CN114924532A - AGV trolley carrying method and system of self-adaptive carrier type and AGV trolley - Google Patents

Abstract

The invention discloses an AGV trolley carrying method and system capable of adapting to carrier types and an AGV trolley, wherein the method comprises the following steps: receiving a carrying task instruction, wherein the carrying task instruction comprises a carrier type, a logistics demand equipment IP address and an AGV trolley number; and generating a control signal according to the type of the carrier, sending the control signal to the butt joint carrying device so that the butt joint carrying device can complete size adjustment according to the control signal, and determining an AGV trolley carrying path according to the IP address of the logistics demand equipment and the AGV trolley number. The method can enable the AGV to meet the logistics requirements of the workshop under different application scenes, save early investment cost and improve the logistics efficiency of the workshop.

Description

AGV trolley carrying method and system of self-adaptive carrier type and AGV trolley

Technical Field

The invention relates to the technical field of workshop scheduling, in particular to an Automatic Guided Vehicle (AGV) trolley carrying method of a self-adaptive carrier type, a computer readable storage medium, an AGV trolley carrying system of a self-adaptive carrier type and an AGV trolley.

Background

At present, AGV dolly in the market often can only carry specific type, specific size's carrier, and an AGV dolly can't satisfy the transport demand of workshop multiplex kind, many application scenarios, for this reason, often need introduce different kind of AGV dolly. Multiple type of AGV dolly transport is based on different production scenes, adopts customization AGV dolly to be applied to different transport scenes to through adopting handling device cooperation such as chain, cylinder, belt, make multiple type of AGV dolly realize the transport to carriers such as sheet frame commonly used, gluey frame, carton.

However, the introduction of different kinds of AGV carts may cause an excessive investment cost in the early stage, and it is also very difficult to maintain the AGV carts in the later stage. In addition, different types of AGV dollies have poor commonality, can make workshop logistics inefficiency.

Disclosure of Invention

The present invention is directed to solving, at least to some extent, one of the technical problems in the related art. Therefore, a first object of the present invention is to provide an AGV trolley handling method of a self-adaptive carrier type, which can enable an AGV trolley to meet workshop logistics requirements in different application scenarios, save early investment cost, and improve workshop logistics efficiency.

A second object of the invention is to propose a computer-readable storage medium.

A third objective of the present invention is to provide an AGV cart handling system of adaptive vehicle type.

A fourth object of the present invention is to provide an AGV cart.

To achieve the above object, a first embodiment of the present invention provides an adaptive-vehicle AGV cart handling method, including: receiving a carrying task instruction, wherein the carrying task instruction comprises a carrier type, an IP (Internet Protocol) address of logistics demand equipment and an AGV trolley number; and generating a control signal according to the type of the carrier, sending the control signal to the butt joint carrying device so that the butt joint carrying device can complete size adjustment according to the control signal, and determining an AGV trolley carrying path according to the IP address of the logistics demand equipment and the AGV trolley number.

According to the AGV trolley transporting method of the self-adaptive carrier type, the control signal is generated according to the carrier type and sent to the butt joint transporting device, so that the butt joint transporting device can complete size adjustment according to the control signal, and the AGV trolley transporting path is determined according to the IP address of the logistics demand equipment and the AGV trolley number, so that the AGV trolley transports the carrier to the logistics demand equipment. Therefore, the method can enable the AGV to meet the logistics requirements of the workshop under different application scenes, saves early investment cost and improves the logistics efficiency of the workshop.

In addition, the AGV cart handling method of the adaptive carrier type according to the above embodiment of the present invention may further have the following additional technical features:

according to an embodiment of the present invention, the transport task instruction is generated by a Manufacturing Execution management System MES (Manufacturing Execution System) according to the collected operation state information of the logistics demand equipment, the state of the AGV and the task area.

According to one embodiment of the present invention, generating a control signal according to a vehicle type includes: acquiring initial sizes of a plurality of carriers; determining the initial size of a corresponding carrier according to the type of the carrier; and determining a control signal according to the initial size of the carrier and the AGV trolley number.

According to one embodiment of the present invention, determining control signals based on an initial size of a vehicle and an AGV cart number includes: determining the size of a carrier on the butt joint carrying device according to the serial number of the AGV trolley; generating a size increase signal when the initial size of the carrier is larger than the size of the carrier on the docking conveyance device; a size reduction signal is generated when the initial size of the carrier is less than the size of the carrier on the docking conveyance device.

According to one embodiment of the invention, a size-invariant signal is generated when the initial size of the carrier is the same as the size of the carrier on the docking conveyance device.

According to one embodiment of the invention, a docking conveyance device comprises: the device comprises a PLC (Programmable Logic Controller) control module, a width adjusting screw rod, a transmission device and a supporting platform, wherein the PLC control module is used for receiving a control signal and controlling the width adjusting screw rod to move according to the control signal so as to adjust the size of the supporting platform; the conveying device is used for moving the position of the carrier on the butt joint conveying device.

According to one embodiment of the invention, the butt joint carrying device completes size adjustment according to a control signal, and the butt joint carrying device comprises: when the PLC module receives a size increase signal, the width adjusting screw rod is controlled to move outside to increase the size of the supporting platform; when the PLC module receives the size reduction signal, the inner side of the width adjusting screw rod is controlled to move, so that the size of the supporting platform is reduced.

In order to achieve the above object, a second aspect of the present invention provides a computer readable storage medium, on which an adaptive vehicle-type AGV vehicle handling program is stored, which when executed by a processor implements the adaptive vehicle-type AGV vehicle handling method. So that the AGV trolley can convey the carrier to the logistics demand equipment.

According to the computer-readable storage medium provided by the embodiment of the invention, by executing the AGV trolley carrying method of the adaptive carrier type, the AGV trolley can meet the workshop logistics requirements under different application scenes, the early-stage investment cost is saved, and the workshop logistics efficiency is improved.

To achieve the above object, a third aspect of the present invention provides an adaptive vehicle type AGV transport system, including: the system comprises a receiving module, a processing module and a processing module, wherein the receiving module is used for receiving a carrying task instruction, and the carrying task instruction comprises a carrier type, a logistics demand equipment IP address and an AGV trolley number; the signal generation module is used for generating a control signal according to the type of the carrier and sending the control signal to the butt joint carrying device so that the butt joint carrying device can complete size adjustment according to the control signal; and the determining module is used for determining the AGV trolley carrying path according to the IP address of the logistics demand equipment and the AGV trolley number.

According to the AGV trolley carrying system with the self-adaptive carrier type, the receiving module receives a carrying task instruction, the signal generating module generates a control signal according to the carrier type and sends the control signal to the butt joint carrying device so that the butt joint carrying device can complete size adjustment according to the control signal, and the determining module determines an AGV trolley carrying path according to the IP address of the logistics demand equipment and the AGV trolley number so that the AGV trolley carries the carrier to the logistics demand equipment. Therefore, the system can enable the AGV to meet the logistics requirements of the workshop under different application scenes, saves early investment cost and improves the logistics efficiency of the workshop.

In order to achieve the above object, a fourth aspect of the present invention provides an AGV cart including an AGV cart handling system of the adaptive vehicle type described above.

According to the AGV trolley disclosed by the embodiment of the invention, through the AGV trolley carrying system with the self-adaptive carrier type, the AGV trolley can meet the logistics requirements of a workshop under different application scenes, the early-stage investment cost is saved, and the logistics efficiency of the workshop is improved.

Drawings

FIG. 1 is a flow chart of an adaptive vehicle type AGV cart handling method according to an embodiment of the present invention.

FIG. 2 is a block diagram of a plant logistics scheduling system in accordance with one embodiment of the present invention;

FIG. 3 is a block diagram of a plant logistics scheduling system in accordance with another embodiment of the present invention;

FIG. 4 is a block diagram of an adaptive vehicle type AGV cart handling system according to an embodiment of the present invention

FIG. 5 is a block diagram of an AGV according to an embodiment of the present invention.

Detailed Description

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

The following describes an adaptive-type AGV cart transport method, a computer-readable storage medium, an adaptive-type AGV cart transport system, and an AGV cart according to an embodiment of the present invention with reference to the drawings.

FIG. 1 is a flow chart of an adaptive vehicle type AGV cart handling method according to an embodiment of the present invention.

As shown in fig. 1, the AGV cart handling method of the adaptive vehicle type according to the embodiment of the present invention may include the following steps:

and step S1, receiving a carrying task instruction, wherein the carrying task instruction comprises a carrier type, a logistics requirement equipment IP address and an AGV trolley number.

According to one embodiment of the invention, the transport task instruction is generated by the manufacturing execution management system MES according to the collected operation state information of the logistics demand equipment, the state of the AGV trolley and the task area.

In some embodiments of the present invention, as shown in FIG. 2, may include: a data acquisition module 110, a data transmission module 120, an instruction generation module 130, and a scheduling module 140.

The data acquisition module 110 is configured to acquire operating state information of the logistics demand equipment. The data transmission module 120 is configured to receive and upload the operation state information according to a communication protocol corresponding to the logistics demand equipment. The instruction generating module 130 is configured to generate a carrying task instruction according to the operation state information. The scheduling module 140 is configured to send the transfer task instruction to the corresponding AGV, so that the AGV completes the transfer operation according to the transfer task instruction.

Particularly, in workshop production field, arranged many assembly lines respectively and carried out production operation, arranged different production facility (promptly logistics demand equipment) on the assembly line of difference to carry the commodity circulation demand equipment on the assembly line through AGV dolly carrier that will be equipped with raw materials for production to ensure that the assembly line is high-efficient goes on. The carriers are usually plate frames, rubber frames, cartons and the like, and the carriers also have square, round and other shapes. With the application of the plant intelligent technology, devices in the whole plant are connected through an industrial Internet or an Internet of things, and each device is assigned with a corresponding IP (Internet Protocol) address. In order to improve the production efficiency, the AGV trolleys can be provided with a plurality of pieces, and are correspondingly configured according to different logistics demand equipment, for example, the working areas of the AGV trolleys are divided according to areas, and the configuration number of the AGV trolleys is determined according to different working areas. For the convenience of management, the AGV trolleys can be numbered, the numbers of the AGV trolleys correspond to the IP addresses of the logistics demand equipment, and the carrying paths of the corresponding AGV trolleys are planned according to the areas where the logistics demand equipment are located. When the logistics demand equipment of a certain production line has a shortage of production raw materials, the number of the corresponding AGV trolley can be inquired through the IP address of the logistics demand equipment so as to dispatch the AGV trolley to convey the production raw materials for the logistics demand equipment.

Specifically, in the production process of the workshop, each logistics demand equipment conveys the production raw materials to the production line where the logistics demand equipment is located, and the data acquisition module 110 can acquire the demand condition of the production raw materials on each logistics demand equipment in real time. The data transmission module 120 establishes a communication connection with each logistics required device through a communication protocol corresponding to each logistics required device, receives the operating state information of each logistics required device, and uploads the received information to the instruction generation module 130. When the production material of a certain logistics demand equipment is about to be in short supply, the instruction generating module 130 can generate a corresponding carrying task instruction according to the operation state information of the logistics demand equipment. The carrying task instruction comprises a carrier type suitable for the assembly line, the IP address of the logistics demand equipment and the number of the AGV corresponding to the logistics demand equipment.

The dispatching module 140 sends the carrying task instruction to the corresponding AGV, and after receiving the carrying task instruction, the controller of the AGV controls the AGV to carry the carrier with the production raw material according to the carrying task instruction, and moves to the logistics demand equipment according to the planned path to complete material supplement to the logistics demand equipment.

According to an embodiment of the present invention, as shown in fig. 2, the data transmission module 120 may include: the warehousing control system WCS121 is configured to determine a communication protocol with each logistics demand device according to a communication interface corresponding to each logistics demand device. Wherein the communication protocol comprises at least one of a Modbus communication protocol, a Siemens S7 communication protocol, and a TCP/IP communication protocol.

Specifically, devices on a workshop production line are usually controlled by using a PLC (Programmable Logic Controller), and when the workshop production line is constructed, the PLCs used by the devices on the same production line are different from each other due to cost optimization, and the different PLCs have different communication interfaces corresponding to different communication protocols. Generally, an interface corresponding to the Modbus communication protocol is an RJ11 interface, an interface corresponding to the siemens S7 communication protocol is an RJ45 interface, and an interface corresponding to the TCP/IP communication protocol is a network interface.

The warehousing control system WCS121 may determine a communication protocol with each logistics demand device according to a communication interface corresponding to each logistics demand device, for example, when the communication interface of the logistics demand device is an RJ11 interface, the warehousing control system WCS121 receives the running state information by using a Modbus communication protocol; when the communication interface of the logistics demand equipment is an RJ45 interface, the storage control system WCS121 receives the running state information by using a siemens S7 communication protocol; when the communication interface of the logistics demand equipment is a network interface, the warehousing control system WCS121 receives the running state information by using a TCP/IP communication protocol. After the storage control system WCS121 receives the operation state information of each logistics demand equipment, the operation state information of each logistics demand equipment may be uploaded to the instruction generating module 130.

According to an embodiment of the invention, as shown in fig. 2, the instruction generating module 130 may include: and the manufacturing execution management system MES 131 is used for receiving the operation state information of each logistics demand equipment and generating a corresponding carrying task instruction according to the operation state information. The transport task instruction is generated by the manufacturing execution management system MES 131 according to the collected operation state information of the logistics demand equipment, the state of the AGV and the task area.

Specifically, the manufacturing execution management system MES 131 mainly performs task related configuration and fool-proof and error-proof checking, the task related configuration mainly includes equipment IP address information, logistics route running point location configuration, whether to start an AGV cart, and product process attributes, and the fool-proof and error-proof checking mainly includes logistics route work order checking and whether to match and link up product process attributes. The manufacturing execution management system MES 131 generates corresponding transporting task instructions by integrating the above parameters and combining the received running state information of each logistics demand equipment, the state of the AGV and the task area. The transfer task instructions are communicated to the scheduling module 140 by way of an interface.

It should be noted that, when the transfer task instruction is generated, the code of the AGV to be transferred needs to be determined, and the AGV to be transferred can be determined according to the area where the logistics demand equipment needs to be transferred is located, the power state and the operating state of each AGV, and the priority of the transfer task.

According to an embodiment of the present invention, as shown in fig. 2, the instruction generating module 130 may further include: and the server module 132 is configured to receive and store the operation state information of each logistics demand equipment.

Specifically, for the diversity of interfaces of each logistics demand device in the production field, the server module 132 uses the WebService technology as a technical route of the data acquisition control system in the production process, each logistics demand device in the production field is used as a WebService component to provide a standard interface, and the server module 132 receives and stores the running state information of each logistics demand device. Moreover, when new production lines, AGV carts and other devices are added in subsequent production workshops, each newly added device may be integrated with the server module 132 through the WebService technology. The server module 132 can reduce the security risk of data interaction between the modules of the production scheduling system, and can also enhance the data transparency of each module.

According to an embodiment of the invention, as shown in fig. 2, the scheduling module 140 may include: the AGV scheduling system 141 is configured to receive the transfer task instruction, and issue the transfer task instruction to the corresponding AGV. The carrying task instruction comprises a task station to be docked with the task, the number of docking layers required by equipment of each station, the type of a carrying vehicle and a task area. For example, the automatic plate loader/unloader has two layers, and the number of layers to be butted is the upper layer or the lower layer, or both the upper layer and the lower layer, of the automatic plate loader/unloader, or multiple layers may be required.

Specifically, the AGV trolley comprises the following main structural components: the device comprises a controller, a motion chassis, a lifting device, a butt joint carrying device, sensors corresponding to the parts and a photoelectric communication module. The controller is used as a center of the AGV, and after receiving the carrying task instruction sent by the AGV dispatching system 141, the controller of the AGV controls each component of the AGV to complete corresponding actions according to the carrying task instruction so as to supplement materials for the logistics demand equipment. For example, the moving chassis of the AGV trolley can be controlled to move to the logistics demand equipment according to a certain path according to the IP address of the logistics demand equipment; for another example, the lifting device of the AGV is controlled according to the number of the docking layers of the logistics demand equipment, and the lifting device of the AGV is controlled to complete ascending, descending and docking actions with equipment according to different equipment corresponding to the logistics demand equipment and the number of the docking layers; for another example, the control of the butt-joint conveying device of the AGV trolley can be realized according to the type of the carrier, and the size adjustment of the butt-joint conveying device of the AGV trolley can be realized according to the type of the carrier, so that the device is suitable for being compatible in conveying different logistics carriers.

According to an embodiment of the present invention, as shown in fig. 2, the plant logistics scheduling system 100 may further include: the first communication module 150 is used for establishing communication connection between the logistics demand equipment and the AGV.

That is, the logistics demand equipment can establish a communication connection with the AGV through the first communication module 150 to perform information transmission. In the process that the AGV transports the material, the logistics demand equipment sends a signal to the AGV via the first communication module 150, so as to guide the AGV to accurately transport the material to the designated position. In some embodiments of the present invention, the first communication module 150 may be an optical-electrical communication module, the optical-electrical communication module sends an optical-electrical signal to navigate the AGV, the optical-electrical communication module of the AGV receives the optical-electrical signal, and the controller of the AGV controls the AGV to move to the corresponding logistics demand equipment according to the received optical-electrical signal.

According to an embodiment of the present invention, as shown in fig. 2, the plant logistics scheduling system 100 may further include: and the display module 160 is used for displaying the running state information of the AGV.

Particularly, display module 160 can show the running state of AGV dolly, AGV dolly electric quantity, the details etc. of task execution task, and workshop administrator can know the workshop commodity circulation condition in real time through display module 160, monitors the running state of AGV dolly and the execution situation of task to can directly master the commodity circulation demand state of the commodity circulation demand equipment of every assembly line in the workshop, improved field management ability.

And step S2, generating a control signal according to the type of the carrier, sending the control signal to the docking and transporting device so that the docking and transporting device can complete size adjustment according to the control signal, and determining an AGV transporting path according to the IP address of the logistics demand equipment and the AGV trolley number.

Specifically, after the AGV receives a task handling instruction, the controller of the AGV generates a corresponding control signal according to the type of the carrier suitable for the logistics demand equipment, namely the size, shape and other information of the carrier, and sends the control signal to the butt joint handling device of the AGV. After receiving the control signal, the docking and transporting device of the AGV trolley adjusts the size of the carrier for carrying the carrier in the docking and transporting device according to the control signal, so that the carrier of the docking and transporting device can be matched with the carrier to be transported, the docking and transporting device of the AGV trolley can stably carry the carrier, and the situations that the carrier is unstable and production raw materials drop in the transporting process are prevented.

After the size adjustment of the butt joint carrying device of the AGV trolley is completed, the controller of the AGV trolley controls the butt joint carrying device to carry the carrier. The controller of the AGV dolly can confirm its transport route according to commodity circulation demand equipment IP address and the serial number of self to control the AGV dolly and carry according to the transport route, will be equipped with the carrier of raw materials for production and transport commodity circulation demand equipment, go on smoothly with the guarantee production.

According to one embodiment of the present invention, generating a control signal according to a vehicle type includes: acquiring initial sizes of a plurality of carriers; determining the initial size of a corresponding carrier according to the type of the carrier; and determining a control signal according to the initial size of the carrier and the AGV trolley number.

According to one embodiment of the invention, determining a control signal according to an initial size of a vehicle and an AGV cart number includes: determining the size of a carrier on the butt joint carrying device according to the serial number of the AGV trolley; when the initial size of the carrier is larger than the size of the carrier on the butt joint carrying device, generating a size increase signal; a size reduction signal is generated when the initial size of the carrier is less than the size of the carrier on the docking conveyance device.

Further, a size-invariant signal is generated when the initial size of the carrier is the same as the size of the carrier on the docking conveyance device.

Specifically, in the actual production process, each AGV cart can complete the transportation of carriers of multiple sizes, and therefore, the controller of each AGV cart correspondingly stores the initial sizes of all the carriers used by the corresponding logistics demand equipment. After the controller of the AGV acquires the carrier type from the received carrying task instruction, the controller can query the initial size of the carrier corresponding to the carrier type according to the carrier type.

In the process of carrying, the butt-joint carrying device of the AGV trolley continuously carries the carriers with different sizes, so that the sizes of the carriers on the butt-joint carrying device are adjusted according to the carriers. After the initial size of the corresponding carrier is determined, the size of the carrier on the docking and conveying device can be determined according to the serial number of the current AGV trolley, namely the size of the carrier on the docking and conveying device after the AGV trolley finishes the last conveying. When the initial size of the carrier is larger than the size of the carrier on the docking and carrying device, the size of the carrier to be carried at this time is larger than the size of the carrier carried at the last time, and the controller needs to generate a size increasing signal to increase the size of the carrier on the docking and carrying device so as to be suitable for carrying the carrier to be carried at this time; when the initial size of the carrier is smaller than the size of the carrier on the docking and carrying device, the size of the carrier to be carried at this time is smaller than the size of the carrier carried at the last time, and the controller needs to generate a size reduction signal to reduce the size of the carrier on the docking and carrying device; when the initial size of the carrier is the same as the size of the carrier on the docking and carrying device, it is described that the size of the carrier to be carried at this time is the same as the size of the carrier carried at the previous time, the size of the carrier on the docking and carrying device is not changed, and the controller needs to generate a size-unchanged signal.

According to an embodiment of the invention, the butt handling apparatus includes: the device comprises a PLC control module, a width adjusting screw rod, a conveying device and a supporting platform, wherein the PLC control module is used for receiving a control signal and controlling the width adjusting screw rod to move according to the control signal so as to adjust the size of the supporting platform; the conveying device is used for moving the position of the carrier on the butt joint conveying device. The supporting platform is the carrier of the docking and transporting device in the above embodiment.

That is to say, after the controller of the AGV generates a control signal according to the type of the carrier, the control signal is sent to the PLC module in the docking and carrying device, and the PLC module controls the width adjusting screw to move according to the received control signal to adjust the size of the supporting platform, so that the size of the supporting platform is suitable for bearing the carrier. After the size of the supporting platform is adjusted, the AGV trolley moves to a carrier position needing to be carried, carries the carrier, and moves the carrier to the supporting platform of the butt joint carrying device through the conveying device.

According to an embodiment of the invention, the docking and carrying device performs size adjustment according to the control signal, and the docking and carrying device comprises: when the PLC module receives a size increasing signal, the outer side of the width adjusting screw rod is controlled to move so as to increase the size of the supporting platform; when the PLC module receives the size reduction signal, the inner side of the width adjusting screw rod is controlled to move, so that the size of the supporting platform is reduced.

That is to say, through the removal of control width accommodate the lead screw, can realize the regulation to the supporting platform size, make the size of supporting platform be suitable for the size that bears the weight of the carrier that needs the transport to make butt joint handling device can accomplish the transport work steadily.

In summary, according to the AGV cart transporting method with an adaptive carrier type in the embodiment of the present invention, a control signal is generated according to the carrier type, and the control signal is sent to the docking transporting device, so that the docking transporting device completes size adjustment according to the control signal, and an AGV cart transporting path is determined according to the IP address of the logistics demand equipment and the AGV cart number, so that the AGV cart transports the carrier to the logistics demand equipment. Therefore, the method can enable the AGV to meet the logistics requirements of the workshop under different application scenes, saves early investment cost and improves the logistics efficiency of the workshop.

The invention further provides a computer readable storage medium corresponding to the above embodiment.

The computer readable storage medium of the embodiment of the invention stores the AGV trolley carrying program of the adaptive carrier type, and the AGV trolley carrying program of the adaptive carrier type is executed by the processor to realize the AGV trolley carrying method of the adaptive carrier type.

According to the computer-readable storage medium provided by the embodiment of the invention, by executing the AGV trolley carrying method of the adaptive carrier type, the AGV trolley can meet the workshop logistics requirements under different application scenes, the early-stage investment cost is saved, and the workshop logistics efficiency is improved.

Corresponding to the embodiment, the invention further provides an AGV trolley handling system with a self-adaptive carrier type.

FIG. 4 is a block diagram of an adaptive vehicle type AGV cart handling system according to an embodiment of the present invention.

As shown in FIG. 4, an adaptive carrier type AGV cart handling system 200 according to an embodiment of the present invention may include: a receiving module 210, a signal generating module 220 and a determining module 230.

The receiving module 210 is configured to receive a transport task instruction, where the transport task instruction includes a carrier type, a logistics requirement device IP address, and an AGV cart number. The signal generating module 220 is configured to generate a control signal according to the type of the carrier, and send the control signal to the docking transportation device, so that the docking transportation device completes size adjustment according to the control signal. The determining module 230 is configured to determine the AGV cart transport path according to the IP address of the logistics demand equipment and the AGV cart number.

According to one embodiment of the invention, the handling task instruction is generated by the manufacturing execution management system MES according to the collected operation state information of the logistics demand equipment, the state of the AGV and the task area.

According to an embodiment of the present invention, the signal generating module 220 generates the control signal according to the type of the carrier, specifically, for obtaining the initial sizes of the plurality of carriers; determining the initial size of a corresponding carrier according to the type of the carrier; and determining a control signal according to the initial size of the carrier and the AGV trolley number.

According to an embodiment of the present invention, the signal generating module 220 determines a control signal according to the initial size of the carrier and the AGV cart number, and is specifically configured to determine the size of the carrier on the docking transportation device according to the AGV cart number; generating a size increase signal when the initial size of the carrier is larger than the size of the carrier on the docking conveyance device; a size reduction signal is generated when the initial size of the carrier is less than the size of the carrier on the docking conveyance device.

According to one embodiment of the present invention, the signal generation module 220 generates a size-invariant signal when the initial size of the carrier is the same as the size of the carrier on the docking transporter.

According to one embodiment of the invention, a docking conveyance device comprises: the device comprises a PLC control module, a width adjusting screw rod, a conveying device and a supporting platform, wherein the PLC control module is used for receiving a control signal and controlling the width adjusting screw rod to move according to the control signal so as to adjust the size of the supporting platform; the conveying device is used for moving the position of the carrier on the butt joint conveying device.

According to one embodiment of the invention, the butt joint carrying device completes size adjustment according to a control signal, and the butt joint carrying device comprises: when the PLC module receives a size increase signal, the width adjusting screw rod is controlled to move outside to increase the size of the supporting platform; when the PLC module receives a size reduction signal, the inner side of the width adjusting screw rod is controlled to move, so that the size of the supporting platform is reduced.

It should be noted that, please refer to the details disclosed in the AGV cart transport method with adaptive carrier type in the embodiment of the present invention, which are not disclosed in the AGV cart transport system with adaptive carrier type in the embodiment of the present invention, and detailed descriptions thereof are omitted here.

According to the AGV trolley carrying system with the self-adaptive carrier type, the receiving module receives a carrying task instruction, the signal generating module generates a control signal according to the carrier type and sends the control signal to the butt joint carrying device so that the butt joint carrying device can complete size adjustment according to the control signal, and the determining module determines an AGV trolley carrying path according to the IP address of the logistics demand equipment and the AGV trolley number so that the AGV trolley carries the carrier to the logistics demand equipment. Therefore, the AGV trolley can meet the workshop logistics requirements under different application scenes, the early-stage investment cost is saved, and the workshop logistics efficiency is improved.

Corresponding to the embodiment, the invention further provides an AGV.

FIG. 5 is a block diagram of an AGV according to an embodiment of the present invention.

As shown in FIG. 5, an AGV embodiment of the present invention 300 includes an AGV cart handling system 200 as described above.

According to the AGV trolley disclosed by the embodiment of the invention, through the AGV trolley carrying system with the self-adaptive carrier type, the AGV trolley can meet the logistics requirements of a workshop under different application scenes, the early-stage investment cost is saved, and the logistics efficiency of the workshop is improved.

It should be noted that the logic and/or steps represented in the flowcharts or otherwise described herein, such as an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.

It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following technologies, which are well known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.

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 do not necessarily 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, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless explicitly specified otherwise.

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.

Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.

Claims (10)

1. An AGV trolley handling method of an adaptive carrier type is characterized by comprising the following steps:

receiving a carrying task instruction, wherein the carrying task instruction comprises a carrier type, a logistics demand equipment IP address and an AGV trolley number;

and generating a control signal according to the carrier type, sending the control signal to a butt joint carrying device so as to enable the butt joint carrying device to complete size adjustment according to the control signal, and determining an AGV trolley carrying path according to the IP address of the logistics demand equipment and the AGV trolley number.

2. The AGV cart handling method of claim 1, wherein said handling order is generated by a manufacturing execution management system (MES) based on the collected operational status information of the logistics demand equipment, the status of the AGV carts and the task area.

3. The AGV cart handling method of claim 1, wherein generating control signals based on said vehicle type comprises:

acquiring initial sizes of a plurality of carriers;

determining the initial size of a corresponding carrier according to the type of the carrier;

and determining a control signal according to the initial size of the carrier and the AGV trolley number.

4. The AGV cart handling method of claim 3, wherein determining control signals based on the initial size of the vehicle and the AGV cart number comprises:

determining the size of a carrier on the butt joint carrying device according to the serial number of the AGV trolley;

generating a size increase signal when the initial size of the carrier is greater than the carrier size on the docking conveyance device;

generating a size reduction signal when the initial size of the carrier is less than the carrier size on the docking conveyance device.

5. The AGV cart handling method of claim 3 wherein a size-invariant signal is generated when the initial size of said vehicle is the same as the size of the carrier on said docking handler.

6. AGV trolley handling method according to claim 4 or 5, characterized in that said docking handling means comprise: a PLC control module, a width adjusting screw rod, a transmission device and a supporting platform, wherein,

the PLC control module is used for receiving a control signal and controlling the width adjusting screw rod to move according to the control signal so as to adjust the size of the supporting platform;

the conveying device is used for moving the position of the carrier on the butt joint carrying device.

7. The AGV cart handling method of claim 6, wherein said docking handler performs a size adjustment based on control signals, comprising:

when the PLC module receives a size increasing signal, the outer side of the width adjusting screw rod is controlled to move so as to increase the size of the supporting platform;

when the PLC module receives a size reduction signal, the inner side of the width adjusting screw rod is controlled to move, so that the size of the supporting platform is reduced.

8. A computer readable storage medium, characterized in that an adaptive vehicle type AGV cart handling program is stored thereon, which when executed by a processor implements an adaptive vehicle type AGV cart handling method according to any of claims 1-7.

9. An AGV cart handling system of the adaptive carrier type comprising:

the system comprises a receiving module, a processing module and a processing module, wherein the receiving module is used for receiving a carrying task instruction, and the carrying task instruction comprises a carrier type, a logistics demand equipment IP address and an AGV trolley number;

the signal generating module is used for generating a control signal according to the type of the carrier and sending the control signal to the butt joint carrying device so as to enable the butt joint carrying device to complete size adjustment according to the control signal;

and the determining module is used for determining the AGV trolley carrying path according to the IP address of the logistics demand equipment and the AGV trolley number.

10. An AGV cart comprising an AGV cart handling system of the adaptive vehicle type according to claim 9.

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