CN115834740B

CN115834740B - AGV operation scheduling system and WMS interface integration method based on data message communication

Info

Publication number: CN115834740B
Application number: CN202310161664.5A
Authority: CN
Inventors: 张胜; 瞿浩源; 赵鹏; 徐斌
Original assignee: Jike Science and Technology Co Ltd
Current assignee: Jike Science and Technology Co Ltd
Priority date: 2023-02-24
Filing date: 2023-02-24
Publication date: 2023-04-14
Anticipated expiration: 2043-02-24
Also published as: CN115834740A; CA3228764A1

Abstract

The invention relates to an AGV operation scheduling system based on data message communication and a WMS interface integration method, which are used for carrying out operation distribution, operation correction, AGV trolley control, AGV trolley state information acquisition, serial number synchronization and communication fault detection based on data messages, wherein the data structure of the data messages comprises a message header, a confirmation request mark, a serial number, a source, a destination, a data area, a check bit and a message tail. The invention realizes the operation interface integration processes of operation distribution, operation state report, operation correction and the like by defining the operation distribution message and the operation correction message; by defining the control message, the WMS can conveniently set the control mode of the AGV; the WMS can acquire the state information of the AGV at any time by defining the information acquisition message; realizing message response by defining a flow control message and performing resynchronization operation when an error occurs; by defining the heartbeat connection message, the fault detection of the data link can be carried out and new connection can be established when no data interaction exists.

Description

AGV operation scheduling system and WMS interface integration method based on data message communication

Technical Field

The invention relates to the technical fields of digital information transmission, data representation, data identification, record carrier processing and the like, in particular to an AGV operation scheduling system and WMS interface integration method based on data message communication.

Background

Data communication technologies are widely applied in industry and commerce, and each communication technology is different due to different use environments, such as serial ports RS-232 and RS-485 based communication technologies, and is generally applied to application scenes with small data volume and short distance; the communication technology based on the CAN bus is generally applied to application scenes related to vehicles; and the communication technology based on the Ethernet (TCP/IP, UDP/IP) is applied to the application scene with large communication data volume and high speed.

At present, third-party industrial software such as an AGV job scheduling System and a WMS (Warehouse Management System) generally adopt a database intermediate table, a Web Service/Web API, and an interface integration mode based on an ethernet datagram (TCP/IP, UDP/IP) to perform communication, so as to realize cooperative integration of the AGV job scheduling System and the WMS. The interface integration mode of adopting the intermediate table of the database manages the storage problem of the interface information in the communication, but the mode has the following defects: interface integration is performed by scanning the contents of the interface data table at regular time, and the real-time performance is not strong. The interface integration mode based on Web Service/Web API has higher requirement on developers, and once the interface content is fixed, the expandability is poor. The UDP/IP based Ethernet is a connectionless interface integration mode, and is not suitable for occasions requiring real-time mastering of the states of both communication parties and dynamic real-time communication according to the states of both communication parties. The TCP/IP based Ethernet is a communication mode based on connection, can transmit a large amount of data at high speed, and is very suitable for an application scene of interface integration between an AGV operation scheduling system and a WMS.

Chinese patent document CN 113934189A discloses a mobile transfer robot scheduling system and a scheduling method, and in a comparison document, discloses a data message-based interface mode for implementing functions of communication management, job management, inventory management, etc. of an AGV system and an MES/WMS. However, the document does not disclose a specific form of integrating the AGV system and the MES/WMS based on the data packet interface, and the integration mode based on the TCP/IP data packet interface does not have a unified standard and an interface protocol is not standardized at present, so that the AGV automatic scheduling system and the WMS are complex in daily operation and maintenance management and easy to make mistakes, and the problem in case of making mistakes is difficult to be quickly eliminated. Therefore, a standardized and modularized interface integration mode for data message communication is needed to standardize the interface integration between the AGV job scheduling system and the WMS.

Disclosure of Invention

The invention aims to provide an AGV operation scheduling system based on data message communication and a WMS interface integration method to solve the technical problems that in the prior art, the AGV automatic scheduling system and the WMS are complex in daily operation and maintenance management, easy to make mistakes and difficult to quickly eliminate when making mistakes due to the fact that a TCP/IP data message interface integration mode does not have a unified standard and an interface protocol is not standard at present.

In order to achieve the purpose, the AGV operation scheduling system based on data message communication and the WMS interface integration method adopt the following technical scheme:

an AGV operation scheduling system and a WMS interface integration method based on data message communication are provided, a communication object comprises the AGV operation scheduling system and the WMS which adopt the data message for communication, and the AGV operation scheduling system and the WMS interface integration method are based on the data message for operation distribution, operation correction, AGV trolley control, AGV trolley state information acquisition, serial number synchronization and communication fault detection; the data structure of the data message comprises a message header, a confirmation request mark, a serial number, a source, a destination, a data area, a check bit and a message tail;

the message header is used for defining special data of a message start mark; the confirmation request mark is used for defining whether a communication counterpart needs to reply a data mark for confirmation; the serial number is used for the sending end to send, and the receiving end judges whether the serial number of the received message is consistent with the serial number of the expected received message; the source is used for defining the name of one end of the communication sending message; the destination is used for defining the name of one end of the communication receiving message; the data area is specific message content; the check bit is used for checking the special data of the data integrity from the beginning of the confirmation request mark to the end of the data area; the message tail is used for defining special data of a message end mark;

the data messages comprise job distribution messages, job correction messages, control messages, information acquisition messages, flow control messages and heartbeat connection messages;

the job distribution message is used for generating a job request message by a WMS, generating a job state report message by an AGV job scheduling system and completing the execution of the job;

the job correction message is used for the WMS to generate a job cancellation request message and a job modification request message, and the AGV job scheduling system to generate a job cancellation request report message and a job modification request report message;

the control message is used for WMS to generate an offline mode control message and an online mode control message of the AGV;

the information acquisition message is used for the WMS to generate an AGV trolley state request message and the AGV operation scheduling system to generate an AGV trolley state report message;

the flow control message is used for generating a positive response message and a negative response message when the AGV job scheduling system and the WMS respectively respond to each other and generating a request resynchronization sequence number message when the sequence numbers are inconsistent in the communication process;

and the heartbeat connection message is used for generating a virtual request message and a virtual response message when no data interaction occurs in the real-time communication process of the AGV operation scheduling system and the WMS.

Further, the job distribution message includes a job request message, a job status report message, and a job execution completion message; the interface integration method in the process of distributing and executing the operation comprises the following steps:

s1: the method comprises the steps that a WMS sends a job request message to an AGV job scheduling system, the AGV job scheduling system verifies a data structure of the message after receiving the job request message to obtain a correct data message, and generates a response message according to whether a verification result is qualified or not, if the data message structure is complete and qualified, a job scheduling instruction is generated and a positive response message is generated, and if the data message structure is not qualified, a negative response message is generated, and the response message is sent to the WMS; after receiving the positive response message, the WMS performs internal logic confirmation processing, and after receiving the negative response message, the WMS regenerates a new job request message and retransmits the new job request message to the AGV job scheduling system;

s2: the AGV operation scheduling system schedules the AGV car to execute a goods taking task, and after the AGV car finishes goods taking, the AGV operation scheduling system generates an operation state report message and sends the operation state report message to the WMS; the WMS verifies the data structure of the message after receiving the operation state report message to obtain a qualified data message, generates a response message according to whether the verification result is qualified or not, generates a positive response message if the data message structure is qualified, generates a negative response message if the data message structure is not qualified, and sends the response message to the AGV operation scheduling system; after receiving the positive response message, the AGV operation scheduling system continues to schedule the AGV to execute an unloading task, and after receiving the negative response message, the AGV operation scheduling system regenerates a new operation state report message and retransmits the new operation state report message to the WMS; after receiving the qualified job status report message, the WMS performs internal stock logic processing;

s3: the AGV operation scheduling system schedules the AGV trolley to execute the unloading task, and after the AGV trolley finishes unloading, the AGV operation scheduling system generates an operation state report message and sends the operation state report message to the WMS; the WMS verifies the data structure of the message after receiving the operation state report message to obtain a qualified data message, generates a response message according to whether the verification result is qualified or not, generates a positive response message if the data message structure is qualified, generates a negative response message if the data message structure is not qualified, and transmits the response message to the AGV operation scheduling system; the AGV operation scheduling system judges whether the AGV trolley operation is finished after receiving the positive response message, and regenerates a new operation state report message and sends the new operation state report message to the WMS after receiving the negative response message; after receiving the qualified job status report message, the WMS performs internal inventory logic processing;

s4: if the AGV trolley finishes the operation, the AGV operation scheduling system generates an operation execution completion message and sends the message to the WMS; the WMS verifies the data structure of the message after receiving the message for completing the operation execution so as to obtain a correct data message, generates a response message according to whether the verification result is qualified or not, generates a positive response message if the data message structure is qualified, generates a negative response message if the data message structure is not qualified, and sends the response message to the AGV operation scheduling system; after receiving the positive response message, the AGV operation scheduling system processes the operation completion service logic, and after receiving the negative response message, the AGV operation scheduling system regenerates a new operation execution completion message and retransmits the new operation execution completion message to the WMS; and after receiving the qualified job execution completion message, the WMS performs internal job completion logic processing.

Further, the job correction message includes a job cancellation request message and a job cancellation request report message for a job cancellation operation, and a job modification request message and a job modification request report message for a job modification operation;

the job canceling request message is used for the WMS to send job canceling operation to the AGV job scheduling system, and the job canceling request report message is used for the AGV job scheduling system to send a response message indicating whether the job is successfully canceled to the WMS;

the job change request message is used for the WMS to send job parameter change operation to the AGV job scheduling system, and the job change request report message is used for the AGV job scheduling system to send a response message indicating whether the job parameter is changed successfully or not to the WMS.

Further, the job cancellation process interface integration method comprises the following steps:

s1: the method comprises the steps that a WMS sends a job cancel request message to an AGV job scheduling system, the AGV job scheduling system verifies a data structure of the message after receiving the message to obtain a correct data message, and generates a response message according to whether a verification result is qualified or not, the data message structure is qualified to generate a positive response message, if the data message structure is unqualified, a negative response message is generated, and the response message is sent to the WMS; after receiving the positive response message, the WMS performs internal logic confirmation processing, and after receiving the negative response message, regenerates a new job cancellation request message and retransmits the new job cancellation request message to the AGV job scheduling system;

s2: the AGV operation scheduling system sends a current operation canceling instruction to the AGV trolley, the AGV trolley judges whether the current operation can be canceled or not according to the current state, and feeds back the canceling state to the AGV operation scheduling system; when the current operation can be cancelled, the AGV operation scheduling system cancels the current operation, generates an operation cancellation request report message and sends the report message to the WMS; after receiving the operation canceling request report message, the WMS verifies the data structure of the message to obtain a qualified data message, generates a response message according to whether the verification result is qualified or not, generates a positive response message if the data message structure is qualified, generates a negative response message if the data message structure is not qualified, and transmits the response message to the AGV operation scheduling system; after receiving the positive response message, the AGV operation scheduling system carries out internal logic processing, and after receiving the negative response message, the AGV operation scheduling system regenerates a new operation cancellation request report message and retransmits the report message to the WMS; the WMS receives the qualified job cancellation request report message and then carries out internal logic processing;

s3: after receiving the acknowledgement message, the AGV job scheduling system generates a job execution completion message and sends the job execution completion message to the WMS; the WMS verifies the data structure of the message after receiving the message for completing the execution of the job so as to obtain a correct data message, generates a response message according to whether the verification result is qualified or not, generates a positive response message if the data message structure is qualified, generates a negative response message if the data message structure is not qualified, and sends the response message to the AGV job scheduling system; after receiving the positive response message, the AGV operation scheduling system processes the operation completion service logic, and after receiving the negative response message, the AGV operation scheduling system regenerates a new operation execution completion message and retransmits the new operation execution completion message to the WMS; and after receiving the qualified job execution completion message, the WMS performs internal job completion logic processing.

Further, the interface integration method in the job change process comprises the following steps:

s1: the method comprises the steps that a WMS sends a job change request message to an AGV job scheduling system, the AGV job scheduling system verifies a data structure of the message after receiving the message to obtain a correct data message, and generates a response message according to whether a verification result is qualified or not, the data message structure is qualified to generate a positive response message, if the data message structure is unqualified, a negative response message is generated, and the response message is sent to the WMS; after receiving the positive response message, the WMS performs internal logic confirmation processing, and after receiving the negative response message, the WMS regenerates a new job change request message and retransmits the new job change request message to the AGV job scheduling system;

s2: the method comprises the steps that an AGV operation scheduling system sends a current operation changing instruction to an AGV trolley, the AGV trolley judges whether current operation can be changed or not according to the current state and feeds back the current operation to the AGV operation scheduling system, and when the current operation can be changed, the AGV operation scheduling system changes the current operation and generates an operation changing request report message and sends the report message to a WMS; after receiving the operation change request report message, the WMS verifies the data structure of the message to obtain a qualified data message, generates a response message according to whether the verification result is qualified or not, generates a positive response message if the data message structure is qualified, generates a negative response message if the data message structure is not qualified, and sends the response message to the AGV operation scheduling system; after receiving the positive response message, the AGV operation scheduling system carries out internal logic processing, and after receiving the negative response message, the AGV operation scheduling system regenerates a new operation change request report message and retransmits the new operation change request report message to the WMS; the WMS receives the qualified job change request report message and then carries out internal logic processing;

s3: after the AGV operation scheduling system receives the acknowledgement message, the WMS and the AGV operation scheduling system are switched to the operation distribution interface integration step.

Further, the control message comprises an AGV trolley off-line mode control message and an AGV trolley on-line mode control message; the AGV trolley off-line mode control message is used for carrying out off-line operation on the AGV trolley, and the AGV trolley on-line mode control message is used for carrying out on-line operation on the AGV trolley.

Further, the information acquisition message comprises an AGV trolley state request message and an AGV trolley state report message; the AGV trolley state request message is used for the WMS to acquire the state information of each AGV trolley in the AGV operation scheduling system from the AGV operation scheduling system; and the AGV trolley state report message is used for sending the state information of each AGV trolley in the AGV operation dispatching system to the WMS by the AGV operation dispatching system.

Further, the flow control message includes a response message and a synchronization message;

the response messages comprise positive response messages and negative response messages and are used for the WMS and the AGV job scheduling system to generate response messages of the other side and judge the qualification of the messages received by each other;

the synchronous message is used for requesting to resynchronize the serial number of the message when the serial numbers of the WMS and the AGV operation scheduling system are inconsistent in the communication process.

Further, the interface integration method in the communication fault detection process comprises the following steps:

s1: when both parties do not have operation data interaction within a given time, any party sends a virtual request message, a receiving end sends a virtual response message after receiving the virtual request message, and a sending end sends the virtual request message and resets the given time after receiving the virtual response message;

s2: if the sending end does not receive any response of the opposite side within the given time after sending the virtual request message, the communication connection with the opposite side is disconnected, and the communication connection with the opposite side is reestablished by adopting alarm prompt or/and attempt.

Furthermore, the serial numbers exist in various data messages integrated by the AGV job scheduling system and the WMS, the serial numbers of the AGV job scheduling system and the WMS are independently managed, the serial numbers are generated by the sending end and sent to the receiving end, the receiving end judges whether the serial numbers of the received messages are consistent with the serial numbers of the expected received messages, if the serial numbers are verified by the receiving end to be correct, the messages are normally read, and if the serial numbers are verified by the receiving end to be incorrect, the receiving end needs to request the sending end to carry out serial number synchronization operation.

The invention has the following beneficial effects: according to the method, the operation interface integration processes such as operation generation, operation state report, operation cancellation, operation correction and the like related to the WMS and AGV operation scheduling system are realized by defining the operation distribution message and the operation correction message; by defining the control message, the WMS can conveniently set the control mode of the AGV; the WMS can acquire the state information of the AGV at any time by defining the information acquisition message; confirmation and verification of mutual interaction messages of the WMS and the AGV job scheduling system can be realized by defining a flow control message, and resynchronization operation can be performed when errors occur; by defining the heartbeat connection message, the virtual request message and the virtual response message can be mutually sent when no data interaction exists, so that the fault detection of the data link is carried out and the communication connection is reestablished.

Drawings

FIG. 1 is a block diagram of an AGV operation scheduling system based on data message communication and a WMS interface integration method according to the present invention;

FIG. 2 is a diagram of a data structure definition using data messages in accordance with the present invention;

FIG. 3 is a flowchart of an AGV operation scheduling system and WMS interface integration method based on data message communication according to the present invention;

FIG. 4 is a diagram of the composition of a job assignment message in accordance with the present invention;

FIG. 5 is a diagram of the composition of a job correction message in the present invention;

FIG. 6 is a diagram of the composition of control messages in the present invention;

FIG. 7 is a diagram of the components of an information acquisition message in accordance with the present invention;

FIG. 8 is a block diagram of a flow control message according to the present invention;

fig. 9 is a composition diagram of a heartbeat connection message in the present invention.

Detailed description of the preferred embodiments

The embodiment of the AGV operation scheduling system based on data message communication and the WMS interface integration method comprises the following steps:

as shown in fig. 1 to 9, in the AGV job scheduling system based on data packet communication and WMS interface integration method, the communication objects include an AGV job scheduling system and a WMS, which communicate with each other by using data packets. The used data messages comprise job distribution messages, job correction messages, control messages, information acquisition messages, flow control messages and heartbeat connection messages.

And the job distribution message is used for generating a job request message by the WMS, generating a job state report message by the AGV job scheduling system and completing the job execution. After the AGV trolley finishes the operation, the AGV operation scheduling system generates an operation execution completion message, and the operation execution completion message corresponds to the AGV trolley which finishes the current operation execution and can be redistributed with operation tasks.

The job correction message comprises a job cancellation request message and a job cancellation request report message for job cancellation operation, and a job modification request message and a job modification request report message for job modification operation, and is used for WMS to generate the job cancellation request message and the job modification request message, and AGV job scheduling system to generate the job cancellation request report message and the job modification request report message; the job canceling request message is used for the WMS to send job canceling operation to the AGV job scheduling system, and the job canceling request report message is used for the AGV job scheduling system to respond to the WMS whether the job canceling is successful. The job change request message is used for the WMS to send job parameter change operation to the AGV job scheduling system, and the job change request report message is used for the AGV job scheduling system to respond to the WMS whether the job is changed successfully or not.

And the control message is used for the WMS to generate an AGV trolley off-line mode control message and an AGV trolley on-line mode control message. The AGV trolley off-line mode control message is used for carrying out off-line operation on the AGV trolley, and the AGV trolley on-line mode control message is used for carrying out on-line operation on the AGV trolley.

And the information acquisition message is used for WMS to generate an AGV trolley state request message and an AGV operation scheduling system to generate an AGV trolley state report message. The AGV trolley state request message is used for acquiring the state information of each AGV trolley in the AGV operation dispatching system from the AGV operation dispatching system by the WMS; the AGV trolley state report message is used for the AGV operation scheduling system to send the state information of each AGV trolley in the system to the WMS.

And the flow control message is used for generating a positive response message and a negative response message when the AGV operation scheduling system and the WMS respectively respond to each other and generating a request resynchronization sequence number message when the sequence numbers are not consistent in the communication process. Specifically, the flow control message includes an acknowledgement message and a synchronization message, and the acknowledgement message includes a positive acknowledgement message and a negative acknowledgement message. The response message is used for judging the completeness and the qualification of messages received by the WMS and the AGV operation scheduling system, and the synchronous message is used for generating a request resynchronization sequence number when the sequence numbers of the messages are inconsistent in the communication process of the WMS and the AGV operation scheduling system.

And the heartbeat connection message is used for generating a virtual request message and a virtual response message when no data exchange occurs in the real-time communication process of the AGV operation scheduling system and the WMS.

When the AGV operation scheduling system is integrated with the WMS interface, various operations can be performed based on the transmitted data message, specifically including operation allocation, operation correction, AGV trolley control, AGV trolley state information acquisition, serial number synchronization and communication fault detection. In each operation process, the data structure of the transmitted data message comprises a message header, a confirmation request mark, a serial number, a source, a destination, a data area, a check bit and a message tail. The message header is special data used for defining a message start mark; the confirmation request flag is a data flag for defining whether the communication partner needs to reply confirmation; the serial number is used for the sending end to send, and the receiving end judges whether the serial number of the received message is consistent with the serial number of the expected received message; the source is used for defining the name of one end of the communication sending message; the destination is used for defining the name of one end of the communication receiving message; the data area is the specific message content; the check bit is special data for checking the integrity of data starting from the confirmation request mark to the data area structure; the message tail is used for defining special data of a message end mark.

The content of the data area in the job request message is shown in table 1, the content of the data area in the job status report message is shown in table 2, the content of the data area in the job execution completion message is shown in table 3, the content of the data area in the job cancel request message is shown in table 4, the content of the data area in the job cancel request report message is shown in table 5, the content of the data area in the job change request message is shown in table 6, the content of the data area in the job change request report message is shown in table 7, the content of the data area in the AGV cart offline mode control message is shown in table 8, the content of the data area in the cart online mode control message is shown in table 9, the content of the data area in the AGV cart status request message is shown in table 10, the content of the data area in the AGV cart status report message is shown in table 11, the content of the data area in the positive acknowledgement message is shown in table 12, the content of the data area in the negative acknowledgement message is shown in table 13, the virtual content of the data area in the AGV request to resynchronize the serial number message is shown in table 14, the data area in the data area is shown in table 15, and the data area in table 16.

Table 1 data area function definition table of job request message

In table 1, four items of "position number", "operation type", "container type", and "container information" are used to expand the application according to the number of operations, and these four items represent the number of times the operation number needs to be repeated, the operation type to be executed by the AGV cart required for the position corresponding to the operation number, the type of container to be transported, and information stored in the container.

Table 2 data area function definition table of job status report message

Table 3 data area function definition table of job execution completion packet

Table 4 data area function definition table of job cancel request message

Table 5 data area function definition table of job cancel request report message

Table 6 data area function definition table of job change request message

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Table 7 data area function definition table of job change request report message

TABLE 8 data area function definition table of AGV Car offline mode control message

TABLE 9 data area function definition table of AGV Car on-line mode control message

TABLE 10 data area function definition table of AGV Car State request message

Table 11 data area function definition table of AGV trolley state report message

Table 12 data area function definition table of acknowledge message

Table 13 data area function definition table of negative acknowledgement message

Table 14 data field function definition table for re-synchronization sequence number request message

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Table 15 data area function definition table of virtual request message

Table 16 data area function definition table of virtual answer message

One of the job distribution messages sent by the WMS to the AGV job scheduling system is as follows: <10021AGVS50WMSS01ARQ0903555600000Y0102500030101000LO01000000000000011023500032035000UL0100000000000001102300>. In the message, the following is described from front to back: wherein, the 1 st bit "<" represents the message header, the 2 nd bit "1" represents the acknowledgement request mark, the 3 rd to 6 th bits "0021" represents the serial number of the message, the 7 th to 12 th bits represent the message source, i.e. the sending end is "AGVS50", the 13 th to 18 th bits represent the message destination, i.e. the receiving end is "WMSS01", the 19 th to 107 th bits "ARQ 0903555000Y 0100030101000 LO 010000011023523532035032032035000 UL01000000000000011023" represent the data area of the message, the 108 th to 109 th bits "00" represent the data check bit, and the last bit ">" represents the message tail. The "ARQ" in bits 19-21 represents that the message is a job assignment message.

After receiving the data message, the AGV job scheduling system and the WMS need to read the data area recorded in the corresponding bit of the data message to determine the specific message content, and need to determine whether the received data message is qualified according to signals recorded in other data structures except the data area.

The interface integration method in the process of distributing and executing the operation between the AGV operation scheduling system and the WMS comprises the following steps:

s1: the method comprises the steps that a WMS sends a job request message to an AGV job scheduling system, the AGV job scheduling system verifies a data structure of the message after receiving the job request message to obtain a correct data message, and generates a response message according to whether a verification result is qualified or not, if the data message structure is complete and qualified, a job scheduling instruction is generated and a positive response message is generated, and if the data message structure is not qualified, a negative response message is generated, and the response message is sent to the WMS; after receiving the positive response message, the WMS confirms the processing by internal logic (whether the corresponding job request is successfully distributed), and after receiving the negative response message, the WMS regenerates a new job request message and retransmits the new job request message to the AGV job scheduling system;

s2: the AGV operation scheduling system schedules the AGV car to execute a goods taking task, and after the AGV car finishes goods taking, the AGV operation scheduling system generates an operation state report message (the message carries goods taking completion information) and sends the operation state report message to the WMS; the WMS verifies the data structure of the message after receiving the operation state report message to obtain a qualified data message, generates a response message according to whether the verification result is qualified or not, generates a positive response message if the data message structure is qualified, generates a negative response message if the data message structure is not qualified, and sends the response message to the AGV operation scheduling system; after receiving the positive response message, the AGV operation scheduling system continues to schedule the AGV to execute an unloading task, and after receiving the negative response message, the AGV operation scheduling system regenerates a new operation state report message and retransmits the new operation state report message to the WMS; after receiving the qualified job status report message, the WMS performs internal stock logic processing (the number of corresponding stocks is reduced);

s3: the AGV operation scheduling system schedules the AGV trolley to execute the unloading task, and after the AGV trolley finishes unloading, the AGV operation scheduling system generates an operation state report message (the message carries unloading completion information) and sends the operation state report message to the WMS; the WMS verifies the data structure of the message after receiving the operation state report message to obtain a qualified data message, generates a response message according to whether the verification result is qualified or not, generates a positive response message if the data message structure is qualified, generates a negative response message if the data message structure is not qualified, and transmits the response message to the AGV operation scheduling system; the AGV operation scheduling system judges whether the AGV trolley operation is finished after receiving the positive response message, and regenerates a new operation state report message and sends the new operation state report message to the WMS after receiving the negative response message; after receiving the qualified job status report message, the WMS performs internal inventory logic processing (corresponding to the increase of the quantity of corresponding inventory);

s4: if the AGV trolley finishes the operation execution, the AGV operation scheduling system generates an operation execution completion message and sends the operation execution completion message to the WMS; the WMS verifies the data structure of the message after receiving the message for completing the operation execution so as to obtain a correct data message, generates a response message according to whether the verification result is qualified or not, generates a positive response message if the data message structure is qualified, generates a negative response message if the data message structure is not qualified, and sends the response message to the AGV operation scheduling system; after receiving the positive response message, the AGV operation scheduling system processes the operation completion service logic, and after receiving the negative response message, the AGV operation scheduling system regenerates a new operation execution completion message and retransmits the new operation execution completion message to the WMS; and after receiving the qualified job execution completion message, the WMS performs internal job completion logic processing (whether the corresponding distribution job is successfully executed or not).

Interface integration messages generated in the process of distributing and executing the jobs of the WMS and AGV job scheduling system are explained according to a job request message, a job state report message, a job execution completion report message and a response message as follows:

one of the job request messages sent by the WMS to the AGV job scheduling system is: <10021AGVS50WMSS01ARQ0903555600000Y0102500030101000LO 010000000000000000011023532035000 UL0100000000000001102300>, the 19 th-107 th bit data area is "ARQ0903555600000Y 0102500100101000 LO 01000000000000011023535035000 UL 010000000000000000011023", and the data contents are explained as follows with respect to table 1: the WMS generates a job request with a message type of "ARQ", a job code number of "09035556", an AGV cart number of "000" (any AGV cart), a priority of "00" (no priority), a job-completed state of "Y", a start action number of "01", an action number of "02", a location number of "500030101000", an action type of "LO" (pickup), a container type of "01" (pallet), container information of "000000000000011023", a location number of "500032035000", an action type of "UL" (unload), a container type of "01", and container information of "00000000011023".

After receiving the operation request message, the AGV operation scheduling system judges the validity of the message length, the message header, the confirmation request mark, the serial number, the source, the destination, the data area, the check bit and the message tail, verifies that the result is qualified, generates the AGV scheduling operation, and sends a positive response message to the WMS, wherein the positive response message comprises the following steps: <00000WMSS01AGVS50ACK002100>, corresponding to table 12, the data area content of the positive acknowledgement message is "ACK0021", that is, the acknowledgement for the sequence number of the message "0021" with the 3 rd to 6 th bits in the above job request message ARQ corresponds to the acknowledgement request flag in the data structure of fig. 2 is "0", that is, WMS acknowledgement reply is not required.

After the AGV trolley finishes goods taking, the AGV operation scheduling system generates the following operation state report message and sends the report message to the WMS: <10071WMSS01AGVS50ASR090355560060150003010100000000000000001102300000> and the 19 th-67 th data area is "ASR 09035556015000301011010000000000001102300" and corresponding Table 2 explains the data contents as follows: the AGV job scheduling system generates a job status report with a message type of "ASR", a job code number of "09035556", an AGV cart number of "006" (AGV 6), a current action number of "01", a location number of "500030101000", an action type of "LO" (pickup), container information of "0000000000000000011023", and a return code of "000" (correct).

And the WMS receives and verifies the data structure of the operation state report message, the verification result is qualified, an acknowledgement message <00000WMSS01AGVS50ACK007100> is responded to the AGV operation scheduling system, the data area content of the acknowledgement message is ACK0071, namely the 3-6 th '0071' message serial number in the ARQ of the operation request message is confirmed, and the AGV operation scheduling system continues to schedule the AGV to execute an unloading task.

After the AGV dolly finishes unloading, the AGV operation scheduling system generates the following operation state report message and sends to the WMS: <10073WMSS01AGVS50ASR 0903555600602500032035000000500000000000000001102300000 >, and the 19 th-67 th data area is "ASR0903555600602500032035000000000000000011023000", the data contents are explained as follows corresponding to table 2: the AGV operation scheduling system generates an operation state report with a message type of 'ASR', an operation code number of '09035556', an AGV car number of '006' (AGV car number 6), a current action number of '02', a position number of '500032035000', an action type of 'UL' (unloading), container information of '000000000000011023' and a return code of '000' (correct).

The WMS receives and verifies the data structure of the operation state report message, the verification result is qualified, an acknowledgement message <00000AGVS50WMSS01ACK007300> is responded to the AGV operation scheduling system, corresponding to the table 12, the content of a data area of the acknowledgement message is 'ACK 0073', namely the acknowledgement of the 3-6 th bit '0073' message serial number in the operation request message ARQ is carried out; the confirmation request flag corresponding to the data structure of FIG. 2 is "0", i.e., no AGV job scheduling system confirmation reply is required.

And after the AGV trolley operation is finished, the AGV operation scheduling system sends the following operation execution finishing message to the WMS: <10074WMSS01AGVS50ACP5000320350000903555600000>, the 19 th-44 th bit data area is "ACP50003203500009035556000", the data contents are explained corresponding to Table 3 as follows: the AGV job scheduling system generates a job execution completion message with a message type of "ACP", a position number of "500032035000", a job code number of "09035556", and a return code of "000" (correct).

The WMS receives and verifies the data structure of the operation execution completion message, the verification result is qualified, an acknowledgement message <00000AGVS50WMSS01ACK007400> is responded to the AGV operation scheduling system, corresponding to the table 12, the content of the data area of the acknowledgement message is 'ACK 0074', namely the acknowledgement of the 3-6 th '0074' message serial number in the operation request message ARQ is carried out; the confirmation request flag corresponding to the data structure of FIG. 2 is "0", i.e., no AGV job scheduling system confirmation reply is required.

The method for integrating the AGV operation scheduling system and the WMS interface in the operation canceling process comprises the following steps:

s1: the method comprises the steps that a WMS sends a job canceling request message to an AGV job scheduling system, the AGV job scheduling system verifies a data structure of the message after receiving the message to obtain a correct data message, and generates a response message according to whether a verification result is qualified or not, the data message structure is qualified to generate a positive response message, the data message structure is unqualified to generate a negative response message, and the response message is sent to the WMS; after receiving the positive response message, the WMS performs internal logic confirmation processing (whether the corresponding job cancellation request is successfully distributed or not), and after receiving the negative response message, the WMS regenerates a new job cancellation request message and retransmits the new job cancellation request message to the AGV job scheduling system;

s2: the AGV operation scheduling system sends a current operation canceling instruction to the AGV trolley, and the AGV trolley judges whether the current operation can be canceled or not according to the current state and feeds back the canceling state to the AGV operation scheduling system; when the current operation can be cancelled, the AGV operation scheduling system cancels the current operation, generates an operation cancellation request report message and sends the report message to the WMS; after receiving the operation canceling request report message, the WMS verifies the data structure of the message to obtain a qualified data message, generates a response message according to whether the verification result is qualified or not, generates a positive response message if the data message structure is qualified, generates a negative response message if the data message structure is not qualified, and transmits the response message to the AGV operation scheduling system; after receiving the positive response message, the AGV operation scheduling system carries out internal logic processing, and after receiving the negative response message, the AGV operation scheduling system regenerates a new operation cancellation request report message and retransmits the report message to the WMS; after receiving the qualified job cancellation request report message, the WMS performs internal logic processing (the corresponding task is successfully cancelled);

The integrated method of the AGV operation scheduling system and the WMS interface in the operation changing process comprises the following steps:

s1: the method comprises the steps that a WMS sends a job change request message to an AGV job scheduling system, the AGV job scheduling system verifies a data structure of the message after receiving the message to obtain a correct data message, and generates a response message according to whether a verification result is qualified or not, the data message structure is qualified to generate a positive response message, if the data message structure is unqualified, a negative response message is generated, and the response message is sent to the WMS; after receiving the positive response message, the WMS performs internal logic confirmation processing (whether the corresponding job change request is successfully issued or not), and after receiving the negative response message, the WMS regenerates a new job change request message and retransmits the new job change request message to the AGV job scheduling system;

s2: the method comprises the steps that an AGV operation scheduling system sends a current operation changing instruction to an AGV trolley, the AGV trolley judges whether current operation can be changed or not according to the current state and feeds back the current operation to the AGV operation scheduling system, and when the current operation can be changed, the AGV operation scheduling system changes the current operation and generates an operation changing request report message and sends the report message to a WMS; after receiving the operation change request report message, the WMS verifies the data structure of the message to obtain a qualified data message, generates a response message according to whether the verification result is qualified or not, generates a positive response message if the data message structure is qualified, generates a negative response message if the data message structure is not qualified, and transmits the response message to the AGV operation scheduling system; after receiving the positive response message, the AGV operation scheduling system regenerates a new operation change request report message and retransmits the new operation change request report message to the WMS; and after receiving the qualified job change request report message, the WMS performs internal logic processing (the corresponding job parameter is successfully changed).

S3: after receiving the acknowledgement message, the AGV operation scheduling system indicates that the task is successfully changed, which is equivalent to that the WMS allocates the operation to the AGV operation scheduling system again, and the WMS and the AGV operation scheduling system shift to the operation allocation interface integration step.

The serial numbers of all data transmitted in the whole process of integrating the AGV operation scheduling system and the WMS interface all exist, the serial numbers in two directions of the AGV operation scheduling system and the WMS are independently managed, the serial numbers are counted upwards and are infinitely circulated, 1 is added to the serial number corresponding to each message sent in the two systems, and after a sending end sends a group of data messages, a receiving end can also feed back a group of messages, so the serial numbers in the AGV operation scheduling system and the WMS are theoretically consistent. After a sending end (any one of an AGV operation scheduling system and a WMS) sends a data message, a receiving end (the other one of the AGV operation scheduling system and the WMS) verifies whether a received serial number is consistent with a serial number of an expected received message, and when the received serial number is inconsistent with the serial number of the expected message, the asynchronous mode is required to be switched to and the serial number synchronous operation is carried out. The specific method of serial number synchronization operation is as follows: and resetting the next expected incoming sequence number and the next sequence number to be sent in the AGV job scheduling system and the WMS as the expected incoming sequence number so as to ensure that the message sequence number sent in the process of integrating the AGV job scheduling system and the WMS interface is consistent with the expected message sequence number.

The AGV operation dispatching system and WMS interface integration process needs real-time fault detection to reestablish connection when system connection fails, and the specific fault detection process comprises the following steps,

s2: if the sending end does not receive any response of the opposite side within the given time after sending the virtual request message (namely, when the connection loss overtime phenomenon occurs), the communication connection with the opposite side is disconnected, and the communication connection with the opposite side is reestablished by adopting alarm prompt and/or trying.

The heartbeat messages generated when the WMS and the AGV operation scheduling system have no message interaction are explained according to the virtual request messages and the virtual response messages as follows:

a virtual request message sent by the WMS to the AGV job scheduling system is: <00000AGVS50WMSS01DUM0000000>, wherein the content of the data area corresponding to the message is "DUM0000", see table 15 for details.

A virtual response message sent by the AGV operation scheduling system to the WMS is as follows: <00000WMSS01AGVS50DUA0000000>, wherein the content of the data area corresponding to the message is "DUA0000", which is detailed in table 16.

Although the invention has been described in detail above with reference to a general description and specific examples, it will be apparent to one skilled in the art that modifications or improvements may be made thereto based on the invention. Accordingly, such modifications and improvements are intended to be within the scope of the invention as claimed.

Claims

1. An AGV operation scheduling system and WMS interface integration method based on data message communication, wherein a communication object comprises an AGV operation scheduling system and a WMS which communicate by adopting data messages, and the method is characterized in that: an AGV operation scheduling system and a WMS interface integration method are used for carrying out operation distribution, operation correction, AGV trolley control, AGV trolley state information acquisition, serial number synchronization and communication fault detection on the basis of data messages; the data structure of the data message comprises a message header, a confirmation request mark, a serial number, a source, a destination, a data area, a check bit and a message tail;

the message header is used for defining special data of a message start mark; the confirmation request mark is used for defining whether a communication counterpart needs to reply a data mark for confirmation; the serial number is used for the sending end to send, and the receiving end judges whether the serial number of the received message is consistent with the serial number of the expected received message; the source is used for defining the name of one end of the communication sending message; the destination is used for defining the name of one end of the communication receiving message; the data area is specific message content; the check bit is special data for checking data integrity from the beginning of the confirmation request flag to the end of the data area; the message tail is used for defining special data of a message end mark;

the control message is used for WMS to generate an AGV dolly off-line mode control message and an AGV dolly on-line mode control message;

the information acquisition message is used for WMS to generate an AGV trolley state request message and an AGV operation scheduling system to generate an AGV trolley state report message;

2. The AGV job scheduling system based on data message communication and WMS interface integration method of claim 1 wherein: the job distribution message comprises a job request message, a job status report message and a job execution completion message; the interface integration method in the process of distributing and executing the operation comprises the following steps:

s2: the AGV operation scheduling system schedules the AGV car to execute a goods taking task, and after the AGV car finishes goods taking, the AGV operation scheduling system generates an operation state report message and sends the operation state report message to the WMS; the WMS verifies the data structure of the message after receiving the operation state report message to obtain a qualified data message, generates a response message according to whether the verification result is qualified or not, generates a positive response message if the data message structure is qualified, generates a negative response message if the data message structure is not qualified, and sends the response message to the AGV operation scheduling system; after receiving the positive response message, the AGV operation scheduling system continues to schedule the AGV to execute an unloading task, and after receiving the negative response message, the AGV operation scheduling system regenerates a new operation state report message and retransmits the new operation state report message to the WMS; after receiving the qualified job status report message, the WMS performs internal inventory logic processing;

s3: the AGV operation scheduling system schedules the AGV to execute an unloading task, and after the AGV finishes unloading, the AGV operation scheduling system generates an operation state report message and sends the operation state report message to the WMS; the WMS verifies the data structure of the message after receiving the operation state report message to obtain a qualified data message, generates a response message according to whether the verification result is qualified or not, generates a positive response message if the data message structure is qualified, generates a negative response message if the data message structure is not qualified, and transmits the response message to the AGV operation scheduling system; the AGV operation scheduling system judges whether the AGV trolley operation is finished after receiving the positive response message, and regenerates a new operation state report message and sends the new operation state report message to the WMS after receiving the negative response message; after receiving the qualified job status report message, the WMS performs internal inventory logic processing;

s4: if the AGV trolley finishes the operation, the AGV operation scheduling system generates an operation execution completion message and sends the message to the WMS; the WMS verifies the data structure of the message after receiving the message for completing the execution of the job so as to obtain a correct data message, generates a response message according to whether the verification result is qualified or not, generates a positive response message if the data message structure is qualified, generates a negative response message if the data message structure is not qualified, and sends the response message to the AGV job scheduling system; after receiving the positive response message, the AGV operation scheduling system processes the operation completion service logic, and after receiving the negative response message, the AGV operation scheduling system regenerates a new operation execution completion message and retransmits the new operation execution completion message to the WMS; and after receiving the qualified job execution completion message, the WMS performs internal job completion logic processing.

3. The AGV task scheduling system based on data message communication and WMS interface integration method according to claim 2, wherein: the job correction message comprises a job cancellation request message and a job cancellation request report message for job cancellation operation, and a job change request message and a job change request report message for job change operation;

4. The AGV task scheduling system based on data message communication and WMS interface integration method according to claim 3, wherein: the interface integration method for the job canceling process comprises the following steps:

s3: after receiving the acknowledgement message, the AGV job scheduling system generates a job execution completion message and sends the job execution completion message to the WMS; the WMS verifies the data structure of the message after receiving the message for completing the operation execution so as to obtain a correct data message, generates a response message according to whether the verification result is qualified or not, generates a positive response message if the data message structure is qualified, generates a negative response message if the data message structure is not qualified, and sends the response message to the AGV operation scheduling system; after receiving the positive response message, the AGV operation scheduling system processes the operation completion service logic, and after receiving the negative response message, the AGV operation scheduling system regenerates a new operation execution completion message and retransmits the new operation execution completion message to the WMS; and after receiving the qualified job execution completion message, the WMS performs internal job completion logic processing.

5. The AGV task scheduling system based on data message communication and WMS interface integration method according to claim 3, wherein: the interface integration method in the operation change process comprises the following steps:

s1: the method comprises the steps that a WMS sends a job change request message to an AGV job scheduling system, the AGV job scheduling system verifies a data structure of the message after receiving the message to obtain a correct data message, and generates a response message according to whether a verification result is qualified or not, the data message structure is qualified to generate a positive response message, the data message structure is unqualified to generate a negative response message, and the response message is sent to the WMS; after receiving the positive response message, the WMS carries out internal logic confirmation processing, and after receiving the negative response message, the WMS regenerates a new job change request message and retransmits the new job change request message to the AGV job scheduling system;

s2: the AGV operation scheduling system sends a current operation changing instruction to the AGV trolley, the AGV trolley judges whether current operation can be changed or not according to the current state and feeds the current operation back to the AGV operation scheduling system, and when the current operation can be changed, the AGV operation scheduling system changes the current operation and generates an operation changing request report message and sends the report message to the WMS; after receiving the operation change request report message, the WMS verifies the data structure of the message to obtain a qualified data message, generates a response message according to whether the verification result is qualified or not, generates a positive response message if the data message structure is qualified, generates a negative response message if the data message structure is not qualified, and transmits the response message to the AGV operation scheduling system; after receiving the positive response message, the AGV operation scheduling system carries out internal logic processing, and after receiving the negative response message, the AGV operation scheduling system regenerates a new operation change request report message and retransmits the new operation change request report message to the WMS; the WMS receives the qualified job change request report message and then carries out internal logic processing;

6. The AGV task scheduling system based on data message communication and WMS interface integration method according to claim 1, wherein: the control messages comprise AGV trolley off-line mode control messages and AGV trolley on-line mode control messages; the AGV trolley off-line mode control message is used for carrying out off-line operation on the AGV trolley, and the AGV trolley on-line mode control message is used for carrying out on-line operation on the AGV trolley.

7. The AGV job scheduling system based on data message communication and WMS interface integration method of claim 1 wherein: the information acquisition message comprises an AGV trolley state request message and an AGV trolley state report message; the AGV trolley state request message is used for the WMS to acquire the state information of each AGV trolley in the AGV operation scheduling system from the AGV operation scheduling system; and the AGV trolley state report message is used for sending the state information of each AGV trolley in the AGV operation dispatching system to the WMS by the AGV operation dispatching system.

8. The AGV task scheduling system based on data message communication and WMS interface integration method according to claim 1, wherein: the flow control message comprises a response message and a synchronous message;

9. The AGV job scheduling system based on data message communication and WMS interface integration method of claim 1 wherein: the interface integration method in the communication fault detection process comprises the following steps:

s2: if the sending end does not receive any response of the opposite side within the given time after sending the virtual request message, the communication connection with the opposite side is disconnected, and the alarm prompts or/and tries to reestablish the communication connection with the opposite side.

10. The AGV task scheduling system based on data message communication and WMS interface integration method according to any of claims 1 to 9, wherein: the serial numbers exist in various data messages integrated by an AGV operation scheduling system and a WMS interface, the serial numbers of the AGV operation scheduling system and the WMS are managed independently, the serial numbers are generated by a sending end and sent to a receiving end, the receiving end judges whether the serial number of the received message is consistent with the serial number of the expected received message, if the receiving end verifies that the serial number is correct, the message is read normally, and if the receiving end verifies that the serial number is incorrect, the receiving end needs to request to perform serial number synchronous operation with the sending end.