CN117193291A - AGV scheduling method, device, equipment and storage medium - Google Patents

Abstract

The invention relates to the technical field of intelligent logistics and discloses an AGV scheduling method, an AGV scheduling device, AGV scheduling equipment and a readable storage medium. The AGV scheduling method comprises the following steps: receiving a request signal of the AGV, wherein the request signal carries a device identifier of target device corresponding to the action required to be executed by the AGV; inquiring the working state of the target equipment from a central memory based on the equipment identifier, wherein the working state of each equipment is stored and updated in the central memory in real time; judging whether the target equipment allows the AGV to execute the execution action corresponding to the request signal based on the working state; if yes, an instruction for allowing the execution of the execution action corresponding to the request signal is fed back to the AGV. By the aid of the scheme, safety of an AGV scheduling process is improved.

Description

AGV scheduling method, device, equipment and storage medium

Technical Field

The invention relates to the technical field of intelligent logistics, in particular to an AGV scheduling method, an AGV scheduling device, AGV scheduling equipment and a storage medium.

Background

When multiple AGVs (Automated Guided Vehicle, automated guided vehicles) operate on the same equipment, collisions or disturbances may occur, resulting in AGV damage or reduced operating efficiency. The safety signal interlock mechanism is a safety measure that uses the sequence of work between the AGVs and the conditions of access to the equipment to avoid interference and collision.

In the prior art, different input and output signals are arranged on equipment and each AGV participating in a procedure, and corresponding logic programs are written in an industrial personal computer of the equipment and each AGV to establish a safety signal interlocking mechanism, so that the equipment and each AGV work cooperatively according to a preset rule, and collision or interference among the AGVs is prevented.

However, the above-described approach relies on a single AGV interacting with the device, is not sufficiently convenient and is prone to misjudgment by the single AGV, thereby causing collisions or interference between the AGVs.

Disclosure of Invention

In view of the above, the invention provides an AGV scheduling method, an AGV scheduling device, AGV scheduling equipment and a storage medium, so as to solve the problems that a single AGV interacts with the AGV, and the AGV is not convenient enough and is easy to misjudge.

In a first aspect, the present invention provides an AGV scheduling method, where the method includes:

receiving a request signal of an AGV, wherein the request signal carries a device identifier of target device corresponding to an action required to be executed by the AGV; inquiring the working state of the target equipment from a central memory based on the equipment identifier, wherein the working state of each equipment is stored and updated in the central memory in real time; judging whether the target equipment allows the AGV to execute the execution action corresponding to the request signal based on the working state; if yes, feeding back an instruction for allowing the execution of the execution action corresponding to the request signal to the AGV.

According to the scheme, the working state of each device is stored and updated in real time through the central storage, the working state of each device is inquired from the central storage through the AGV scheduling system, the command corresponding to the execution action is sent to the AGVs, indirect interaction between the AGVs and the devices is achieved, each AGV does not need to interact with the devices by itself, and misjudgment is prevented. And moreover, the AGV scheduling system can uniformly manage each AGV, and uniformly interact with each device through the central memory, so that the probability of collision or interference of each AGV when executing tasks is reduced, and the safety of the AGV scheduling process is improved.

In an alternative embodiment, the request signal is an inbound request signal, the working state is an inbound permission state, and the executing action is inbound; the step of judging whether the target device allows the AGV to execute the execution action corresponding to the request signal based on the working state includes: judging whether the target equipment allows the AGV to enter based on the entering permission state; if yes, feeding back an instruction for allowing execution of the execution action corresponding to the request signal to the AGV, wherein the instruction comprises: if yes, feeding back an allowed inbound instruction to the AGV.

According to the scheme, the AGV scheduling method when the request signal is the inbound request signal is further limited, and the safety of the AGV scheduling process is improved.

In an alternative embodiment, the method further comprises: if not, sending a parking instruction to the AGV, and continuously inquiring the entering permission state of the target equipment from a central memory based on the equipment identification.

According to the scheme, when the target equipment does not allow the AGVs to enter the station, the AGVs stop and wait until the target equipment allows the AGVs to enter the station, and the safety of the AGV scheduling process is improved.

In an alternative embodiment, the request signal is an off-station request signal, the working state is an off-station permission state, and the executing action is off-station; the step of judging whether the target device allows the AGV to execute the execution action corresponding to the request signal based on the working state includes: judging whether the target equipment allows the AGV to leave the stop or not based on the leaving permission state; if yes, feeding back an instruction for allowing execution of the execution action corresponding to the request signal to the AGV, wherein the instruction comprises: if yes, feeding back an instruction for allowing the AGV to leave the station.

According to the scheme, the AGV scheduling method when the request signal is the off-station request signal is further limited, and the safety of the AGV scheduling process is improved.

In an alternative embodiment, the method further comprises: if not, sending a parking instruction to the AGV, and continuously inquiring the off-stop permission state of the target equipment from a central memory based on the equipment identifier.

According to the scheme, when the target equipment does not allow the AGVs to leave the station, the AGVs stop and wait until the target equipment allows the AGVs to leave the station, and the safety of the AGV scheduling process is improved.

In an alternative embodiment, the operating state of the target device further includes a heartbeat state, and the method further includes: querying a central memory for a heartbeat status of the target device based on the device identification; if the heartbeat state of the target equipment is abnormal, sending a parking instruction to the AGV, and continuously inquiring the heartbeat state of the target equipment from a central memory based on the equipment identifier.

According to the scheme, the heartbeat state of the target equipment is further limited, when the target equipment fails and the heartbeat state is abnormal, the AGV stops, further damage or safety accidents are prevented from being caused, and the safety of the AGV scheduling process is improved.

In an alternative embodiment, the method further comprises: after receiving the request signals of the AGVs, if the request signals of other AGVs are received, sending parking instructions to the other AGVs; and after the current execution action of the AGV is processed, processing the execution actions of other AGVs according to the time sequence of the received request signals of the other AGVs.

According to the scheme, the processing steps when the AGV scheduling system receives the plurality of request signals are further limited, so that each AGV can orderly execute tasks, and the safety of the AGV scheduling process is improved.

In a second aspect, the present invention provides an AGV scheduling apparatus, the apparatus comprising:

the AGV comprises a receiving unit, a processing unit and a processing unit, wherein the receiving unit is used for receiving a request signal of the AGV, and the request signal carries a device identifier of a target device corresponding to an action required to be executed by the AGV;

the inquiring unit is used for inquiring the working state of the target equipment from a central memory based on the equipment identifier, wherein the working state of each equipment is stored and updated in the central memory in real time;

the judging unit is used for judging whether the target equipment allows the AGV to execute the execution action corresponding to the request signal or not based on the working state;

If yes, feeding back an instruction for allowing the execution of the execution action corresponding to the request signal to the AGV.

In a third aspect, the present invention provides a computer device comprising: the AGV scheduling method comprises the steps of storing a first AGV scheduling method and a second AGV scheduling method, wherein the first AGV scheduling method is used for scheduling AGV according to the first aspect or any one of the corresponding embodiments of the first AGV scheduling method, and the second AGV scheduling method is used for scheduling AGV according to the first aspect.

In a fourth aspect, the present invention provides a computer readable storage medium having stored thereon computer instructions for causing a computer to execute the AGV scheduling method of the first aspect or any of its corresponding embodiments.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.

FIG. 1 is a flow chart of an AGV scheduling method according to an embodiment of the invention;

FIG. 2 shows a schematic diagram of the principle of operation of the blackboard mechanism;

FIG. 3 shows a process schematic of an AGV scheduling method;

FIG. 4 is a flow chart of another AGV scheduling method according to an embodiment of the invention;

FIG. 5 is a schematic diagram illustrating a process of safety signal interlock;

FIG. 6 is a block diagram of an AGV scheduling apparatus according to an embodiment of the present invention;

fig. 7 is a schematic diagram of a hardware structure of a computer device according to an embodiment of the present invention.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

AGV (Automated Guided Vehicle), i.e. an automated guided vehicle. When multiple AGVs are operating in the same area or facility, collisions or interference may occur, resulting in damage to the AGVs or reduced operating efficiency. The safety signal interlocking mechanism can set different input and output signals, write corresponding logic programs on the PLC, prescribe the working sequence among the AGVs and how the AGVs and the devices cooperate with each other according to preset rules when the AGVs execute tasks, and therefore safety accidents caused by interference or collision are avoided.

Conventional signal interlock mechanisms rely on a single AGV interacting with the device, with different input and output signals being provided at each AGV to indicate the status and requests of the AGV. Therefore, a set of codes needs to be written in the industrial personal computer of each AGV, the AGVs are independent, other AGVs cannot be considered, misjudgment is easy to occur, and accidents are caused.

Therefore, the embodiment of the invention provides the AGV scheduling method, the working states of all the devices are stored and updated through the central storage, and the working states of all the devices in the central storage are read through the AGV scheduling system and an instruction is given to the AGVs, so that indirect interaction between all the AGVs and all the devices is achieved, and the safety of the AGV scheduling process is improved.

In accordance with an embodiment of the present invention, an embodiment of an AGV scheduling method is provided in which the steps shown in the flowchart of the drawings may be performed in a computer system such as a set of computer executable instructions, and although a logical sequence is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than what is shown or described herein.

In this embodiment, an AGV scheduling method is provided, and fig. 1 is a schematic flow chart of the AGV scheduling method according to an embodiment of the present invention, as shown in fig. 1, where the flow includes the following steps:

step S101, a request signal of the AGV is received.

The request signal carries the device identifier of the target device corresponding to the action that the AGV needs to execute.

In the scheme, the AGV scheduling system RCS (Robot control system) is used as a lower computer to control each AGV, and can monitor each AGV in real time and give task instructions to each AGV to conduct path planning. Each AGV has a control program related to executing tasks, and when the AGVs need to interact with the target equipment to execute the tasks, a request signal can be sent to an AGV scheduling system, wherein the request signal carries the equipment identification of the target equipment.

Step S102, inquiring the working state of the target device from the central storage based on the device identification.

Wherein, the working state of each device is stored and updated in the central memory in real time.

The equipment in this scheme is the equipment that needs to carry out the interaction when carrying out logistics task for example automatically-controlled door, online mechanism, wireless button box and wired IO integrated circuit board etc.. During the interaction, each device is used as a signal source.

Furthermore, each device is set to be a signal group through interaction between the AGV scheduling system and each device (signal source), and the signal group corresponding to each device is configured in the AGV scheduling system. And when the AGV and the equipment are operated, each signal which is required to be read according to the operation steps is arranged in the signal group corresponding to each equipment. Each signal can indicate the working state of the equipment, and the AGV can execute each step of the operation only after sequentially confirming each signal, so that safety signal interlocking is realized, and the AGV scheduling is performed. That is, the safety signal interlocking means that when the AGV and the equipment perform operation, the operation is sequentially performed according to preset operation steps, and when the corresponding execution instruction is not received, the corresponding action cannot be executed, so that the safety of the operation process is ensured. The AGV scheduling system is provided with drivers corresponding to the devices, and after the signal groups corresponding to the devices are configured, the AGV scheduling system can interact with the devices through the drivers corresponding to the devices.

That is, in this scheme, each AGV does not directly interact with each device, and the interaction of AGVs with each device is performed through the AGV scheduling system. Specifically, the interaction between the AGV scheduling system and each device is carried out through the blackboard mechanism, namely, the working state of each device is stored and updated in real time through the central storage (blackboard), the working state of each device in the central storage is read through the AGV scheduling system, and the AGV scheduling system gives instructions to each AGV according to the working state of each device so as to carry out AGV scheduling. It should be noted that the central storage is a data structure in the blackboard mechanism, which may be called a blackboard, and the central storage stores and updates the working state of each device in real time, that is, the central storage stores the working state of each device in real time, and when the working state of the device is updated, the central storage stores the new working state of the device in real time. The blackboard mechanism is software based on a mechanism for interactively updating the blackboard through each functional module, and the mechanism refers to structural relations and operation rules among all elements. The blackboard service is one of the functional modules of the blackboard mechanism, and is responsible for processing the received signals of the devices and updating the working states of the devices in the central memory.

For different equipment types, the scheme integrates common interaction protocols, such as Siemens S7 protocol (Siemens Step 7), modbus TCP industrial field bus protocol and the like, in the signal module of the blackboard service, and the equipment can interact through the protocol or through an interface provided by software comprising a blackboard mechanism. Different software or hardware resources can be docked through configuration through a blackboard mechanism, the device can adapt to different types and brands of equipment, parameter setting and adjustment are carried out according to actual requirements, and compatibility and flexibility of indirect interaction between the AGV and the equipment are guaranteed.

The blackboard mechanism can be configured in an upper computer or a dispatching system. In the blackboard mechanism, a central memory interacts with each functional module, signal values corresponding to each functional module are stored in each data block of the central memory and can be accessed and modified by each functional module, and each functional module can modify the corresponding signal values when the state of each functional module changes. The functional modules can communicate and cooperate through a blackboard mechanism. The functional modules include modules for interfacing with the AGV dispatch system and for interfacing with each device, as well as modules for other functions, such as a library management module, a task management module, a blackboard service, a project customization module, etc. The modules of the docking devices correspond to the devices related to the logistics task, and the modules of each docking device are distinguished through the device identifiers of the corresponding devices.

That is, the AGV scheduling system may read signal bits in a data block corresponding to the device identifier of each device in the central memory through a driver corresponding to each device, thereby acquiring the working state of each device.

Further, when the AGV performing the task and the target device to which the task is to interact are determined, the AGV scheduling system may query the working state of the target device from the central memory based on the device identifier in the received request signal sent by the AGV.

Optionally, in the blackboard mechanism in the scheme, the function of storing and updating the working states of the devices in real time by the central memory can be realized by technologies such as a database, a message queue, a publish-subscribe and the like, each signal corresponding to each device can be processed separately, each device is allocated with a signal group, and each device is instantiated, so that the signal value is more reliable, complete and independent, the stability and reliability of indirect interaction between the AGV and the device are ensured, and misoperation caused by signal loss or interference is prevented.

By way of example, fig. 2 shows a schematic diagram of the working principle of the blackboard mechanism. As shown in fig. 2, the central memory is a core data structure of the blackboard mechanism, and each knowledge source is each device serving as a signal source. The global access objects (i.e., the individual data blocks in the blackboard) can be encapsulated through a blackboard service interface (i.e., the interface between the central memory and the individual devices) for transferring data between loosely coupled modules. The loose coupling modules are all functional modules, and information interaction can be carried out among all the functional modules due to the blackboard service, so that the functional modules are in loose coupling relation. And for the signal values corresponding to the functional modules, a signal driving mode is adopted, the configured signal values are read out, and the signal values are updated in the blackboard service in real time. The driver is configured in the dispatching system, the blackboard service is a tool, and the read data is published in the blackboard service by the driver so as to integrate and access the data. The dispatching system and the blackboard service are mutually independent, and the dispatching system is only responsible for dispatching, and the signal interaction needs to be conducted by depending on the blackboard service. The signals are divided into read-only signals and writable signals, wherein the read-only signals are only readable and non-rewritable signals, for example, whether the equipment allows the entering of the station or not is the read-only signals, the AGV scheduling system cannot rewrite the signals, and the writable signals are both readable and rewritable signals, for example, the request entering signal sent by the AGV and received by the AGV scheduling system. When the signal is rewritten, a new signal after the rewriting is written on the blackboard, and the driver reads the new signal, and then the driver writes the new signal into the PLC. For the safety signal interlocking rule, since the situation that the AGV and the equipment wait for each other because the AGV does not execute the next step occurs in practical application, the problem is solved by adopting a IFTTT (If This Then That) mode, and the function of the IFTTT is to execute another set event if an event is triggered. The operation to be performed by This is referred to herein as Trigger, and That means another action caused by a chain reaction, for example, in a certain scenario, the AGV needs to enter the device to pick up goods, we set the function to return true when the device permission signal value is 1, and the That function is to send a task continuation instruction to the AGV. When the AGV travels to the device portal, the host computer/dispatch system checks the device's allowed entry signal value, and when the allowed entry signal value is 1, the That function is triggered and the AGV enters the device to pick up. Information exchange and cooperative processing among a plurality of knowledge sources are realized through the blackboard service, the interface is only opened to the inside, the information processing efficiency is very high, the blackboard service can timely acquire and update the working state information of the field device, and the real-time performance of indirect interaction between the AGV and the device is ensured.

By way of example, FIG. 3 shows a process schematic of an AGV scheduling method. As shown in fig. 3, the scene service refers to that the AGV scheduling system controls the AGV to execute the logistics tasks, the script engine is a function in the script engine corresponding to each logistics task in the AGV scheduling system, and the signal service refers to a signal service module in the central memory for interacting with other devices and reading and modifying and updating each signal bit through signal driving in real time. When the AGV dispatching system processes a certain process route, once the subtask with the IFTTT in the process route is executed, a function in a script engine corresponding to the is in the IFTTT is called, the return value of the function is changed along with the current landmark and the current signal value, and meanwhile, the values of some specific signals in the blackboard service are set to be specific values. When the return value of the this function is true, the function in the script engine corresponding to the this is called, and at this time, the function operates on the value of the specific corresponding signal in the blackboard service, and simultaneously sends an instruction to the AGV, so that the AGV completes the specific action.

Illustratively, taking the siemens S7 drive as an example, a configuration method of the signal group is described. Selecting S7 driving, automatically generating a configuration parameter template, and filling according to the description of the S7 driving, wherein the key points are as follows: the well-known port of the S7 protocol is 102, the cpu type defaults to 1200, and the db block length unit is a byte. Clicking the "signal to add" button on the row where the signal group is added, and adding a signal. For a simple scenario, such as only one manipulator, the signal name may be written as a DB block address in the format "DB { number } { byte index } { bit index }. The byte index is the position of the signal in the byte array of the data block, starting from 0. The bit subscript is the bit of the signal in bytes, starting with 0. If the bit index is not written, the signal data type is defaulted to uint16. For complex scenarios, such as a row of manipulators, naming by DB block address is renamed and can be described by configuration parameters. The names use the hump nomenclature of Pascal style, and the labels are friendly names for man-machine interaction. The configuration parameters are described as follows: drive URI format: s7://:102/? DB { x } = { y }, x is a data block address, such as DB11.y is the number of consecutive bytes read from the data block. The plurality of address blocks may be represented as db11=20 & db12=12. The Name attribute of the signal indicates the read address. For example, DB11.0 indicates that the 0 index byte of DB11 block begins to read, with the default data type being UIT 16.DB11.1.0 denotes the 0 bit of the 1 subscript of the DB11 block, which is a shorthand way of the bool type. The signal parameters are in a self-naming CSV format, agreed as follows: type= [ tank|byte|uint 16|string ]. The type defaults to uint16, the Siemens PLC uses a big endian, and drives automatic conversion according to the endian of the host system. string type is used with count parameter. When the signal Name value is in place, type is forced to bool. count= { n }. type=string, the byte length of the string is indicated. I.e., param= ", means uint16. Param= "type=byte", representing a byte. Param= "type=uint 16", representing bool. Param= "type=string, count=10", representing a character string of a maximum 10 bytes length.

Step S103, judging whether the target device allows the AGV to execute the execution action corresponding to the request signal based on the working state.

If yes, an instruction for allowing the execution of the execution action corresponding to the request signal is fed back to the AGV.

After the AGV dispatching system inquires the working state of the target equipment, whether the target equipment is in a state capable of operating with the AGV currently can be judged according to the working state of the target equipment, if so, the AGV dispatching system can send corresponding instructions to the AGV, and the AGV can operate according to a preset program after receiving the instructions.

According to the AGV scheduling method, the working state of each device is stored and updated in real time through the central storage, the working state of each device is inquired from the central storage through the AGV scheduling system, the instruction corresponding to the execution action is sent to the AGVs, indirect interaction between the AGVs and the devices is achieved, each AGV does not need to interact with the devices automatically, and misjudgment is prevented. And moreover, the AGV scheduling system can uniformly manage each AGV, and uniformly interact with each device through the central memory, so that the probability of collision or interference of each AGV when executing tasks is reduced, and the safety of the AGV scheduling process is improved.

In this embodiment, an AGV scheduling method is provided, and fig. 4 is a schematic flow chart of the AGV scheduling method according to an embodiment of the present invention, as shown in fig. 4, where the flow includes the following steps:

step S401, a request signal of the AGV is received.

The request signal carries the device identifier of the target device corresponding to the action that the AGV needs to execute.

The AGV executes logistics tasks according to the safety signal interlocking rules, which may be different according to different AGVs, PLC programs and signal types, but have the following preconditions:

(1) The input and output signals between the various devices that need to interact (devices are broadly referred to herein as including the AGV dispatch system and the host computer), such as the signals required for the AGV dispatch system to interact with the blackboard, the signals required for the blackboard to interact with the various devices.

(2) The work sequence and priority among the AGVs are defined, such as the sequence of the AGVs, the simultaneous sequence, the rotation sequence of a plurality of AGVs executing a procedure, etc. The simultaneous sequence refers to a rule that after the AGV enters the device, the device immediately sets a corresponding signal position and starts to be docked with the AGV at the same time.

(3) A conditional statement is written that determines whether to give an output signal based on the input signal of the AGV, for example, if the AGV requests to enter zone 1 and zone 1 has no other AGVs, an enable signal is sent to the AGV.

(4) Writing action sentences, and controlling the operation and stop of the AGV according to the input signals of the AGV, for example, if the AGV receives an allowing instruction, the AGV operates; and stopping if the AGV receives the stopping instruction.

Optionally, when the AGV reaches the corresponding point of the target device, a corresponding signal is sent to the AGV scheduling system. For example, when the AGV reaches the inbound point of the target device, an inbound request signal is sent to the AGV scheduling system; and when the AGV reaches the station departure point of the target equipment, sending a station departure request signal to the AGV dispatching system.

Optionally, an electronic tag for positioning is set at a corresponding point, a part capable of reading the electronic tag is set in the AGV, and when the AGV reads the electronic tag at the corresponding point, a corresponding request signal is sent to the AGV dispatching system.

Optionally, a laser emitting device for positioning is arranged at the corresponding point, a component capable of receiving laser is arranged in the AGV, and when the AGV reads the laser at the corresponding point, a corresponding request signal is sent to the AGV dispatching system.

Optionally, after receiving the request signal of the AGV, the AGV scheduling system sends a parking instruction to other AGVs if the request signal of other AGVs is received; and after the current execution action of the AGV is processed, processing the execution actions of other AGVs according to the time sequence of the received request signals of the other AGVs.

Optionally, after receiving the request signal of the AGV, the AGV scheduling system sends a parking instruction to other AGVs if the request signal of other AGVs is received; and after the current execution action of the AGVs is processed, sequencing other AGVs according to the procedure of the logistics task so as to process the execution actions of the other AGVs.

Specifically, step S401 includes:

in step S401A, when the request signal is an inbound request signal, an inbound request signal of the AGV is received.

When the AGVs need to enter the station, an entering request signal is sent to the AGV dispatching system. The AGV scheduling system receives an inbound request signal sent by the AGV.

In step S401B, when the request signal is an out-of-stop request signal, the out-of-stop request signal of the AGV is received.

When the AGVs need to leave the station, an off-station request signal is sent to the AGV dispatching system. The AGV scheduling system receives an off-station request signal sent by the AGV.

Step S402, query the central storage for the operating status of the target device based on the device identification.

Wherein, the working state of each device is stored and updated in the central memory in real time.

The principle of step S402 is similar to that of step S102, and will not be described here again. The following describes the specific steps corresponding to S402 when the request signal of the AGV is an inbound request signal and an outbound request signal, respectively.

Specifically, step S402 includes:

in step S402A, the operating state is an incoming permission state, and the incoming permission state of the target device is queried from the central storage based on the device identification.

The central storage stores and updates the signal bit corresponding to the admission state of the target device in real time, when the target device admits admission, the signal bit is one value, when the target device disallows admission, the signal bit is another value, for example, the signal bit is 1 when the target device admits admission, the signal bit is 0 when the target device disallows admission, and when the admission state of the target device changes, the signal bit is set to the corresponding signal value, for example, when the target device is switched from disallowing admission to admission, the signal bit is set to 1 from 0. When the request signal of the AGV is an inbound request signal, the AGV scheduling system inquires about the inbound permission state of the target device from the central memory based on the device identification of the target device.

In step S402B, the operating state is an off-station permission state, and the off-station permission state of the target device is queried from the central memory based on the device identification.

The central memory stores and updates the signal bit corresponding to the off-site allowed state of the target device in real time, when the target device allows off-site, the signal bit is one value, when the target device does not allow off-site, the signal bit is another value, for example, the signal bit is 1 when the target device allows off-site, the signal bit is 0 when the target device does not allow off-site, and when the off-site allowed state of the target device changes, the signal bit is set to the corresponding signal value, for example, when the target device is switched from not allowing off-site to allowing off-site, the signal bit is set to 1 from 0. When the request signal of the AGV is an off-station request signal, the AGV dispatching system inquires of the off-station permission state of the target equipment from the central memory based on the equipment identification of the target equipment.

Step S403, determining whether the target device allows the AGV to execute the execution action corresponding to the request signal based on the working state.

If yes, an instruction for allowing the execution of the execution action corresponding to the request signal is fed back to the AGV.

Specifically, step S403 includes:

in step S403A, the execution action is to enter, and it is determined whether the target device allows the AGV to enter based on the entry permission status.

If yes, the AGV is fed back with an allowable inbound instruction.

When the request signal of the AGV is an inbound request signal, the AGV scheduling system judges whether the target equipment allows the AGV to enter the station or not based on the signal value corresponding to the inquired inbound permission state of the target equipment. When the target device allows the AGV to enter, the AGV scheduling system sends an allowed enter instruction to the AGV, and the AGV starts entering after receiving the allowed enter instruction.

If not, a parking instruction is sent to the AGV, and the entering allowable state of the target equipment is continuously inquired from a central memory based on the equipment identification.

When the target equipment does not allow the AGVs to enter the station, the AGV scheduling system sends a parking instruction to the AGVs, and the AGVs park and stand by. The AGV scheduling system continuously inquires the admission permission state of the target equipment until the admission permission state of the target equipment is set (namely, the target equipment permits the AGV to enter), the AGV scheduling system sends an admission permission instruction to the AGV, and the AGV starts to enter after receiving the admission permission instruction.

Further, the AGV scheduling system receives a job request signal from the AGV. After the AGV enters the station, when reaching the starting operation point of the cooperative operation with the target equipment, an operation request signal is sent to the AGV scheduling system. The method for locating the start operation point is similar to the method for locating the corresponding point mentioned in step S401, and will not be repeated here. The cooperative operation is an operation process that needs the AGV to cooperate with the target device to finish, for example, the AGV discharges the load to the target device, and the target device stores the load transported by the AGV.

Further, the job permission status of the target device is queried from the central storage based on the device identification. When the AGV scheduling system receives the job request signal of the AGV, the AGV queries the job permission status of the target device from the central memory based on the device identification of the target device.

Further, it is determined whether the target device allows the AGV to cooperate with the job based on the job allowing status.

If yes, the AGV is fed back with an instruction for allowing collaborative operation. When the AGV receives the command for allowing the cooperative work, the AGV starts to work cooperatively with the target equipment.

If not, a parking instruction is sent to the AGV, and the work permission state of the target device is continuously inquired from a central memory based on the device identification. And when the AGV scheduling system inquires that the target equipment does not allow the cooperative work, continuously inquiring the work permission state of the target equipment until the target equipment allows the cooperative work, and feeding back a cooperative work permission instruction to the AGV.

Further, after the cooperation between the AGV and the target device is completed, the AGV needs to leave the target device. When the AGV reaches the off-site location, the AGV sends an off-site request signal to the AGV dispatching system, and the AGV dispatching system receives the off-site request signal. The steps after the AGV scheduling system receives the off-station request signal are described in detail, and are not described in detail herein.

Further, when the AGV leaves the target device, that is, when the AGV reaches the off-site completion point, the off-site completion signal is sent to the AGV, and the AGV can start to process the received signals sent by other AGVs.

In step S403B, the execution action is to leave, and it is determined whether the target device allows the AGV to leave based on the leave permission status.

If yes, the AGV is fed back with an instruction for allowing the stop departure.

When the request signal of the AGV is an off-station request signal, the AGV scheduling system judges whether the target equipment allows the AGV to leave or not based on the signal value corresponding to the inquired off-station allowing state of the target equipment. When the target device allows the AGVs to leave, the AGV scheduling system sends an instruction for allowing the AGVs to leave, and the AGVs start leaving after receiving the instruction for allowing the AGVs to leave.

If not, sending a parking instruction to the AGV, and continuously inquiring the off-stop permission state of the target equipment from the central memory based on the equipment identification.

When the target equipment does not allow the AGVs to leave the stops, the AGV scheduling system sends a parking instruction to the AGVs, and the AGVs park and stand by. The AGV scheduling system continuously inquires the off-stop allowing state of the target equipment until the off-stop allowing state of the target equipment is set (namely the target equipment allows the AGV to leave), the AGV scheduling system sends an off-stop allowing instruction to the AGV, and the AGV starts off-stop after receiving the off-stop allowing instruction.

Further, when the AGV leaves the target device, that is, when the AGV reaches the off-site completion point, the off-site completion signal is sent to the AGV, and the AGV can start to process the received signals sent by other AGVs.

It should be noted that, for convenience of description, the above steps describe the entering of the AGV and the exiting of the AGV in parallel, but in a practical application scenario, the AGV performs each action according to the steps of the embodiment of fig. 1, for example, the AGV may perform the entering action according to the steps of the embodiment of fig. 1, perform the cooperative operation action according to the steps of the embodiment of fig. 1, and finally perform the exiting action according to the steps of the embodiment of fig. 1.

Further, when a plurality of AGVs together complete a process, the AGV scheduling system sequentially performs an inbound operation with the corresponding AGV according to the process according to the steps of the embodiment of fig. 1, performs a cooperative operation according to the steps of the embodiment of fig. 1, and performs an outbound operation according to the steps of the embodiment of fig. 1 until the process is completed.

In an alternative embodiment, the operating state of the target device further includes a heartbeat state, the method further comprising: querying the heartbeat state of the target device from the central memory based on the device identification; if the heartbeat state of the target device is abnormal, sending a stopping instruction to the AGV, and continuously inquiring the heartbeat state of the target device from the central memory based on the device identification.

The heartbeat state of the target device is stored and updated in real time in the central memory. The heartbeat means that in the monitoring of industrial equipment, information is periodically sent between a main server and each device to judge whether the device is in a normal working state. When the AGV dispatching system inquires that the heartbeat state of the target equipment is abnormal, the target equipment possibly fails, the AGV dispatching system immediately sends a stopping instruction to the AGV, and the AGV stops so as to avoid more serious faults or safety accidents caused by cooperative operation with the failed target equipment.

Further, the AGV scheduling system continuously inquires the heartbeat state of the target equipment until the heartbeat state of the target equipment is recovered to be normal, and the AGV scheduling system sends an instruction for restarting the operation to the AGV.

Optionally, when the AGV scheduling system queries that the heartbeat state of the target device is abnormal and continues for a preset period of time, the target device is displayed and alarm is given, or the target device is displayed and alarm is given back to the upper computer, so as to inform relevant technicians of maintenance.

Furthermore, the cooperative operation process of the AGV and the target equipment can be further set according to actual requirements, for example, the target equipment stops working after continuously working for a preset period of time, the heartbeat state becomes abnormal, the AGV scheduling system transmits a stopping instruction to the AGV when inquiring that the heartbeat state of the target equipment is abnormal, until the target equipment begins to work again, and the heartbeat state is recovered to be normal.

By way of example, FIG. 5 shows a schematic process diagram of a safety signal interlock. As shown in fig. 5, the AGV starts to execute the task after receiving the task, and before entering the station of the target device, the AGV needs to confirm that the target device is allowed to enter through the AGV scheduling system before entering the station. After reaching the station of the target device, the AGV needs to send an in-place signal to the AGV scheduling system and wait for the AGV scheduling system to inquire that the target device is ready, and then the AGV can start the docking operation. After the AGV completes the cooperative work with the target equipment, a completion signal needs to be sent to the AGV scheduling system, and the AGV can leave the station after waiting for the AGV scheduling system to inquire that the target equipment allows the AGV to leave the station. After the AGV leaves the station of the target device, the AGV needs to send a leaving signal to the AGV scheduling system and wait for the AGV scheduling system to send a leaving permission instruction, and then the AGV can execute the next task.

According to the AGV scheduling method, the working state of each device is stored and updated in real time through the central storage, the working state of each device is inquired from the central storage through the AGV scheduling system, the instruction corresponding to the execution action is sent to the AGVs, indirect interaction between the AGVs and the devices is achieved, each AGV does not need to interact with the devices automatically, and misjudgment is prevented. And moreover, the AGV scheduling system can uniformly manage each AGV, and uniformly interact with each device through the central memory, so that the probability of collision or interference of each AGV when executing tasks is reduced, and the safety of the AGV scheduling process is improved.

The embodiment also provides an AGV scheduling apparatus, which is used to implement the foregoing embodiments and preferred embodiments, and is not described in detail. As used below, the term "module" may be a combination of software and/or hardware that implements a predetermined function. While the means described in the following embodiments are preferably implemented in software, implementation in hardware, or a combination of software and hardware, is also possible and contemplated.

The embodiment provides an AGV scheduling apparatus, as shown in fig. 6, including:

A receiving unit 601, configured to receive a request signal of an AGV, where the request signal carries an equipment identifier of a target equipment corresponding to an action that the AGV needs to execute;

a query unit 602, configured to query, based on the device identifier, an operating state of the target device from a central storage, where the operating state of each device is stored and updated in real time in the central storage;

a judging unit 603, configured to judge, based on the working state, whether the target device allows the AGV to execute an execution action corresponding to the request signal;

if yes, an instruction for allowing the execution of the execution action corresponding to the request signal is fed back to the AGV.

In one possible implementation, the request signal is an inbound request signal, the working state is an inbound allowed state, and the performing action is inbound; the determining, based on the working state, whether the target device allows the AGV to execute the execution action corresponding to the request signal includes: judging whether the target device allows the AGV to enter based on the entering permission state; if yes, feeding back an instruction for allowing the execution of the execution action corresponding to the request signal to the AGV, wherein the instruction comprises: if yes, the AGV is fed back with an allowable inbound instruction.

In one possible implementation, if not, a park instruction is sent to the AGV and the inbound permission status of the target device is continuously queried from the central memory based on the device identification.

In one possible implementation, the request signal is an off-station request signal, the operating state is an off-station permission state, and the performing action is off-station; the determining, based on the working state, whether the target device allows the AGV to execute the execution action corresponding to the request signal includes: judging whether the target equipment allows the AGV to leave the stop or not based on the leaving allowable state; if yes, feeding back an instruction for allowing the execution of the execution action corresponding to the request signal to the AGV, wherein the instruction comprises: if yes, the AGV is fed back with an instruction for allowing the stop departure.

In one possible implementation, if not, a park instruction is sent to the AGV and the off-stop permission status of the target device is continuously queried from the central memory based on the device identification.

In one possible implementation, the operating state of the target device further includes a heartbeat state; querying the heartbeat state of the target device from the central memory based on the device identification; if the heartbeat state of the target device is abnormal, sending a stopping instruction to the AGV, and continuously inquiring the heartbeat state of the target device from the central memory based on the device identification.

In one possible implementation, after the request signal of the AGV is received, if the request signal of other AGVs is received, a parking instruction is sent to the other AGVs; and after the current execution action of the AGV is processed, processing the execution actions of other AGVs according to the time sequence of the received request signals of the other AGVs.

The AGV scheduling apparatus in this embodiment is in the form of functional units, where the units are ASIC (Application Specific Integrated Circuit ) circuits, processors and memories that execute one or more software or firmware programs, and/or other devices that provide the above described functions.

The embodiment of the invention also provides computer equipment, which is provided with the AGV scheduling device shown in the figure 7.

Referring to fig. 7, fig. 7 is a schematic structural diagram of a computer device according to an alternative embodiment of the present invention, as shown in fig. 7, the computer device includes: one or more processors 10, memory 20, and interfaces for connecting the various components, including high-speed interfaces and low-speed interfaces. The various components are communicatively coupled to each other using different buses and may be mounted on a common motherboard or in other manners as desired. The processor may process instructions executing within the computer device, including instructions stored in or on memory to display graphical information of the GUI on an external input/output device, such as a display device coupled to the interface. In some alternative embodiments, multiple processors and/or multiple buses may be used, if desired, along with multiple memories and multiple memories. Also, multiple computer devices may be connected, each providing a portion of the necessary operations (e.g., as a server array, a set of blade servers, or a multiprocessor system). One processor 10 is illustrated in fig. 7.

The processor 10 may be a central processor, a network processor, or a combination thereof. The processor 10 may further include a hardware chip, among others. The hardware chip may be an application specific integrated circuit, a programmable logic device, or a combination thereof. The programmable logic device may be a complex programmable logic device, a field programmable gate array, a general-purpose array logic, or any combination thereof.

Wherein the memory 20 stores instructions executable by the at least one processor 10 to cause the at least one processor 10 to perform the methods shown in implementing the above embodiments.

The memory 20 may include a storage program area that may store an operating system, at least one application program required for functions, and a storage data area; the storage data area may store data created according to the use of the computer device, etc. In addition, the memory 20 may include high-speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid-state storage device. In some alternative embodiments, memory 20 may optionally include memory located remotely from processor 10, which may be connected to the computer device via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.

Memory 20 may include volatile memory, such as random access memory; the memory may also include non-volatile memory, such as flash memory, hard disk, or solid state disk; the memory 20 may also comprise a combination of the above types of memories.

The computer device further comprises input means 30 and output means 40. The processor 10, memory 20, input device 30, and output device 40 may be connected by a bus or other means, for example in fig. 5.

The input device 30 may receive input numeric or character information and generate key signal inputs related to user settings and function control of the computer apparatus, such as a touch screen, a keypad, a mouse, a trackpad, a touchpad, a pointer stick, one or more mouse buttons, a trackball, a joystick, and the like. The output means 40 may include a display device, auxiliary lighting means (e.g., LEDs), tactile feedback means (e.g., vibration motors), and the like. Such display devices include, but are not limited to, liquid crystal displays, light emitting diodes, displays and plasma displays. In some alternative implementations, the display device may be a touch screen.

The embodiments of the present invention also provide a computer readable storage medium, and the method according to the embodiments of the present invention described above may be implemented in hardware, firmware, or as a computer code which may be recorded on a storage medium, or as original stored in a remote storage medium or a non-transitory machine readable storage medium downloaded through a network and to be stored in a local storage medium, so that the method described herein may be stored on such software process on a storage medium using a general purpose computer, a special purpose processor, or programmable or special purpose hardware. The storage medium can be a magnetic disk, an optical disk, a read-only memory, a random access memory, a flash memory, a hard disk, a solid state disk or the like; further, the storage medium may also comprise a combination of memories of the kind described above. It will be appreciated that a computer, processor, microprocessor controller or programmable hardware includes a storage element that can store or receive software or computer code that, when accessed and executed by the computer, processor or hardware, implements the methods illustrated by the above embodiments.

Although embodiments of the present invention have been described in connection with the accompanying drawings, various modifications and variations may be made by those skilled in the art without departing from the spirit and scope of the invention, and such modifications and variations fall within the scope of the invention as defined by the appended claims.

Claims (10)

1. An AGV scheduling method, comprising:

receiving a request signal of an AGV, wherein the request signal carries a device identifier of target device corresponding to an action required to be executed by the AGV;

inquiring the working state of the target equipment from a central memory based on the equipment identifier, wherein the working state of each equipment is stored and updated in the central memory in real time;

judging whether the target equipment allows the AGV to execute the execution action corresponding to the request signal based on the working state;

if yes, feeding back an instruction for allowing the execution of the execution action corresponding to the request signal to the AGV.

2. The method of claim 1, wherein the request signal is an inbound request signal, the operating state is an inbound allowed state, and the performing act is an inbound;

the step of judging whether the target device allows the AGV to execute the execution action corresponding to the request signal based on the working state includes:

judging whether the target equipment allows the AGV to enter based on the entering permission state;

if yes, feeding back an instruction for allowing execution of the execution action corresponding to the request signal to the AGV, wherein the instruction comprises:

If yes, feeding back an allowed inbound instruction to the AGV.

3. The method according to claim 2, wherein the method further comprises:

if not, sending a parking instruction to the AGV, and continuously inquiring the entering permission state of the target equipment from a central memory based on the equipment identification.

4. The method of claim 1, wherein the request signal is an off-station request signal, the operating state is an off-station allowed state, and the performing act is off-station;

the step of judging whether the target device allows the AGV to execute the execution action corresponding to the request signal based on the working state includes:

judging whether the target equipment allows the AGV to leave the stop or not based on the leaving permission state;

if yes, feeding back an instruction for allowing execution of the execution action corresponding to the request signal to the AGV, wherein the instruction comprises:

if yes, feeding back an instruction for allowing the AGV to leave the station.

5. The method according to claim 4, wherein the method further comprises:

if not, sending a parking instruction to the AGV, and continuously inquiring the off-stop permission state of the target equipment from a central memory based on the equipment identifier.

6. The method of any one of claims 1 to 5, wherein the operational state of the target device further comprises a heartbeat state, the method further comprising:

querying a central memory for a heartbeat status of the target device based on the device identification;

if the heartbeat state of the target equipment is abnormal, sending a parking instruction to the AGV, and continuously inquiring the heartbeat state of the target equipment from a central memory based on the equipment identifier.

7. The method according to claim 1, wherein the method further comprises:

after receiving the request signals of the AGVs, if the request signals of other AGVs are received, sending parking instructions to the other AGVs;

and after the current execution action of the AGV is processed, processing the execution actions of other AGVs according to the time sequence of the received request signals of the other AGVs.

8. An AGV scheduling apparatus, the apparatus comprising:

the AGV comprises a receiving unit, a processing unit and a processing unit, wherein the receiving unit is used for receiving a request signal of the AGV, and the request signal carries a device identifier of a target device corresponding to an action required to be executed by the AGV;

the inquiring unit is used for inquiring the working state of the target equipment from a central memory based on the equipment identifier, wherein the working state of each equipment is stored and updated in the central memory in real time;

The judging unit is used for judging whether the target equipment allows the AGV to execute the execution action corresponding to the request signal or not based on the working state;

if yes, feeding back an instruction for allowing the execution of the execution action corresponding to the request signal to the AGV.

9. A computer device, comprising:

a memory and a processor in communication with each other, the memory having stored therein computer instructions that, upon execution, cause the processor to perform the AGV scheduling method of any of claims 1-7.

10. A computer readable storage medium having stored thereon computer instructions for causing a computer to perform the AGV scheduling method of any one of claims 1 to 7.