing the tasks to be processed according to the number of the tasks to be processed of the current workbench and the processing time of each task.
Optionally, the first determining module is specifically configured to:
when the first time is greater than or equal to the second time, allowing the AGV to enter the current workbench;
when the first time is less than the second time, judging whether the absolute value of the difference value between the first time and the second time is less than a preset time threshold value or not; if so, allowing the AGV to enter the current workbench; if not, the AGV is not allowed to enter the current workbench.
Optionally, the first determining module is further specifically configured to:
when the absolute value of the difference value between the first time and the second time is less than the preset time, allowing the AGV to enter the current workbench;
and when the absolute value of the difference value between the first time and the second time is not less than the preset time, the AGV is not allowed to enter the current workbench.
Optionally, the first control module is specifically configured to:
and controlling the AGV to enter a queuing area or a buffer area of the current workbench.
Optionally, the first control module is specifically configured to:
when the number of the AGVs in the queuing area of the current workbench is not larger than the total number of the AGVs in the queuing area, the AGVs are controlled to enter the queuing area.
Optionally, the first control module is specifically configured to:
when the number of the AGVs in the queuing area of the current workbench is larger than the total number of the AGV accommodations in the queuing area, judging whether the number of the racks placed in the buffer area is smaller than the total number of the storage positions in the buffer area;
and when the number of the shelves placed in the buffer area is smaller than the total number of the storage positions in the buffer area, controlling the AGV to enter the buffer area.
Optionally, the first control module is specifically configured to:
when the goods shelves quantity that have placed in the buffer is 0, and the AGV quantity in the district of lining up of current workstation is not more than when the AGV of the district of lining up can hold the total number, control AGV gets into the district of lining up.
Optionally, the system further comprises:
and the updating module is used for updating the current AGV queuing total number in each workbench.
Optionally, the update module has a module for:
when the AGV enters the current workbench, adding 1 to the total queuing number of the AGV in the current workbench;
when the AGV leaves the current workbench, subtracting 1 from the total queuing number of the AGV in the current workbench;
and when the AGVs leave the current workbench and enter other workbenches, subtracting 1 from the total queuing number of the AGVs in the current workbench, and adding 1 to the total queuing number of the AGVs of the other workbenches.
Optionally, the system further comprises:
the second judging module is used for judging whether a goods shelf loaded by the AGV corresponds to goods in other carrying tasks or not after the AGV finishes the current carrying task and leaves the current workbench; and if the judgment result is that the AGV corresponds to the goods in other carrying tasks, controlling the AGV to a workbench on which the goods of other carrying tasks are placed so that the AGV carries the goods of other carrying tasks.
In a third aspect, an embodiment of the present invention provides an electronic device, including a processor, a communication interface, a memory, and a communication bus, where the processor, the communication interface, and the memory complete mutual communication through the communication bus;
the memory is used for storing a computer program;
the processor is used for executing the program stored in the memory and executing the following steps:
receiving a request of an AGV executing a current carrying task to enter a current workbench;
determining the operating parameters of the AGV and the working state of the current workbench;
judging whether the AGV is allowed to enter the current workbench or not based on the relation between the operating parameters of the AGV and the working state of the current workbench;
and if the AGV enters the current workbench, controlling the AGV to enter the current workbench.
In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, where a computer program is stored in the computer-readable storage medium, and the computer program is executed by a processor to perform the following steps:
receiving a request of an AGV executing a current carrying task to enter a current workbench;
determining the operating parameters of the AGV and the working state of the current workbench;
judging whether the AGV is allowed to enter the current workbench or not based on the relation between the operating parameters of the AGV and the working state of the current workbench;
and if the AGV enters the current workbench, controlling the AGV to enter the current workbench.
According to the AGV control method, the control system, the electronic device and the storage medium provided by the embodiment of the invention, whether the AGV is allowed to enter the current workbench or not is judged by determining the operation parameters of the AGV and the working state of the current workbench and based on the relation between the operation parameters of the AGV and the working state of the current workbench, and if the judgment is allowed, the AGV is controlled to enter the current workbench, so that the AGV is prevented from queuing and waiting for idling on the current workbench, and the carrying efficiency is improved. Of course, it is not necessary for any product or method of practicing the invention to achieve all of the above-described advantages at the same time.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic flow chart of an AGV control method according to an embodiment of the present invention;
FIG. 2 is a control schematic diagram of an AGV control method according to an embodiment of the present invention;
FIG. 3 is a logic diagram illustrating a control server issuing passes to each AGV according to the AGV control method according to the embodiment of the present invention;
FIG. 4 is a logic diagram illustrating an AGV entering a queuing area or a buffer area of a current workbench in the AGV control method according to an embodiment of the present invention;
FIG. 5 is a logic diagram illustrating updating of current AGV queue counts in each workbench in the AGV control method according to the embodiment of the present invention;
FIG. 6 is a logic diagram of an AGV controlling method according to an embodiment of the present invention to a work bench on which other loads are placed for carrying tasks;
FIG. 7 is a schematic diagram of an AGV control system according to an embodiment of the present invention;
FIG. 8 is a schematic diagram of another exemplary AGV control system according to an embodiment of the present invention;
fig. 9 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1, an AGV control method provided in an embodiment of the present invention may be applied to a control server, and may also be applied to other types of devices having a data processing and computing function, where the process may include the following steps:
s101, a request that an AGV executing a current carrying task enters a current workbench is received.
In the embodiment of the invention, the current transporting task executed by the AGV can be a task for transporting the goods shelf from the storage position to the current workbench by the AGV, or a task for transporting the goods shelf and goods on the goods shelf from the storage position to the current workbench by the AGV. It should be noted that, a plurality of workstations are usually installed in the warehousing system, and the current workstation may refer to a workstation that the AGV goes to when performing the current task.
In general, an AGV executing a current task may directly go to a queuing area of a current workbench to wait for a worker to pick up a goods, so that a congestion phenomenon in the queuing area is likely to occur. In the embodiment of the invention, before the AGV executing the current task goes to the current workbench, the AGV can firstly send an access request to the current workbench, and the control server judges whether the AGV is allowed to enter according to the running state of the current workbench.
The form of sending the entry request is various, and may be, for example: the AGV executing the current task firstly applies for a pass entering the current workbench to the control server, and the control server can determine whether to issue the pass for the AGV or not by calculating and analyzing the relation between the operating parameters of the AGV and the working state of the current workbench. If the application is successful, the control server issues a pass entering the current workbench to the AGV, and the AGV is allowed to go to the workbench; if the pass is not issued, the current workbench is not allowed to enter; the AGV may continue to apply for passes to other workstations from the control server until the application is successful. Based on the management form of the pass, the control server can conveniently record the number of issued passes.
S102, determining the operation parameters of the AGV and the working state of the current workbench.
In the embodiment of the present invention, the operating parameters of the AGV may include: parameter information such as the average speed of the AGV, the current speed of the AGV, the distance between the AGV and each workbench and the like; the current working state of the workbench may include: the number of the tasks to be processed in the current workbench, the estimated time for processing each task to be processed by the current workbench and other state information.
As an optional implementation manner of the embodiment of the present invention, based on the operation parameters of the AGV and the working state of the current workbench, the first time required for determining that the AGV reaches the current workbench and the second time required for determining that the current workbench processes the task to be processed may be determined.
In the embodiment of the invention, the first time required for the AGV to reach the current workbench can be the time spent by the AGV to move from the storage position to the current workbench; the second time required for the current workstation to process the pending task may be the total time it takes to pick all AGVs within the current workstation. By determining the first time and the second time, it can be further determined whether to allow the AGV to enter the current workbench according to the relationship between the first time and the second time.
Wherein, determining the first time and the second time may be:
and determining the first time required for the AGV to reach the current workbench according to the distance between the AGV and the current workbench and the current speed of the AGV. It will be readily appreciated that the distance of the AGV from the storage bay to the work deck is determined, and at the same time, the current speed of the AGV may also be determined, thus enabling the first time to be obtained by dividing the distance by the speed.
And determining second time required by the current workbench for processing the tasks to be processed according to the number of the tasks to be processed of the current workbench and the processing time of each task. As will be readily appreciated, when there are multiple AGVs waiting in line in the queuing area of the current workstation, the worker will pick each AGV. Therefore, the total picking time of the AGVs in the queuing area can be estimated by estimating the picking time of each AGV, namely the second time of the embodiment of the invention is determined.
S103, judging whether the AGV is allowed to enter the current workbench or not based on the relation between the operation parameters of the AGV and the working state of the current workbench.
In the embodiment of the invention, it is easy to understand that information such as the speed of the AGV and the distance between the AGV and each workbench can be acquired based on the operation parameters of the AGV, and meanwhile, the time required by each workbench to process the task to be processed can be estimated based on the working state of the workbench, so that whether the AGV meets the condition of entering the current workbench or not can be judged based on the relationship between the operation parameters and the working state of the AGV, and whether the AGV is allowed to enter the current workbench or not can be judged.
Specifically, whether the AGV is allowed to enter the current workbench may be determined based on a magnitude relationship between an operation parameter of the AGV and the working state information of the current workbench.
Further optionally, it may be determined whether to allow the AGV to enter the current workbench according to the magnitude relationship between the first time and the second time.
In the embodiment of the invention, the first time can represent the time required by the AGV to reach the current workbench, the second time represents the time required by the current workbench to process the task to be processed, and the difference value between the first time and the second time can represent the time required by the AGV to wait after entering the queuing area of the current workbench. Therefore, whether the AGV is allowed to enter the current workbench can be judged according to the magnitude relation between the first time and the second time.
As an implementation manner of the embodiment of the present invention, whether to allow the AGV to enter the current workbench is determined according to a magnitude relationship between the first time and the second time, and optionally, the determining may be:
if the first time is greater than or equal to the second time, when the AGV reaches the current workbench, it is indicated that there is no AGV queued in the current workbench, in this case, the pass may be issued for the AGV to allow the AGV to enter, but the current workbench may be in an idle state at this time; otherwise, the current workbench does not process the task to be processed, which indicates that there are AGVs still queued in the current workbench.
If the first time is less than the second time, when the AGV reaches the current workbench, indicating that the current workbench still has queued AGVs, and further judging whether the absolute value of the difference value between the first time and the second time is less than a preset time threshold value; if so, the waiting time of the AGV in the queuing area is shorter, and the AGV is allowed to enter the current workbench; if not, the waiting time of the AGV in the queuing area is longer, and the AGV is not allowed to enter the current workbench.
As another implementation manner of the embodiment of the present invention, whether to allow the AGV to enter the current workbench is determined according to the magnitude relationship between the first time and the second time, and optionally, the determining may further include:
in order to ensure that the conditions that the current workbench is idle and too many AGVs wait in line do not occur, a preset time can be set. Typically, this preset time may be determined based on the average waiting time of the AGV in the queuing area of the current workstation.
For example, when the absolute value of the difference between the first time and the second time is less than the preset time, it indicates that the waiting time of the AGV in the queuing area is short, or the idle time of the workbench is short, the AGV may be allowed to enter the current workbench; when the absolute value of the difference value between the first time and the second time is not less than the preset time, it indicates that the waiting time of the AGV in the queuing area is long, which may cause the queuing time to be too long, or the working table to be idle for too long, so that the AGV is not allowed to enter the current working table.
And S104, if the judgment result is yes, controlling the AGV to enter the current workbench.
In the embodiment of the present invention, the specific determination method is as described in step S103. When the pass is determined to be allowed, the control server may issue the pass for the current workbench to the AGV and allow it to enter the current workbench.
Alternatively, the AGV may be controlled to enter a queue or buffer of the current workstation.
The existing warehousing system is usually only provided with a queuing area beside a workbench, so that the AGV can only go to the queuing area to wait for picking after entering the workbench, and the efficiency is low. In the embodiment of the invention, each workbench is also provided with a corresponding buffer area, so that the AGV can temporarily place the goods shelf or goods in the storage position of the buffer area first to further execute other carrying tasks without waiting in the queuing area all the time, and the carrying efficiency is improved.
Further optionally, controlling the AGV to enter a queuing area or a buffer area of the current workbench specifically may be:
and when the number of the AGVs in the queuing area of the current workbench is not more than the total number of the AGVs capable of accommodating the queuing area, controlling the AGVs to enter the queuing area.
The number of the AGVs which can be accommodated in the queuing area of the workbench is limited, so that the AGVs can be controlled to enter the queuing area of the current workbench if the number of the AGVs in the queuing area does not exceed the total accommodating number of the queuing area. Furthermore, after the current AGV picks the goods and finishes, can directly pick the goods to current AGV, improve task processing efficiency.
Further optionally, when the number of AGVs in the queuing area of the current workbench is greater than the total number of AGVs in the queuing area, it may be determined whether the number of racks placed in the buffer area is less than the total number of storage slots in the buffer area.
If the number of the AGVs in the queuing area of the current workbench is larger than the total number of the AGVs capable of accommodating the queuing area, the queuing area of the current workbench cannot accommodate more AGVs, and therefore the goods need to be temporarily placed in the buffer area.
It will be readily appreciated that when it is determined that the number of shelves disposed in the buffer is less than the total number of slots in the buffer, this indicates that there is still room in the buffer, and thus the AGV may be controlled to enter the buffer.
As an implementation manner of the embodiment of the present invention, optionally, the step of controlling the AGV to enter the queuing area may further include:
when the number of the racks placed in the buffer area is 0 and the number of the AGVs in the queuing area of the current workbench is not more than the total number of the AGVs capable of accommodating the queuing area, controlling the AGVs to enter the queuing area.
In the embodiment of the invention, when the number of the shelves placed in the buffer area is not 0, the goods corresponding to the tasks to be processed in the buffer area are indicated, and after the current AGV is controlled to enter the queuing area, the tasks corresponding to the current AGV are processed before the tasks to be processed in the buffer area.
In the embodiment of the invention, when the number of the racks placed in the buffer area is 0 and the number of the AGVs in the queuing area of the current workbench is not more than the total number of the accommodated AGVs in the queuing area, the AGVs can be controlled to directly enter the queuing area, so that the tasks to be processed can be processed in sequence.
It should be noted that there is a possible situation that when the queuing area and the buffer area of the current workbench are full, the control server may control the AGVs to wait on the road near the workbench, when the queuing area and the buffer area of the current workbench are empty, the AGVs are preferentially controlled to enter the queuing area to pick up the goods, and after the goods picking is completed, the other AGVs are controlled to transport the shelves in the buffer area to the queuing area, so as to accelerate the task execution speed of the AGVs.
It should be noted that as an alternative to the present embodiment, sometimes all of the workstations may not allow the AGV to enter if all of the workstations are busy. When this occurs, the AGV may temporarily wait in the bay, and after a preset wait time, again send an entry request to the control server until it is allowed to enter one of the workstations. For example, a preset wait time of 5 minutes may be set, the AGV may temporarily wait in the bay, after 5 minutes the AGV sends the access request again to the control server, if each of the tables still does not allow its access, continues to wait in the bay, and after 5 minutes sends the access request again to the control server until the table allows its access.
According to the AGV control method provided by the embodiment of the invention, whether the AGV is allowed to enter the current workbench or not is judged by determining the operation parameters of the AGV and the working state of the current workbench and based on the relation between the operation parameters of the AGV and the working state of the current workbench, and if the judgment result is that the AGV is allowed to enter the current workbench, the AGV is controlled to enter the current workbench, so that the situation that the AGV waits for idling in a queue at the current workbench is avoided, and the carrying efficiency is improved.
As an optional implementation of the embodiment of the invention, if it is determined that the current AGV is not allowed to enter, the AGV may be controlled to another workbench.
In the embodiment of the present invention, the specific determination method is as described in step S103. And when the pass is not allowed, the control server does not give the pass to the AGV and does not allow the AGV to enter the current workbench, so that the AGV is controlled to other workbenches.
As a specific implementation manner, in the embodiment of the present invention, the specific steps for controlling the AGV to the other workstations may be:
and step A, receiving a request of the AGV to enter other workbenches.
The principle of step a is the same as that of step S101 in the embodiment of the present invention, wherein the other work table may be any work table except the current work table. Generally, the work table adjacent to the current work table may be used as the other work table, and the AGV applies for a pass to the control server for entry into the work table.
And step B, determining third time required by the AGV to reach other workbenches, and determining fourth time required by the other workbenches to process the tasks to be processed.
The principle of the step B is the same as that of the step S102 in the embodiment of the present invention, and the third time required for the AGV to reach another workbench may be the time taken for the AGV to travel from the storage location to the workbench; the fourth time required for the other stations to process the pending task may refer to the total time required for the station to pick. And determining the third time and the fourth time, and further judging whether the AGV is allowed to enter the workbench which is requested to enter or not according to the relationship between the third time and the fourth time.
And C, judging whether the AGV is allowed to enter other workbenches or not according to the third time and the fourth time.
Step C is the same as step S103 in the embodiment of the present invention in principle, and the difference between the third time and the fourth time may represent the waiting time after the AGV applies for entering the queuing area of the workbench. Therefore, whether the AGV is allowed to enter the workbench can be judged according to the magnitude relation between the third time and the fourth time. The detailed determination process is not described herein.
According to the AGV control method provided by the embodiment of the invention, whether the AGV is allowed to enter the current workbench or not is judged according to the first time required for the AGV to reach the current workbench and the second time required for the current workbench to process the task to be processed, if not, the AGV is controlled to be moved to other workbenches, and the AGV is prevented from waiting for idling in a queue at the current workbench, so that the carrying efficiency is improved.
As an implementation manner of the embodiment of the present invention, after controlling an AGV to enter a current workbench, optionally, the AGV control method of the embodiment of the present invention may further include:
and updating the current AGV queuing total number in each workbench.
The current AGVs queue total may be the number of AGVs to be picked in each workbench, and may include AGVs in the workbench queue area and AGVs in the workbench buffer area. By updating the current AGV queuing total number in each workbench, the AGV queuing total number in each workbench can be obtained in real time, so that the time required by the workbench to process the tasks to be processed can be estimated more accurately.
Optionally, the total number of AGVs queued in each workbench is updated, which may specifically be:
and when the AGV enters the current workbench, adding 1 to the total queuing number of the AGV in the current workbench.
When the AGV enters the current workbench, the following steps can be performed: the control server has issued the pass for the current workstation for that AGV, thus adding 1 to the total number of AGV queues in the current workstation.
And when the AGV leaves the current workbench, subtracting 1 from the total queuing number of the AGV in the current workbench.
When the AGV leaves the current workbench, it may be: the AGV has completed the task and returned, thus subtracting 1 from the total number of AGV queues in the current workstation.
When the AGV leaves the current workbench and enters other workbenches, the total queuing number of the AGV in the current workbench is reduced by 1, and the total queuing number of the AGV of other workbenches is increased by 1.
When the AGV leaves the current workbench and enters another workbench, it may be: and on the way that the AGV finishes the task and returns, the control server calls to execute the carrying tasks of other work tables, and the AGV enters the other work tables. Therefore, the total number of AGV queues in the current workbench is decremented by 1, and the total number of AGV queues for the other workbench is incremented by 1.
According to the AGV control method provided by the embodiment of the invention, the total AGV queuing number in each workbench can be obtained in real time by updating the total AGV queuing number in each workbench, so that the time required by the workbench for processing the tasks to be processed can be estimated more accurately.
Typically, different goods correspond to different shelves. In order to further improve the transport efficiency of the AGVs, as an implementation manner of the embodiment of the present invention, after controlling the AGVs to enter the current workbench, optionally, the AGV control method of the embodiment of the present invention may further include:
and after the AGV completes the current carrying task and leaves the current workbench, judging whether a goods shelf carried by the AGV corresponds to goods in other carrying tasks. And if the judgment result shows that the corresponding goods in other carrying tasks correspond to the goods in the other carrying tasks, controlling the AGV to the workbench on which the goods in the other carrying tasks are placed so that the AGV carries the goods in the other carrying tasks.
After the AGV completes the current carrying task and leaves the current workbench, the AGV generally returns to the goods shelf area with the goods shelf to wait for the next task. In the embodiment of the invention, after the AGV leaves the current workbench, if the control server judges that the rack carried by the AGV corresponds to the goods in other carrying tasks, the AGV does not return to the rack area, but directly goes to the workbench on which the goods in other carrying tasks are placed and executes a new carrying task. Therefore, the AGV does not need to wait for a task in the shelf area, on one hand, the distance for executing a new task is shortened, and on the other hand, the distance required for going to other work tables is shortened, so that the carrying efficiency is improved.
FIG. 2 is a control schematic diagram of an AGV control method according to an embodiment of the present invention, as shown in FIG. 2, the warehousing system has 3 work tables, corresponding queuing areas, buffer areas, and multiple rack areas; the 3 working tables are respectively a working table 1, a working table 2 and a working table 3; there are also three AGVs performing different transport tasks, a first AGV1100, a second AGV1201 and a third AGV 1505.
First AGV1100 is carrying the goods shelves and is executed the return journey task that returns storage position, and workstation 1 has the task of the goods that corresponds with the goods shelves that first AGV1100 is back of the body this moment, and control server control workstation 1 calls first AGV1100, and first AGV1100 interrupts the return journey task, directly goes to workstation 1 and carries out this task. Since other stations may have more important transfer tasks to perform, the AGV may be called by the control server on the return trip to perform the transfer tasks for the other stations.
The second AGV1201 carries the rack from the rack area to the workbench 2 to perform the task. The second AGV1201 applies for the pass of the workbench 2 to the control server, the control server calculates the time required for the second AGV1201 to reach the workbench 2 and the time required for the workbench 2 to process the task to be processed, after judgment, the control server gives the pass to the second AGV1201, and the second AGV1201 can move the rack to the workbench 2. Specifically, the second AGV1201 proceeds directly to the queuing area of the platform 2 to await picking.
A third AGV1505 carries the rack from the bay to perform tasks to the workbench. The third AGV1505 requests the control server for pass on the workbench 2, but does not pass. Since the third AGV1505 does not obtain a pass to the workbench 2, the third AGV1505 cannot go to the workbench 2. The third AGV1505 continues to apply for a pass for workbench 3 from the control server, which issues a pass to the third AGV1505 indicating that the third AGV1505 may go to workbench 3. The control server knows that the current workbench 3 is busy by calculating the total time for picking up the goods at the current workbench 3, and the third AGV1505 places the rack in the buffer area near the workbench 3. After the third AGV1505 places the racks in the buffer, the third AGV1505 completes the task, becomes idle, and may continue to perform other transport tasks.
FIG. 3 is a logic diagram illustrating the issuing of pass to each AGV by the control server in the AGV control method according to the embodiment of the present invention, as shown in FIG. 3, which may be used (X) i ,Y i ) Represents a stage i, where (X, Y) are the physical coordinates of the stage; by Dist i,j Representing AGVj to the table (X) i ,Y i ) The distance of (d); by V j The running speed of AGVj is shown. Time T of AGVj to table i i,j Comprises the following steps: t is i,j＝ Dist i,j /V j . By Pass i : indicating the number of passes that the workbench i has issued, i.e., the number of AGVs that have been allowed to enter the workbench i. The control server can record the number of the issued passes of each workbench. The time interval that can be tolerated, i.e. the time during which the trolley back carriers wait in the queuing area, is denoted by t. When it is greater than the time interval t, the pass is no longer sent.
As shown in FIG. 3, the AGV speed V is first obtained j And distance Dist between AGV and workbench i i,j And then calculate the time T when the AGV reaches the workbench i i,j (ii) a Then, the total queuing number of the AGVs in the workbench i is obtained, and the goods picking time of each AGV is estimated, so that the time T required by the workbench i to finish goods picking is calculated i,x . By comparing T i,j And T i,x The absolute value of the difference with respect to T, if T i,j -T i,x When the absolute value of the value is less than t, the control server issues the pass of the workbench i to the AGV; if T is i,j -T i,x Is not less than t, the control server does not issue pass of the workbench i to the AGV, and the AGV sends pass to other workbenches (X) n ,Y n ) And applying for a pass.
FIG. 4 is a logic diagram of controlling an AGV to enter a queue or buffer of a current workbench in an AGV control method according to an embodiment of the present invention, and as shown in FIG. 4, a queue may be used i Representing the number of AGV waiting in the queuing area of the workbench i; using queue num Indicating queuing areasThe number of the AGV can be accommodated; buffer i Representing the number of the storage positions of the buffer area corresponding to the workbench i; by Shelf i Indicating the number of shelves already placed in the buffer zone corresponding to the table i.
As shown in fig. 4, the number Shelf of shelves already placed in the buffer i is obtained first i And the number of AGV waiting in the queue area queue u Judging whether the condition queue is satisfied i ≤queue num And Shelf i If yes, the AGV carries the goods shelf to a queuing area to wait for picking; if not, further judging whether the condition Shelf is met i >0 and Shelf i <buffer i If the conditions are met, the AGV carries the goods shelf to the buffer area and puts down the goods shelf, the task is completed, the AGV is in an idle state, and at the moment, if queue i <queue num And Shelf i >And the condition 0 indicates that the buffer zone has a rack, the AGV can be controlled to transport the rack from the buffer zone to the queuing zone to wait. Note that if Shelf is not satisfied i >0 and Shelf i <buffer i Conditions, indicating that neither the queuing area nor the buffer area can accommodate the AGV, may control the AGV to wait on the road near the workbench.
Fig. 5 is a logic diagram illustrating updating of the current AGV queue count in each workbench in the AGV control method according to the embodiment of the present invention, and as shown in fig. 5, the queue count of the workbench can be dynamically updated in real time according to which current workbench has tasks. For AGV to workbench (X) i ,Y i ) If the control server issues a workbench (X) to the AGV i ,Y i ) The number of the queues is added by 1; if the AGV is on the workbench (X) i ,Y i ) When the picking task is completed, the return task is issued, and the queue number is reduced by 1.
If the control server issues a workbench (X) to the AGV i ,Y i ) The AGV is called to another work bench (X) n ,Y n ) Indicating that the AGV may leave the workbench (X) i ,Y i ) And into the working table (X) n ,Y n ) Then working table (X) i ,Y i ) The total number of queues is reduced by 1, and the workbench(X n ,Y n ) Plus 1.
Fig. 6 is a logic diagram of controlling AGVs to a work bench on which other goods for transporting tasks are placed in the AGV control method according to the embodiment of the present invention, and an AGV loaded with a shelf return storage location may directly interrupt the return storage location and directly go to the work bench to execute a new transporting task.
As shown in fig. 6, after the working platform generates the transporting task, it is searched whether there is an AGV currently carrying a rack or executing a return task, if so, the current task of the AGV is set to be completed, and a task for controlling the AGV to carry the rack to the working platform is generated, so that the AGV carries the rack to the working platform; and if the AGV does not exist, selecting the AGV in an idle state to carry the task of transporting the goods shelf to the workbench.
Corresponding to the above method embodiment, the embodiment of the present invention further provides a corresponding system embodiment.
As shown in fig. 7, an AGV control system according to an embodiment of the present invention includes:
a receiving module 201, configured to receive a request for an AGV executing a current transport task to enter a current workbench;
a determining module 202, configured to determine an operating parameter of the AGV and a working state of the current workbench;
the first judgment module 203 is used for judging whether the AGV is allowed to enter the current workbench or not based on the relationship between the operation parameters of the AGV and the working state of the current workbench;
and the first control module 204 is used for controlling the AGV to enter the current workbench if the first judgment module judges that the AGV is allowed.
According to the AGV control system provided by the embodiment of the invention, whether the AGV is allowed to enter the current workbench or not is judged by determining the operation parameters of the AGV and the working state of the current workbench and based on the relation between the operation parameters of the AGV and the working state of the current workbench, and if the judgment result is that the AGV is allowed to enter the current workbench, the AGV is controlled to enter the current workbench, so that the situation that the AGV queues up to be idle at the current workbench is avoided, and the carrying efficiency is improved.
As an optional implementation manner of the embodiment of the present invention, the determining module 202 may be specifically configured to:
a first time required for the AGV to reach the current workbench is determined, and a second time required for the current workbench to process the task to be processed is determined.
The first determining module 203 may specifically be configured to: and judging whether the AGV is allowed to enter the current workbench or not according to the size relationship between the first time and the second time.
Optionally, the determining module 202 may be specifically configured to:
determining the first time required for the AGV to reach the current workbench according to the distance between the AGV and the current workbench and the current speed of the AGV; and determining second time required by the current workbench for processing the tasks to be processed according to the number of the tasks to be processed of the current workbench and the processing time of each task.
Optionally, the first determining module 203 is specifically configured to:
when the first time is greater than or equal to the second time, allowing the AGV to enter the current workbench;
when the first time is less than the second time, judging whether the absolute value of the difference value between the first time and the second time is less than the preset time; if so, allowing the AGV to enter the current workbench; if not, the AGV is not allowed to enter the current workbench.
Optionally, the first determining module 203 is further specifically configured to:
when the absolute value of the difference value between the time required by the AGV to reach the current workbench and the total time required by the current workbench to process the task to be processed is less than the preset time, allowing the AGV to enter the current workbench;
and when the difference between the time required by the AGV to reach the current workbench and the total time required by the current workbench to process the tasks to be processed is not less than the preset time, the AGV is not allowed to enter the current workbench.
Optionally, the first control module 204 is specifically configured to:
and controlling the AGV to enter a queuing area or a buffer area of the current workbench.
Optionally, the first control module 204 is specifically further configured to:
and when the number of the AGVs in the queuing area of the current workbench is not more than the total accommodating number of the AGVs in the queuing area, controlling the AGVs to enter the queuing area.
Optionally, the first control module 204 is specifically further configured to:
when the number of the AGVs in the queuing area of the current workbench is larger than the total number of the AGV accommodations in the queuing area, judging whether the number of the racks placed in the buffer area is smaller than the total number of the storage positions in the buffer area;
and when the number of the shelves placed in the buffer area is judged to be less than the total number of the storage positions in the buffer area, controlling the AGV to enter the buffer area.
Optionally, the first control module 204 is specifically further configured to:
when the number of the racks placed in the buffer area is 0 and the number of the AGVs in the queuing area of the current workbench is not more than the total number of the AGVs capable of accommodating the queuing area, controlling the AGVs to enter the queuing area.
Optionally, as shown in fig. 8, the AGV control system according to the embodiment of the present invention may further include:
and a second control module 205 for controlling the AGV to another work bench if the first judgment module judges that the AGV is not allowed.
And the updating module 206 is used for updating the current AGV queuing total number in each workbench.
Optionally, the updating module 206 has a module for:
when the AGV enters the current workbench, adding 1 to the total queuing number of the AGV in the current workbench;
when the AGV leaves the current workbench, subtracting 1 from the total queue number of the AGV in the current workbench;
when the AGV leaves the current workbench and enters other workbenches, the total queuing number of the AGV in the current workbench is reduced by 1, and the total queuing number of the AGV of other workbenches is increased by 1.
The second judging module 207 is used for judging whether a goods shelf carried by the AGV corresponds to goods in other carrying tasks or not after the AGV completes the current carrying task and leaves the current workbench; and if the judgment result shows that the corresponding goods in other carrying tasks correspond to the goods in the other carrying tasks, controlling the AGV to the workbench on which the goods in the other carrying tasks are placed so that the AGV carries the goods in the other carrying tasks.
According to the AGV control system provided by the embodiment of the invention, the total AGV queuing number in each workbench can be obtained in real time by updating the total AGV queuing number in each workbench, so that the time required by the workbench for processing the tasks to be processed can be estimated more accurately.
An embodiment of the present invention further provides an electronic device, as shown in fig. 9, the electronic device includes a processor 301, a communication interface 302, a memory 303, and a communication bus 304, where the processor 301, the communication interface 302, and the memory 303 complete mutual communication through the communication bus 304,
a memory 303 for storing a computer program;
the processor 301, when executing the program stored in the memory 303, implements the method as described in any of the embodiments of fig. 1-6 above.
According to the electronic equipment provided by the embodiment of the invention, whether the AGV is allowed to enter the current workbench is judged by determining the operation parameters of the AGV and the working state of the current workbench and based on the relation between the operation parameters of the AGV and the working state of the current workbench, and if the judgment result is that the AGV is allowed to enter the current workbench, the AGV is controlled to enter the current workbench, so that the situation that the AGV queues up to be idle at the current workbench is avoided, and the carrying efficiency is improved.
The communication bus mentioned in the electronic device may be a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The communication bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown, but this does not mean that there is only one bus or one type of bus.
The communication interface is used for communication between the electronic equipment and other equipment.
The Memory may include a Random Access Memory (RAM) or a non-volatile Memory (non-volatile Memory), such as at least one disk Memory. Optionally, the memory may also be at least one memory device located remotely from the processor.
The Processor may be a general-purpose Processor, including a Central Processing Unit (CPU), a Network Processor (NP), and the like; the Integrated Circuit may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, a discrete Gate or transistor logic device, or a discrete hardware component.
An embodiment of the present invention further provides a computer-readable storage medium, in which a computer program is stored, so as to implement the method described in any one of the embodiments of fig. 1 to fig. 6.
According to the computer-readable storage medium provided by the embodiment of the invention, whether the AGV is allowed to enter the current workbench or not is judged by determining the operation parameters of the AGV and the working state of the current workbench and based on the relation between the operation parameters of the AGV and the working state of the current workbench, and if the judgment is allowed, the AGV is controlled to enter the current workbench, so that the AGV is prevented from waiting for idling in a queue on the current workbench, and the carrying efficiency is improved.
For the system/electronic device/storage medium embodiment, since it is substantially similar to the method embodiment, the description is relatively simple, and for the relevant points, reference may be made to part of the description of the method embodiment.
It should be noted that the system, the electronic device, and the storage medium according to the embodiments of the present invention are respectively a system, an electronic device, and a storage medium to which the dynamic contention window adjustment method based on the random game theory is applied, and all embodiments of the dynamic contention window adjustment method based on the random game theory are applicable to the system, the electronic device, and the storage medium, and can achieve the same or similar beneficial effects.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
All the embodiments in the present specification are described in a related manner, and the same and similar parts among the embodiments may be referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the system embodiment, since it is substantially similar to the method embodiment, the description is simple, and for the relevant points, reference may be made to the partial description of the method embodiment.
The above description is only for the preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention shall fall within the protection scope of the present invention.

Claims (18)

1. An AGV control method for an automatic guided vehicle, the method comprising:
receiving a request of an AGV executing a current carrying task to enter a current workbench;
determining first time required by the AGV to reach the current workbench, and determining second time required by the current workbench to process a task to be processed;
judging whether the AGV is allowed to enter the current workbench or not according to the size relation between the first time and the second time;
and if the AGV enters the current workbench, controlling the AGV to enter the current workbench.
2. The AGV control method of claim 1, further comprising:
if not, the AGV is controlled to travel to another work platform or temporarily wait in the rack area.
3. The AGV control method of claim 1, wherein said step of determining a first time required for the AGV to reach the current work platform and determining a second time required for the current work platform to process the pending task comprises:
determining first time required for the AGV to reach the current workbench according to the distance between the AGV and the current workbench and the speed of the AGV;
and determining second time required by the current workbench for processing the tasks to be processed according to the number of the tasks to be processed of the current workbench and the task processing time.
4. The AGV control method according to claim 1, wherein said determining whether to allow the AGV to enter the current workbench according to a magnitude relationship between the first time and the second time includes:
when the first time is greater than or equal to the second time, allowing the AGV to enter the current workbench;
when the first time is less than the second time, judging whether the absolute value of the difference value between the first time and the second time is less than a preset time threshold value or not; if so, allowing the AGV to enter the current workbench; if not, the AGV is not allowed to enter the current workbench.
5. The AGV control method according to claim 1, wherein said determining whether to allow the AGV to enter the current workbench according to a magnitude relationship between the first time and the second time includes:
when the absolute value of the difference value between the first time and the second time is less than the preset time, allowing the AGV to enter the current workbench;
and when the absolute value of the difference value between the first time and the second time is not less than the preset time, the AGV is not allowed to enter the current workbench.
6. The AGV control method of claim 1, wherein said controlling the AGV to enter the current station further comprises:
and updating the current AGV queuing total number in each workbench.
7. The AGV control method of claim 6, wherein said updating the total number of AGV queues in each of said platforms comprises:
when the AGV enters the current workbench, adding 1 to the total queuing number of the AGV in the current workbench;
when the AGV leaves the current workbench, subtracting 1 from the total queuing number of the AGV in the current workbench;
and when the AGVs leave the current workbench and enter other workbenches, subtracting 1 from the total queuing number of the AGVs in the current workbench, and adding 1 to the total queuing number of the AGVs of the other workbenches.
8. The AGV control method of claim 1, wherein said controlling the AGV to enter the current station further comprises:
after the AGV completes the current carrying task and leaves the current workbench, judging whether a goods shelf carried by the AGV corresponds to goods in other carrying tasks;
and if the corresponding goods in other carrying tasks are judged, controlling the AGV to the workbench on which the goods in other carrying tasks are placed.
9. An Automated Guided Vehicle (AGV) control system, comprising:
the receiving module is used for receiving a request that an AGV executing a current carrying task enters a current workbench;
the determining module is used for determining first time required by the AGV to reach the current workbench and determining second time required by the current workbench to process the tasks to be processed;
the first judgment module is used for judging whether the AGV is allowed to enter the current workbench or not according to the magnitude relation between the first time and the second time;
and the first control module is used for controlling the AGV to enter the current workbench if the first judgment module judges that the AGV is allowed.
10. The AGV control system of claim 9, said system further comprising:
and the second control module is used for controlling the AGV to move to other work tables or wait in the goods shelf area temporarily if the first judgment module judges that the AGV is not allowed.
11. The AGV control system of claim 9, wherein the determination module is specifically configured to:
determining first time required for the AGV to reach the current workbench according to the distance between the AGV and the current workbench and the current speed of the AGV;
and determining second time required by the current workbench for processing the tasks to be processed according to the number of the tasks to be processed of the current workbench and the processing time of each task.
12. The AGV control system of claim 9, wherein the first determining module is specifically configured to:
when the first time is greater than or equal to the second time, allowing the AGV to enter the current workbench;
when the first time is less than the second time, judging whether the absolute value of the difference value between the first time and the second time is less than a preset time threshold value; if so, allowing the AGV to enter the current workbench; if not, the AGV is not allowed to enter the current workbench.
13. The AGV control system of claim 9, wherein the first determining module is further configured to:
when the absolute value of the difference value between the first time and the second time is less than the preset time, allowing the AGV to enter the current workbench;
and when the absolute value of the difference value between the first time and the second time is not less than the preset time, the AGV is not allowed to enter the current workbench.
14. The AGV control system of claim 9, further comprising:
and the updating module is used for updating the current AGV queuing total number in each workbench.
15. The AGV control system of claim 14, wherein the update module has means for:
when the AGV enters the current workbench, adding 1 to the total queuing number of the AGV in the current workbench;
when the AGV leaves the current workbench, subtracting 1 from the total queuing number of the AGV in the current workbench;
and when the AGVs leave the current workbench and enter other workbenches, subtracting 1 from the total queuing number of the AGVs in the current workbench, and adding 1 to the total queuing number of the AGVs of the other workbenches.
16. The AGV control system of claim 9, further comprising:
the second judging module is used for judging whether a goods shelf loaded by the AGV corresponds to goods in other carrying tasks or not after the AGV finishes the current carrying task and leaves the current workbench; and if the judgment result is that the AGV corresponds to the goods in other carrying tasks, controlling the AGV to a workbench on which the goods of other carrying tasks are placed so that the AGV carries the goods of other carrying tasks.
17. An electronic device comprising a processor and a memory, wherein the memory is configured to store a computer program;
the processor, when executing the program stored in the memory, is adapted to carry out the method steps of any of claims 1-8.
18. A computer-readable storage medium, characterized in that a computer program is stored in the computer-readable storage medium, which computer program, when being executed by a processor, carries out the method steps of any one of claims 1 to 8.
CN202210486496.2A 2017-10-12 2017-10-12 AGV control method, control system, electronic device and storage medium Pending CN114895636A (en)

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