CN116384656A - AGV trolley scheduling method, system, computer and readable storage medium - Google Patents

AGV trolley scheduling method, system, computer and readable storage medium Download PDF

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CN116384656A
CN116384656A CN202310186887.7A CN202310186887A CN116384656A CN 116384656 A CN116384656 A CN 116384656A CN 202310186887 A CN202310186887 A CN 202310186887A CN 116384656 A CN116384656 A CN 116384656A
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agv
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邱小勇
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Meike Shuchuang Ganzhou Home Intelligent Manufacturing Co ltd
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Abstract

The invention provides an AGV trolley scheduling method, an AGV trolley scheduling system, a computer and a readable storage medium, wherein the AGV trolley scheduling method comprises the following steps: acquiring production information respectively generated in real time by a plurality of production areas, wherein the production areas are arranged in a layered or parallel manner, and the production information comprises real-time order information; setting dynamic priorities among a plurality of production areas according to real-time order information based on preset rules, and generating a plurality of corresponding scheduling instructions one by one according to the dynamic priorities, wherein each scheduling instruction corresponds to a target production area; and splitting the AGV trolleys into transfer crews according to the dispatching instructions, and respectively dispatching the transfer crews into corresponding target production areas according to the dispatching instructions. Through the mode, the transfer route and the transfer area of the AGV trolley can be changed in real time according to the scheduling instruction in the transfer process of the AGV trolley, so that the AGV trolley can be simultaneously applied to different work requirements, and the transfer efficiency of the AGV trolley is correspondingly improved.

Description

AGV trolley scheduling method, system, computer and readable storage medium
Technical Field
The invention relates to the technical field of cargo transportation, in particular to an AGV trolley scheduling method, an AGV trolley scheduling system, a computer and a readable storage medium.
Background
(Automated Guided Vehicle, abbreviated as AGV), generally referred to as an AGV car, is a transport vehicle equipped with an automatic navigation device such as electromagnetic or optical, capable of traveling along a predetermined navigation path, and having safety protection and various transfer functions.
AGV dollies are vehicles that do not require a driver in industrial applications, use rechargeable batteries as their power sources, and generally control their travel paths and behaviors through computers, and have been widely used in industry.
However, when prior art is transported the product through the AGV dolly, most is accomplished the transportation of product through the mode of confirming the transportation area and the transportation route of AGV dolly in advance, and can't change the work area and the transportation route of AGV dolly at the in-process that the AGV dolly used, for example no matter whether the work task of AGV dolly work area is tension, prior art all adopts fixed quantity's AGV dolly to carry out the transportation of product, thereby the quantity of the AGV dolly in the area that appears work task tension easily is less, and the AGV dolly in the area that work task is lax has idle phenomenon, lead to the AGV dolly can not be suitable for different work requirements, the transportation efficiency of AGV dolly has been reduced.
Disclosure of Invention
Based on the above, the invention aims to provide an AGV trolley scheduling method, an AGV trolley scheduling system, an AGV trolley scheduling computer and a readable storage medium, so as to solve the problem that in the prior art, when products are transported through an AGV trolley, the transportation of the products is mostly completed by determining the transportation area and the transportation route of the AGV trolley in advance, and the working area and the transportation route of the AGV trolley cannot be changed in the use process of the AGV trolley.
An embodiment of the present invention provides an AGV trolley scheduling method, applied to a plurality of AGV trolleys, the method including:
acquiring production information respectively generated in real time by a plurality of production areas, wherein the production areas are arranged in a layered mode or in parallel mode, and the production information comprises real-time order information;
setting dynamic priorities among a plurality of production areas according to the real-time order information based on a preset rule, and generating a plurality of corresponding scheduling instructions one by one according to the dynamic priorities, wherein each scheduling instruction corresponds to a target production area and comprises the scheduling number of the AGV trolley;
and splitting the AGV trolleys into transfer crews according to the dispatching instructions, and respectively dispatching the transfer crews into corresponding target production areas according to the dispatching instructions.
The beneficial effects of the invention are as follows: the method comprises the steps that production information respectively generated in real time in a plurality of production areas is obtained, specifically, the production areas are arranged in a stacked mode or in parallel mode, and the production information comprises real-time order information; further, setting dynamic priorities among a plurality of production areas according to real-time order information based on preset rules, and generating a plurality of corresponding scheduling instructions one by one according to the dynamic priorities, wherein each scheduling instruction corresponds to a target production area, and each scheduling instruction comprises the scheduling number of AGV trolleys; and finally, splitting the AGV trolleys into transfer crews according to the dispatching instructions, and respectively dispatching the transfer crews into corresponding target production areas according to the dispatching instructions. According to the method, the corresponding dynamic dispatching instruction can be generated according to the production information of each production area in real time, the transfer route and the transfer area of the AGV trolley can be changed in real time according to the dispatching instruction in the transfer process of the AGV trolley, so that the AGV trolley can be simultaneously applied to different working requirements, the transfer efficiency of the AGV trolley is correspondingly improved, and the method is suitable for large-scale popularization and use.
Preferably, when the plurality of production areas are stacked, the step of setting the dynamic priority among the plurality of production areas according to the real-time order information based on the preset rule includes:
identifying the hierarchical relation among a plurality of production areas, and sorting the production areas for one time according to the hierarchical relation to generate a corresponding first sorting table, wherein the first sorting table is sequentially arranged according to floors from large to small;
and respectively identifying the number of orders contained in the production information generated in real time in each production area in the first sorting table, and secondarily sorting the first sorting table according to the number of orders to generate a corresponding second sorting table, wherein the second sorting table is sequentially arranged from large to small according to the number of orders.
Preferably, after the step of secondarily sorting the first sorted list according to the order quantity to generate a corresponding second sorted list, the method further includes:
applying a first weight to floors corresponding to the production area, and applying a second weight to the number of orders corresponding to the production area, wherein the sum of the first weight and the second weight is 1;
And respectively calculating a first priority value corresponding to each production area according to the first weight and the second weight, and sorting the second sorting table for three times according to the first priority value to generate a corresponding third sorting table, wherein the third sorting table is sequentially arranged from large to small according to the first priority value.
Preferably, when the plurality of production areas are arranged in parallel, the step of setting the dynamic priority among the plurality of production areas according to the real-time order information based on the preset rule includes:
detecting a plurality of parking areas corresponding to the AGV, and respectively calculating the distance value of each production area from the parking area to generate a corresponding fourth sorting table according to the distance values, wherein the fourth sorting table is sequentially arranged from small to large according to the distance values;
identifying the order numbers contained in the production information generated in real time by each production area in the fourth sorting table, and secondarily sorting the fourth sorting table according to the order numbers to generate a corresponding fifth sorting table, wherein the fifth sorting table is sequentially arranged from large to small according to the order numbers.
Preferably, after the step of secondarily sorting the fourth sorted list according to the order quantity to generate a corresponding fifth sorted list, the method further includes:
applying a third weight to the distance value corresponding to the production area, wherein the sum of the third weight and the second weight is 1;
and respectively calculating a second priority value corresponding to each production area according to the second weight and the third weight, and secondarily sorting the fifth sorting table according to the second priority value to generate a corresponding sixth sorting table, wherein the sixth sorting table is sequentially arranged from large to small according to the second priority value.
Preferably, the step of splitting the AGV trolleys into transfer fleets according to the scheduling instruction includes:
identifying real-time order information generated by a target production area corresponding to each scheduling instruction, and detecting the quantity of goods corresponding to each real-time order information;
the method comprises the steps of obtaining the transfer quantity corresponding to the AGV trolley, and respectively calculating the required quantity of the AGV trolley corresponding to each target production area according to the goods quantity and the transfer quantity, so that a plurality of AGV trolleys are split into a plurality of transfer vehicle teams according to each required quantity.
Preferably, the step of dispatching the plurality of transfer fleets to the plurality of corresponding target production areas according to the dispatching instruction includes:
issuing the scheduling instruction to a plurality of AGV trolleys so as to divide the AGV trolleys into a plurality of transfer vehicle teams and call out a complete area map corresponding to the target production areas;
and planning a route map of each transfer vehicle team moving to a corresponding target production area in the complete area map, and respectively dispatching a plurality of transfer vehicle teams to a plurality of corresponding target production areas according to the route map.
A second aspect of an embodiment of the present invention provides an AGV dolly scheduling system applied to a plurality of AGV dollies, the system including:
the system comprises an acquisition module, a display module and a display module, wherein the acquisition module is used for acquiring production information respectively generated in real time by a plurality of production areas, and the production areas are arranged in a layered manner or in parallel manner, and the production information comprises real-time order information;
the processing module is used for setting dynamic priorities among a plurality of production areas according to the real-time order information based on preset rules, generating a plurality of corresponding scheduling instructions one by one according to the dynamic priorities, wherein each scheduling instruction corresponds to a target production area, and each scheduling instruction comprises the scheduling number of the AGV trolley;
And the scheduling module is used for splitting the AGV trolleys into transfer fleets according to the scheduling instruction, and scheduling the transfer fleets into corresponding target production areas according to the scheduling instruction.
In the above AGV trolley scheduling system, when a plurality of production areas are stacked, the processing module is specifically configured to:
identifying the hierarchical relation among a plurality of production areas, and sorting the production areas for one time according to the hierarchical relation to generate a corresponding first sorting table, wherein the first sorting table is sequentially arranged according to floors from large to small;
and respectively identifying the number of orders contained in the production information generated in real time in each production area in the first sorting table, and secondarily sorting the first sorting table according to the number of orders to generate a corresponding second sorting table, wherein the second sorting table is sequentially arranged from large to small according to the number of orders.
Among the above-mentioned AGV dolly scheduling system, AGV dolly scheduling system still includes a calculation module, a calculation module specifically is used for:
applying a first weight to floors corresponding to the production area, and applying a second weight to the number of orders corresponding to the production area, wherein the sum of the first weight and the second weight is 1;
And respectively calculating a first priority value corresponding to each production area according to the first weight and the second weight, and sorting the second sorting table for three times according to the first priority value to generate a corresponding third sorting table, wherein the third sorting table is sequentially arranged from large to small according to the first priority value.
In the above AGV trolley scheduling system, when a plurality of production areas are arranged in parallel, the processing module is specifically configured to:
detecting a plurality of parking areas corresponding to the AGV, and respectively calculating the distance value of each production area from the parking area to generate a corresponding fourth sorting table according to the distance values, wherein the fourth sorting table is sequentially arranged from small to large according to the distance values;
identifying the order numbers contained in the production information generated in real time by each production area in the fourth sorting table, and secondarily sorting the fourth sorting table according to the order numbers to generate a corresponding fifth sorting table, wherein the fifth sorting table is sequentially arranged from large to small according to the order numbers.
Among the above-mentioned AGV dolly scheduling system, AGV dolly scheduling system still includes the second calculation module, the second calculation module is specifically used for:
Applying a third weight to the distance value corresponding to the production area, wherein the sum of the third weight and the second weight is 1;
and respectively calculating a second priority value corresponding to each production area according to the second weight and the third weight, and secondarily sorting the fifth sorting table according to the second priority value to generate a corresponding sixth sorting table, wherein the sixth sorting table is sequentially arranged from large to small according to the second priority value.
In the above AGV trolley scheduling system, the scheduling module is specifically configured to:
identifying real-time order information generated by a target production area corresponding to each scheduling instruction, and detecting the quantity of goods corresponding to each real-time order information;
the method comprises the steps of obtaining the transfer quantity corresponding to the AGV trolley, and respectively calculating the required quantity of the AGV trolley corresponding to each target production area according to the goods quantity and the transfer quantity, so that a plurality of AGV trolleys are split into a plurality of transfer vehicle teams according to each required quantity.
In the above AGV trolley scheduling system, the scheduling module is specifically configured to:
issuing the scheduling instruction to a plurality of AGV trolleys so as to divide the AGV trolleys into a plurality of transfer vehicle teams and call out a complete area map corresponding to the target production areas;
And planning a route map of each transfer vehicle team moving to a corresponding target production area in the complete area map, and respectively dispatching a plurality of transfer vehicle teams to a plurality of corresponding target production areas according to the route map.
A third aspect of the embodiments of the present invention provides a computer, including a memory, a processor, and a computer program stored on the memory and executable on the processor, where the processor implements the AGV trolley scheduling method as described above when executing the computer program.
A fourth aspect of the embodiments of the present invention provides a readable storage medium having stored thereon a computer program which when executed by a processor implements an AGV cart scheduling method as described above.
Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
FIG. 1 is a flow chart of an AGV cart scheduling method provided by an embodiment of the present invention;
FIG. 2 is a block diagram of an AGV cart scheduling method according to an embodiment of the present invention;
FIG. 3 is a block diagram of an AGV dispatching system in accordance with one embodiment of the present invention.
The invention will be further described in the following detailed description in conjunction with the above-described figures.
Detailed Description
In order that the invention may be readily understood, a more complete description of the invention will be rendered by reference to the appended drawings. Several embodiments of the invention are presented in the figures. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
It will be understood that when an element is referred to as being "mounted" on another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like are used herein for illustrative purposes only.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.
When prior art is transported the product through the AGV dolly, most is accomplished the transportation of product through the mode of confirming the transportation area and the transportation route of AGV dolly in advance, and can't change the work area and the transportation route of AGV dolly at the in-process that the AGV dolly used, for example no matter whether the work task of AGV dolly work area is tension, prior art all adopts fixed quantity's AGV dolly to carry out the transportation of product, thereby the quantity of the AGV dolly in the area that appears work task tension easily is less, and the AGV dolly in the area that work task is lax has idle phenomenon, lead to the AGV dolly can not be suitable for different work requirements, the transportation efficiency of AGV dolly has been reduced.
Referring to fig. 1, an AGV trolley scheduling method according to a first embodiment of the present invention is shown, where the method according to the present embodiment of the present invention can generate a dynamic scheduling instruction according to production information of each production area in real time, and can further change a transfer route and a transfer area of an AGV trolley in real time according to the scheduling instruction in a process of transferring the AGV trolley, so that the AGV trolley is applicable to different working requirements at the same time, correspondingly improving transfer efficiency of the AGV trolley, and is applicable to large-scale popularization and use.
Specifically, the AGV trolley scheduling method provided by the embodiment is applied to a plurality of AGV trolleys, and specifically includes the following steps:
step S10, obtaining production information generated in real time by a plurality of production areas respectively, wherein the production areas are arranged in a layered mode or in parallel mode, and the production information comprises real-time order information;
specifically, in this embodiment, it should be firstly explained that the method for scheduling the AGV trolley provided in this embodiment is specifically applied in a factory where the AGV trolley is used, and is used for improving the transfer efficiency of the goods in the factory, and correspondingly improving the production efficiency of the product.
In this embodiment, it should be noted that, basically, the existing factories are configured with several production areas, i.e. several production workshops, and each production workshop operates independently to produce products separately. Thus, each individual production area generates individual production information, and the production information is dynamically changed to correspondingly meet different production requirements.
Therefore, in this embodiment, it should be noted that, in order to accurately schedule a plurality of AGV carts, the step needs to obtain, in real time, production information generated in real time in a current plurality of production areas, where the production information includes actual order information, and in addition, it should be noted that, the production areas provided in this embodiment may be specifically stacked, that is, layered up and down, or arranged side by side, that is, arranged at a horizontal interval, which is within the protection scope of this embodiment.
Step S20, setting dynamic priorities among a plurality of production areas according to the real-time order information based on preset rules, and generating a plurality of corresponding scheduling instructions one by one according to the dynamic priorities, wherein each scheduling instruction corresponds to a target production area and comprises the scheduling number of the AGV trolley;
further, in this step, it should be noted that, in this step, the order information acquired in real time is further processed according to a preset arrangement rule, so as to set a dynamic priority level between a plurality of current production areas according to the current order information, and on this basis, a plurality of corresponding scheduling instructions are generated one by one according to the acquired dynamic priority level, where it should be pointed out that each scheduling instruction corresponds to a target production area, and meanwhile, each scheduling instruction further includes the number of AGV carts to be scheduled, so that the corresponding number of AGV carts can be further scheduled to the required target production area.
And step S30, splitting a plurality of AGV trolleys into a plurality of transfer vehicle teams according to the dispatching instruction, and dispatching the transfer vehicle teams into a plurality of corresponding target production areas according to the dispatching instruction.
Finally, in this step, it should be noted that, after the corresponding scheduling instruction is generated in the above step, this step further splits the above-mentioned several AGV dollies into several corresponding transfer fleets according to the scheduling instruction generated in real time, and on this basis, further dispatches the several fleets split in real time into several corresponding target production areas according to the above-mentioned scheduling instruction, respectively.
Specifically, for easy understanding, for example, there are A, B, C three production areas in this embodiment, and A, B, C three production areas respectively correspond to order information for producing 100 products, producing 200 products and producing 300 products, further, the priority of the production area B is set to be greater than the production area a according to the preset rule, and the priority of the production area a is greater than the production area C, at the same time, three corresponding dispatching orders are generated, wherein the dispatching orders of the production area a require 10 AGV carts, the dispatching orders of the production area B require 20 AGV carts, the dispatching orders of the production area C require 30 AGV carts, and at this moment, the total number of the AGV carts is 50, then this embodiment firstly dispatches 20 AGV carts to the production area B according to the set priority, further, dispatches 10 AGV carts to the production area a, and dispatches the remaining 20 AGV carts to the production area C accordingly, thereby completing dispatching of 50 AGV carts accurately.
When the system is used, the production information respectively generated in real time in a plurality of production areas is obtained, specifically, the production areas are arranged in a stacked mode or in parallel mode, and the production information comprises real-time order information; further, setting dynamic priorities among a plurality of production areas according to real-time order information based on preset rules, and generating a plurality of corresponding scheduling instructions one by one according to the dynamic priorities, wherein each scheduling instruction corresponds to a target production area, and each scheduling instruction comprises the scheduling number of AGV trolleys; and finally, splitting the AGV trolleys into transfer crews according to the dispatching instructions, and respectively dispatching the transfer crews into corresponding target production areas according to the dispatching instructions. According to the method, the corresponding dynamic dispatching instruction can be generated according to the production information of each production area in real time, the transfer route and the transfer area of the AGV trolley can be changed in real time according to the dispatching instruction in the transfer process of the AGV trolley, so that the AGV trolley can be simultaneously applied to different working requirements, the transfer efficiency of the AGV trolley is correspondingly improved, and the method is suitable for large-scale popularization and use.
It should be noted that the foregoing implementation procedure is only for illustrating the feasibility of the present application, but this does not represent that the AGV trolley scheduling method of the present application has only one implementation procedure, and instead, the present application may be incorporated into the feasible embodiment of the present application as long as the implementation of the AGV trolley scheduling method of the present application is possible.
In summary, the method for scheduling the AGV trolley provided by the embodiment of the invention can generate the corresponding dynamic scheduling instruction according to the production information of each production area in real time, and can further change the transfer route and the transfer area of the AGV trolley in real time according to the scheduling instruction in the transfer process of the AGV trolley, so that the AGV trolley can be simultaneously suitable for different working requirements, the transfer efficiency of the AGV trolley is correspondingly improved, and the method is suitable for large-scale popularization and use.
The second embodiment of the present invention also provides an AGV trolley scheduling method, where the AGV trolley scheduling method provided in the present embodiment is different from the AGV trolley scheduling method provided in the first embodiment described above in that:
specifically, in this embodiment, it should be noted that, when the plurality of production areas are stacked, the step of setting the dynamic priority between the plurality of production areas according to the real-time order information based on the preset rule includes:
Identifying the hierarchical relation among a plurality of production areas, and sorting the production areas for one time according to the hierarchical relation to generate a corresponding first sorting table, wherein the first sorting table is sequentially arranged according to floors from large to small;
and respectively identifying the number of orders contained in the production information generated in real time in each production area in the first sorting table, and secondarily sorting the first sorting table according to the number of orders to generate a corresponding second sorting table, wherein the second sorting table is sequentially arranged from large to small according to the number of orders.
Specifically, in this embodiment, as shown in fig. 2, it should be noted that fig. 2 is a plan area block diagram of a factory, which specifically includes a production area 11, a cargo area 21, and a parking area 31, when it is identified that a plurality of production areas are arranged in a layered manner, that is, the plurality of production areas are arranged in a layered manner, the embodiment first identifies the floor heights corresponding to the plurality of production areas, and further sorts the plurality of production areas at the present, and generates a corresponding first sorting table, where the higher the floor, the higher the ranking of the production areas is.
On the basis of the above, the present embodiment further identifies the order numbers corresponding to the current production areas in the first sorting table, and further performs secondary sorting on the production areas in the current first sorting table according to the real-time order numbers, and generates a corresponding second sorting table, specifically, in the second sorting table, the ranking of the production areas with the larger order numbers is higher, so that the priorities of the current production areas can be accurately set.
Specifically, for example, there are currently three production areas A, B, C, where the a production area is on one layer, the B production area is on two layers, and the C production area is on three layers, where the priority of the C production area is greater than that of the B production area in the first sorting table, the priority of the B production area is greater than that of the a production area, further, the number of orders of the a production area is 150, the number of orders of the B production area is 100, and the number of orders of the C production area is 200, where the priority of the C production area is greater than that of the a production area, and the priority of the a production area is greater than that of the B production area in the second sorting table, so as to accurately set the priority between A, B, C three production areas.
Further, in this embodiment, it should be noted that, after the step of secondarily sorting the first sorting table according to the order number to generate the corresponding second sorting table, the method further includes:
applying a first weight to floors corresponding to the production area, and applying a second weight to the number of orders corresponding to the production area, wherein the sum of the first weight and the second weight is 1;
and respectively calculating a first priority value corresponding to each production area according to the first weight and the second weight, and sorting the second sorting table for three times according to the first priority value to generate a corresponding third sorting table, wherein the third sorting table is sequentially arranged from large to small according to the first priority value.
Further, in this embodiment, it should be noted that, for the sake of understanding, for example, three production areas A, B, C are provided, and meanwhile, in this embodiment, the first weight applied to the floors in advance is 0.3, the corresponding second weight applied to the number of orders is 0.7, further, a is obtained in one layer, the corresponding number of orders is 150, B is in two layers, the corresponding number of orders is 100, C is in three layers, and the corresponding number of orders is 180, where the first priority value of a is calculated to be 105.3, the first priority value of B is 70.6, and the first priority value of C is 126.9, where the priority of C is greater than the priority of a in the third ranking table, and the priority of a is greater than the priority of B.
It should be noted that, for the sake of brevity, the method according to the second embodiment of the present invention, which implements the same principle and some of the technical effects as the first embodiment, is not mentioned here, and reference is made to the corresponding content provided by the first embodiment.
In summary, the method for scheduling the AGV trolley provided by the embodiment of the invention can generate the corresponding dynamic scheduling instruction according to the production information of each production area in real time, and can further change the transfer route and the transfer area of the AGV trolley in real time according to the scheduling instruction in the transfer process of the AGV trolley, so that the AGV trolley can be simultaneously suitable for different working requirements, the transfer efficiency of the AGV trolley is correspondingly improved, and the method is suitable for large-scale popularization and use.
The third embodiment of the present invention also provides an AGV trolley scheduling method, where the AGV trolley scheduling method provided in the present embodiment is different from the AGV trolley scheduling method provided in the first embodiment described above in that:
specifically, in this embodiment, it should be noted that, when a plurality of production areas are arranged in parallel, the step of setting a dynamic priority among a plurality of production areas according to the real-time order information based on a preset rule includes:
Detecting a plurality of parking areas corresponding to the AGV, and respectively calculating the distance value of each production area from the parking area to generate a corresponding fourth sorting table according to the distance values, wherein the fourth sorting table is sequentially arranged from small to large according to the distance values;
identifying the order numbers contained in the production information generated in real time by each production area in the fourth sorting table, and secondarily sorting the fourth sorting table according to the order numbers to generate a corresponding fifth sorting table, wherein the fifth sorting table is sequentially arranged from large to small according to the order numbers.
Similarly, in this embodiment, as shown in fig. 2, it should be noted that, if it is detected in real time that the current production areas are arranged in parallel with each other, that is, when the current production areas are horizontally spaced apart from each other, in this embodiment, the parking areas of the current AGV carts are correspondingly detected, at the same time, the distance value of each production area from the current parking area is calculated, and meanwhile, a corresponding fourth sorting table is generated according to the obtained distance values, and specifically, in the fourth sorting table, the fourth sorting table is sequentially arranged according to the distance values from small to large.
Further, in this embodiment, the number of orders corresponding to each production area is also obtained, and further, the secondary sorting is performed in the fourth sorting table according to the number of orders in real time, and a fifth sorting table is generated at the same time, and specifically, in the fifth sorting table, the orders are sequentially arranged from large to small according to the number of orders.
Further, in this embodiment, it should be noted that, after the step of secondarily sorting the fourth sorting table according to the order number to generate the corresponding fifth sorting table, the method further includes:
applying a third weight to the distance value corresponding to the production area, wherein the sum of the third weight and the second weight is 1;
and respectively calculating a second priority value corresponding to each production area according to the second weight and the third weight, and secondarily sorting the fifth sorting table according to the second priority value to generate a corresponding sixth sorting table, wherein the sixth sorting table is sequentially arranged from large to small according to the second priority value.
Specifically, in this embodiment, for ease of understanding, for example, in the fifth ranking table, there are three production areas A, B, C, and in this embodiment, the third weight corresponding to the distance value is preset to be 0.4, the second weight corresponding to the number of orders is preset to be 0.6, at the same time, the distance value of a is 100m, the distance value of B is 150m, the distance value of C is 120m, the number of corresponding orders of a is 150, the number of orders of B is 100, and the number of orders of C is 180, then the second priority value of a is 130, the second priority value of B is 120, and the second priority value of C is 156, and then the priority of C is greater than a, and the priority of a is greater than B in the sixth ranking table generated in real time, so as to accurately complete ranking among the three production areas.
It should be noted that, for the sake of brevity, the principles and some technical effects of the method according to the third embodiment of the present invention are the same as those of the first embodiment, and reference should be made to the corresponding matters provided in the first embodiment for the description of the present invention.
In summary, the method for scheduling the AGV trolley provided by the embodiment of the invention can generate the corresponding dynamic scheduling instruction according to the production information of each production area in real time, and can further change the transfer route and the transfer area of the AGV trolley in real time according to the scheduling instruction in the transfer process of the AGV trolley, so that the AGV trolley can be simultaneously suitable for different working requirements, the transfer efficiency of the AGV trolley is correspondingly improved, and the method is suitable for large-scale popularization and use.
The fourth embodiment of the present invention also provides an AGV trolley scheduling method, where the AGV trolley scheduling method provided in the present embodiment is different from the AGV trolley scheduling method provided in the first embodiment described above in that:
specifically, in this embodiment, it should be noted that the step of splitting the plurality of AGV carts into a plurality of transfer fleets according to the scheduling instruction includes:
identifying real-time order information generated by a target production area corresponding to each scheduling instruction, and detecting the quantity of goods corresponding to each real-time order information;
The method comprises the steps of obtaining the transfer quantity corresponding to the AGV trolley, and respectively calculating the required quantity of the AGV trolley corresponding to each target production area according to the goods quantity and the transfer quantity, so that a plurality of AGV trolleys are split into a plurality of transfer vehicle teams according to each required quantity.
Specifically, in this embodiment, it should be noted that, in order to accurately obtain the number of the AGV trolleys needed in each target production area, this embodiment may detect, in real time, the number of cargoes in the order information corresponding to each target production area, and meanwhile, correspondingly obtain the number of transfer that each AGV trolley can carry, on this basis, calculate, according to the number of cargoes obtained and the number of transfer, the required number of the AGV trolleys corresponding to each target production area, and further split the current plurality of AGV trolleys into a plurality of corresponding transfer fleets according to each required number.
It should be noted that, for the sake of brevity, the method according to the fourth embodiment of the present invention, which implements the same principle and some of the technical effects as those of the first embodiment, may refer to the corresponding content provided by the first embodiment.
In summary, the method for scheduling the AGV trolley provided by the embodiment of the invention can generate the corresponding dynamic scheduling instruction according to the production information of each production area in real time, and can further change the transfer route and the transfer area of the AGV trolley in real time according to the scheduling instruction in the transfer process of the AGV trolley, so that the AGV trolley can be simultaneously suitable for different working requirements, the transfer efficiency of the AGV trolley is correspondingly improved, and the method is suitable for large-scale popularization and use.
The fifth embodiment of the present invention also provides an AGV trolley scheduling method, where the AGV trolley scheduling method provided in the present embodiment is different from the AGV trolley scheduling method provided in the first embodiment described above in that:
further, in this embodiment, it should be noted that the step of dispatching the plurality of transfer fleets to the plurality of corresponding target production areas according to the dispatching instruction includes:
issuing the scheduling instruction to a plurality of AGV trolleys so as to divide the AGV trolleys into a plurality of transfer vehicle teams and call out a complete area map corresponding to the target production areas;
and planning a route map of each transfer vehicle team moving to a corresponding target production area in the complete area map, and respectively dispatching a plurality of transfer vehicle teams to a plurality of corresponding target production areas according to the route map.
Further, in this embodiment, it should be noted that, after the scheduling instruction corresponding to each production area is obtained, this embodiment further issues the scheduling instruction generated in real time to the current plurality of AGV carts, so as to divide the current plurality of AGV carts into a plurality of corresponding transfer fleets according to the number of demands in each scheduling instruction, and at the same time, call out a complete area map corresponding to each of the current plurality of target production areas.
Furthermore, in this embodiment, a route pattern corresponding to the current transfer fleet is planned in the current complete area map by using the existing route planning algorithm, and on the basis of the route pattern, the current transfer fleet is respectively scheduled to the corresponding target production area according to the route pattern planned in real time.
It should be noted that, for the sake of brevity, the method according to the fifth embodiment of the present invention, which implements the same principle and some of the technical effects as those of the first embodiment, may refer to the corresponding content provided by the first embodiment.
In summary, the method for scheduling the AGV trolley provided by the embodiment of the invention can generate the corresponding dynamic scheduling instruction according to the production information of each production area in real time, and can further change the transfer route and the transfer area of the AGV trolley in real time according to the scheduling instruction in the transfer process of the AGV trolley, so that the AGV trolley can be simultaneously suitable for different working requirements, the transfer efficiency of the AGV trolley is correspondingly improved, and the method is suitable for large-scale popularization and use.
Referring to fig. 3, an AGV cart scheduling system according to a sixth embodiment of the present invention is applied to a plurality of AGV carts, and the system includes:
the acquiring module 12 is configured to acquire production information generated in real time by a plurality of production areas, where the plurality of production areas are stacked or arranged in parallel, and the production information includes real-time order information;
the processing module 22 is configured to set a dynamic priority among a plurality of production areas according to the real-time order information based on a preset rule, and generate a plurality of corresponding scheduling instructions one by one according to the dynamic priority, where each scheduling instruction corresponds to a target production area, and each scheduling instruction includes a scheduling number of the AGV trolley;
the dispatching module 32 is configured to split the AGV trolleys into transfer fleets according to the dispatching instruction, and dispatch the transfer fleets to corresponding target production areas according to the dispatching instruction.
In the above-mentioned AGV trolley dispatching system, when a plurality of production areas are stacked, the processing module 22 is specifically configured to:
identifying the hierarchical relation among a plurality of production areas, and sorting the production areas for one time according to the hierarchical relation to generate a corresponding first sorting table, wherein the first sorting table is sequentially arranged according to floors from large to small;
And respectively identifying the number of orders contained in the production information generated in real time in each production area in the first sorting table, and secondarily sorting the first sorting table according to the number of orders to generate a corresponding second sorting table, wherein the second sorting table is sequentially arranged from large to small according to the number of orders.
Among them, in the above-mentioned AGV dolly scheduling system, the AGV dolly scheduling system still includes a first calculation module 42, a first calculation module 42 is specifically used for:
applying a first weight to floors corresponding to the production area, and applying a second weight to the number of orders corresponding to the production area, wherein the sum of the first weight and the second weight is 1;
and respectively calculating a first priority value corresponding to each production area according to the first weight and the second weight, and sorting the second sorting table for three times according to the first priority value to generate a corresponding third sorting table, wherein the third sorting table is sequentially arranged from large to small according to the first priority value.
In the above-mentioned AGV trolley dispatching system, when a plurality of production areas are arranged in parallel, the processing module 22 is specifically configured to:
Detecting a plurality of parking areas corresponding to the AGV, and respectively calculating the distance value of each production area from the parking area to generate a corresponding fourth sorting table according to the distance values, wherein the fourth sorting table is sequentially arranged from small to large according to the distance values;
identifying the order numbers contained in the production information generated in real time by each production area in the fourth sorting table, and secondarily sorting the fourth sorting table according to the order numbers to generate a corresponding fifth sorting table, wherein the fifth sorting table is sequentially arranged from large to small according to the order numbers.
Among them, in the above-mentioned AGV dolly scheduling system, AGV dolly scheduling system still includes second calculation module 52, second calculation module 52 specifically is used for:
applying a third weight to the distance value corresponding to the production area, wherein the sum of the third weight and the second weight is 1;
and respectively calculating a second priority value corresponding to each production area according to the second weight and the third weight, and secondarily sorting the fifth sorting table according to the second priority value to generate a corresponding sixth sorting table, wherein the sixth sorting table is sequentially arranged from large to small according to the second priority value.
In the above-mentioned AGV trolley dispatching system, the dispatching module 32 is specifically configured to:
identifying real-time order information generated by a target production area corresponding to each scheduling instruction, and detecting the quantity of goods corresponding to each real-time order information;
the method comprises the steps of obtaining the transfer quantity corresponding to the AGV trolley, and respectively calculating the required quantity of the AGV trolley corresponding to each target production area according to the goods quantity and the transfer quantity, so that a plurality of AGV trolleys are split into a plurality of transfer vehicle teams according to each required quantity.
In the above-mentioned AGV trolley dispatching system, the dispatching module 32 is specifically configured to:
issuing the scheduling instruction to a plurality of AGV trolleys so as to divide the AGV trolleys into a plurality of transfer vehicle teams and call out a complete area map corresponding to the target production areas;
and planning a route map of each transfer vehicle team moving to a corresponding target production area in the complete area map, and respectively dispatching a plurality of transfer vehicle teams to a plurality of corresponding target production areas according to the route map.
A seventh embodiment of the present invention provides a computer, including a memory, a processor, and a computer program stored in the memory and capable of running on the processor, where the execution of the computer program by the processor implements the method for scheduling AGV carts provided in the foregoing embodiment.
An eighth embodiment of the present invention provides a readable storage medium having stored thereon a computer program which when executed by a processor implements the AGV cart scheduling method provided by the above embodiments.
In summary, the method, the system, the computer and the readable storage medium for scheduling the AGV provided by the embodiment of the invention can generate the corresponding dynamic scheduling instruction in real time according to the production information of each production area, and can further change the transfer route and the transfer area of the AGV in real time according to the scheduling instruction in the transfer process of the AGV, so that the AGV can be simultaneously suitable for different working requirements, the transfer efficiency of the AGV is correspondingly improved, and the method, the system and the medium are suitable for large-scale popularization and use.
The above-described respective modules may be functional modules or program modules, and may be implemented by software or hardware. For modules implemented in hardware, the various modules described above may be located in the same processor; or the above modules may be located in different processors in any combination.
Logic and/or steps represented in the flowcharts or otherwise described herein, e.g., a ordered listing of executable instructions for implementing 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). In addition, the computer readable medium may even be paper or other suitable medium on which the program is printed, as the program may 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 is to be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, the various steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, may be implemented using any one or combination of the following techniques, as is well known in the art: discrete logic circuits having logic gates for implementing logic functions on data signals, application specific integrated circuits having suitable combinational logic gates, programmable Gate Arrays (PGAs), field Programmable Gate Arrays (FPGAs), and the like.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means 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 present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The foregoing examples illustrate only a few embodiments of the invention and are described in detail herein without thereby limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.

Claims (10)

1. An AGV cart scheduling method, applied to a plurality of AGV carts, the method comprising:
Acquiring production information respectively generated in real time by a plurality of production areas, wherein the production areas are arranged in a layered mode or in parallel mode, and the production information comprises real-time order information;
setting dynamic priorities among a plurality of production areas according to the real-time order information based on a preset rule, and generating a plurality of corresponding scheduling instructions one by one according to the dynamic priorities, wherein each scheduling instruction corresponds to a target production area and comprises the scheduling number of the AGV trolley;
and splitting the AGV trolleys into transfer crews according to the dispatching instructions, and respectively dispatching the transfer crews into corresponding target production areas according to the dispatching instructions.
2. The AGV cart scheduling method of claim 1, wherein: when the production areas are stacked, the step of setting the dynamic priority among the production areas according to the real-time order information based on the preset rule comprises the following steps:
identifying the hierarchical relation among a plurality of production areas, and sorting the production areas for one time according to the hierarchical relation to generate a corresponding first sorting table, wherein the first sorting table is sequentially arranged according to floors from large to small;
And respectively identifying the number of orders contained in the production information generated in real time in each production area in the first sorting table, and secondarily sorting the first sorting table according to the number of orders to generate a corresponding second sorting table, wherein the second sorting table is sequentially arranged from large to small according to the number of orders.
3. The AGV cart scheduling method of claim 2, wherein: after the step of secondarily sorting the first sorted list according to the order quantity to generate a corresponding second sorted list, the method further includes:
applying a first weight to floors corresponding to the production area, and applying a second weight to the number of orders corresponding to the production area, wherein the sum of the first weight and the second weight is 1;
and respectively calculating a first priority value corresponding to each production area according to the first weight and the second weight, and sorting the second sorting table for three times according to the first priority value to generate a corresponding third sorting table, wherein the third sorting table is sequentially arranged from large to small according to the first priority value.
4. The AGV cart scheduling method according to claim 3, wherein: when the production areas are arranged in parallel, the step of setting the dynamic priority among the production areas according to the real-time order information based on the preset rule comprises the following steps:
Detecting a plurality of parking areas corresponding to the AGV, and respectively calculating the distance value of each production area from the parking area to generate a corresponding fourth sorting table according to the distance values, wherein the fourth sorting table is sequentially arranged from small to large according to the distance values;
identifying the order numbers contained in the production information generated in real time by each production area in the fourth sorting table, and secondarily sorting the fourth sorting table according to the order numbers to generate a corresponding fifth sorting table, wherein the fifth sorting table is sequentially arranged from large to small according to the order numbers.
5. The AGV cart scheduling method of claim 4, wherein: after the step of secondarily sorting the fourth sorted list according to the order quantity to generate a corresponding fifth sorted list, the method further includes:
applying a third weight to the distance value corresponding to the production area, wherein the sum of the third weight and the second weight is 1;
and respectively calculating a second priority value corresponding to each production area according to the second weight and the third weight, and secondarily sorting the fifth sorting table according to the second priority value to generate a corresponding sixth sorting table, wherein the sixth sorting table is sequentially arranged from large to small according to the second priority value.
6. The AGV cart scheduling method of claim 1, wherein: the step of splitting the AGV trolleys into transfer fleet comprises the following steps of:
identifying real-time order information generated by a target production area corresponding to each scheduling instruction, and detecting the quantity of goods corresponding to each real-time order information;
the method comprises the steps of obtaining the transfer quantity corresponding to the AGV trolley, and respectively calculating the required quantity of the AGV trolley corresponding to each target production area according to the goods quantity and the transfer quantity, so that a plurality of AGV trolleys are split into a plurality of transfer vehicle teams according to each required quantity.
7. The AGV cart scheduling method of claim 1, wherein: the step of dispatching the transfer fleet to the corresponding target production areas according to the dispatching instruction comprises the following steps:
issuing the scheduling instruction to a plurality of AGV trolleys so as to divide the AGV trolleys into a plurality of transfer vehicle teams and call out a complete area map corresponding to the target production areas;
and planning a route map of each transfer vehicle team moving to a corresponding target production area in the complete area map, and respectively dispatching a plurality of transfer vehicle teams to a plurality of corresponding target production areas according to the route map.
8. An AGV cart scheduling system, for use with a plurality of AGV carts, the system comprising:
the system comprises an acquisition module, a display module and a display module, wherein the acquisition module is used for acquiring production information respectively generated in real time by a plurality of production areas, and the production areas are arranged in a layered manner or in parallel manner, and the production information comprises real-time order information;
the processing module is used for setting dynamic priorities among a plurality of production areas according to the real-time order information based on preset rules, generating a plurality of corresponding scheduling instructions one by one according to the dynamic priorities, wherein each scheduling instruction corresponds to a target production area, and each scheduling instruction comprises the scheduling number of the AGV trolley;
and the scheduling module is used for splitting the AGV trolleys into transfer fleets according to the scheduling instruction, and scheduling the transfer fleets into corresponding target production areas according to the scheduling instruction.
9. A computer comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the AGV cart scheduling method of any one of claims 1-7 when executing the computer program.
10. A readable storage medium having stored thereon a computer program which when executed by a processor implements the AGV cart scheduling method of any one of claims 1 to 7.
CN202310186887.7A 2023-03-01 2023-03-01 AGV trolley scheduling method, system, computer and readable storage medium Pending CN116384656A (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116957298A (en) * 2023-09-19 2023-10-27 江苏润和软件股份有限公司 Industrial Internet of things equipment control method and control system
CN118295355A (en) * 2024-06-04 2024-07-05 中国汽车工业工程有限公司 AGV double-vehicle cooperative system for replacing dry-type spray booth paper box

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116957298A (en) * 2023-09-19 2023-10-27 江苏润和软件股份有限公司 Industrial Internet of things equipment control method and control system
CN116957298B (en) * 2023-09-19 2023-11-28 江苏润和软件股份有限公司 Industrial Internet of Things equipment control method and control system
CN118295355A (en) * 2024-06-04 2024-07-05 中国汽车工业工程有限公司 AGV double-vehicle cooperative system for replacing dry-type spray booth paper box
CN118295355B (en) * 2024-06-04 2024-08-23 中国汽车工业工程有限公司 AGV double-vehicle cooperative system for replacing dry-type spray booth paper box

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