CN117389223A - Automatic guided transportation equipment scheduling method, system, electronic setting and storage medium - Google Patents

Abstract

The invention provides a dispatching method, a dispatching system, electronic setting and storage media for automatic guided transportation equipment, and relates to the technical field of equipment dispatching, wherein the method comprises the following steps: determining target equipment information of the automatic guiding transportation equipment according to the task instruction of the automatic guiding transportation equipment sent by the integrated dispatching unit; determining a protocol conversion server corresponding to the automatic guiding transportation equipment according to the target equipment information; the task instruction and the target equipment information are sent to the protocol conversion server, so that the protocol conversion server carries out protocol conversion on the task instruction, the converted task instruction is sent to the automatic guiding and transporting equipment according to the target equipment information, the double-layer proxy technology is built to solve the protocol conversion of the instruction and transmit the instruction to the automatic guiding and transporting equipment, the influence of different protocols on the dispatching process is eliminated, the centralized control of the automatic guiding and transporting equipment is achieved, the automatic guiding and transporting equipment of each type is efficiently and conveniently dispatched, and the utilization rate and the production efficiency are improved.

Description

Automatic guided transportation equipment scheduling method, system, electronic setting and storage medium

Technical Field

The present invention relates to the field of equipment scheduling technologies, and in particular, to a method and a system for scheduling an automatic guided transportation device, an electronic device, and a storage medium.

Background

Automated guided transport equipment is an emerging industry, and refers to equipment equipped with automated guiding devices such as electromagnetic or optical devices, and using navigation controllers to calculate the pose and path of the automated guided transport equipment, so as to travel along a fixed track or free path to perform a handling task.

The automated guided transport equipment industry does not have a standardized dispatch system and robot communication data interface specification, and each manufacturer has an independent dispatch system and robot communication protocol. Therefore, a plurality of sets of dispatching systems are corresponding to the automatic guiding and transporting equipment of a plurality of manufacturers in the intelligent factory, the automatic guiding and transporting equipment of different brands operates in independent areas, the systems are independent, and the automatic guiding and transporting equipment cannot be used in a mixed mode and has low utilization rate. In view of the above-mentioned multi-product form, the multi-communication protocol, if making corresponding equipment scheduling codes for each type of automated guided transportation equipment of each manufacturer one by one, tends to cause a great deal of repeated labor in software engineering, has low utilization rate and is difficult to manage.

Disclosure of Invention

The invention provides a dispatching method, a dispatching system, electronic setting and storage media for automatic guiding and transporting equipment, which are used for solving the defects that in the prior art, corresponding equipment dispatching codes are formulated one by one for each type of automatic guiding and transporting equipment of each manufacturer, so that a great deal of repeated labor and difficult management are caused on software engineering, realizing the efficient and convenient dispatching of each type of automatic guiding and transporting equipment, and improving the utilization rate and the production efficiency.

The invention provides an automatic guiding transportation equipment scheduling method, which is applied to proxy clients corresponding to automatic guiding transportation equipment and comprises the following steps:

determining target equipment information of the automatic guiding transportation equipment according to the task instruction of the automatic guiding transportation equipment sent by the integrated dispatching unit;

determining a protocol conversion server corresponding to the automatic guiding transportation equipment according to the target equipment information;

the task instruction and the target equipment information are sent to the protocol conversion server, so that the protocol conversion server carries out protocol conversion on the task instruction, and the converted task instruction is sent to the automatic guiding transportation equipment according to the target equipment information;

Wherein the proxy client is determined based on the target device information.

According to the automatic guided transportation equipment scheduling method provided by the invention, the target equipment information comprises one or more of equipment manufacturer, equipment type and equipment number;

the determining, according to the target device information, a protocol conversion server corresponding to the automated guided transportation device includes:

and determining a protocol conversion server corresponding to the automatic guided transportation equipment in a protocol conversion service cluster according to one or more combinations of the equipment manufacturer, the equipment type and the equipment number.

According to the method for dispatching the automatic guided transportation equipment provided by the invention, the target equipment information of the automatic guided transportation equipment is determined according to the task instruction of the automatic guided transportation equipment sent by the integrated dispatching unit, and the method comprises the following steps:

acquiring a target identifier of the automatic guiding transportation equipment according to the task instruction;

and determining the target equipment information according to the target identification.

According to the method for dispatching the automatic guided transportation equipment provided by the invention, the method further comprises the following steps:

receiving target state data sent by the protocol conversion server; the target state data is generated by the protocol conversion server through protocol conversion on the original state data fed back by the automatic guided transportation equipment; the original state data is generated by the automatic guidance transportation equipment executing the task instruction according to the execution result;

The target state data is sent to the integrated scheduling unit so that the integrated scheduling unit can determine the execution state of the task instruction according to the target state data;

wherein the target state data includes device state data and/or device location data, and task state data.

According to the method for dispatching the automatic guided transportation equipment, the protocol conversion server determines the Internet protocol address and the equipment port number corresponding to the automatic guided transportation equipment according to the target equipment information, establishes a target communication link according to the Internet protocol address and the equipment port number, and sends the target communication link to the automatic guided transportation equipment.

According to the automatic guided transportation equipment scheduling method provided by the invention, the task instruction is generated by the integrated scheduling unit according to the task type of the automatic guided transportation equipment and the task template determined by the target equipment information.

The invention also provides a dispatching method of the automatic guiding transportation equipment, which is applied to a protocol conversion server corresponding to the automatic guiding transportation equipment and comprises the following steps:

Receiving a task instruction of the automatic guiding transportation equipment and target equipment information of the automatic guiding transportation equipment, which are sent by a proxy client corresponding to the automatic guiding transportation equipment;

performing protocol conversion on the task instruction, and sending the converted task instruction to the automatic guiding transportation equipment according to the target equipment information;

the protocol conversion server is determined by the proxy client according to the task instruction of the automatic guiding transportation equipment sent by the integrated dispatching unit, and the determined target equipment information of the automatic guiding transportation equipment is determined.

According to the method for dispatching the automatic guided transportation equipment provided by the invention, the converted task instruction is sent to the automatic guided transportation equipment according to the target equipment information, and the method comprises the following steps:

according to the target equipment information, determining an Internet protocol address and an equipment port number corresponding to the automatic guided transportation equipment;

establishing a target communication link according to the Internet protocol address and the equipment port number;

and sending the converted task instruction to the automatic guided transportation equipment according to the target communication link.

The invention also provides an automatic guiding transportation equipment dispatching system, which comprises an integrated dispatching unit, an agent client, a protocol conversion server and automatic guiding transportation equipment;

the proxy client is respectively in communication connection with the integrated scheduling unit and the protocol conversion server; the protocol conversion server is in communication connection with the automatic guided transportation equipment;

the invention also provides an electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the automated guided transportation device scheduling method as described in any one of the above when executing the program.

The present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the automated guided transport equipment scheduling method as described in any of the above.

The invention also provides a computer program product comprising a computer program which when executed by a processor implements the automated guided transportation device scheduling method of any one of the above.

The invention provides an automatic guiding transportation equipment scheduling method, an automatic guiding transportation equipment scheduling system, an electronic setting and a storage medium, wherein a proxy client firstly receives a task instruction of automatic guiding transportation equipment sent by an integrated scheduling unit and determines corresponding target equipment information according to the task instruction; and then, determining a protocol conversion server corresponding to the automatic guiding transportation equipment according to the target equipment information, sending the task instruction and the target equipment information to the protocol conversion server, so that the protocol conversion server carries out protocol conversion on the task instruction and sends the task instruction to the automatic guiding transportation equipment, constructing a double-layer proxy technology to solve the protocol conversion of the instruction and transmit the instruction to the automatic guiding transportation equipment, eliminating the influence of different protocols on a dispatching process, achieving centralized management and control on the automatic guiding transportation equipment, realizing efficient and convenient dispatching on each type of automatic guiding transportation equipment, improving the utilization rate and the production efficiency, expanding the collaborative operation range and reducing the dispatching implementation cost.

Drawings

In order to more clearly illustrate the invention or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the 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 schematic flow chart of a method for dispatching an automated guided transport apparatus according to the present invention;

FIG. 2 is a schematic diagram of an automated guided transport equipment scheduling system according to one embodiment of the present invention;

FIG. 3 is a second flow chart of the method for dispatching an automated guided transportation device according to the present invention;

FIG. 4 is a schematic diagram of a second embodiment of an automated guided transport equipment scheduling system according to the present invention;

fig. 5 is a schematic structural diagram of an electronic device provided by the present invention.

Reference numerals:

21: an integrated scheduling unit; 22: a proxy client; 23: a protocol conversion server; 24: and automatically guiding the transportation equipment.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, not all embodiments. 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.

AGVs (Automated Guided Vehicle, automated guided vehicles) are emerging industries, which refer to wheeled robots or vehicles equipped with electromagnetic or optical, etc. automated guides, using navigation controllers to calculate AGV pose and path to travel along fixed rails or free paths to accomplish a transport task.

The AGV industry does not have a standard dispatching system and robot communication data interface standard, and each manufacturer has a dispatching system and robot communication protocol. Resulting in multiple sets of scheduling systems for the AGVs of only a few vendors in the smart factory. And different brands AGVs operate in independent areas, the systems are mutually independent, and the AGVs cannot be mixed and have low utilization rate. In view of the above multi-product form, the multi-communication protocol, if a corresponding equipment scheduling code is formulated for each type of AGV of each manufacturer, would cause a great deal of repeated labor in software engineering; each scheduling system needs to be in butt joint with each scheduling system, so that the AGVs cannot be globally controlled for clients, the AGVs cannot be mixed, and the utilization rate is low; in addition, the scheduling system cannot interact with AGVs of other manufacturers, the digitization degree is low, therefore, the AGVs of other manufacturers cannot be scheduled, traffic control cannot be realized globally, if a cross route exists, potential safety hazards exist, the utilization rate is low, and management is difficult.

Aiming at the problems, the application provides an integrated scheduling scheme which is focused on cooperative scheduling control of AGVs of various types, and can coordinate control of AGVs of different types in the same map, so that most AGV manufacturers can be covered, and the adaptability, the utilization rate and the production efficiency of the system are improved.

The automated guided transport equipment scheduling method of the present invention is described below with reference to fig. 1-3.

Fig. 1 is a flow chart of a method for dispatching an automated guided transportation device according to the present embodiment. The method is applied to an automatic guided transportation equipment scheduling system. Fig. 2 is a schematic structural diagram of an automatic guided transportation device scheduling system according to the present embodiment. As shown in fig. 2, the automated guided transport apparatus scheduling system includes an integrated scheduling unit 21 (hereinafter also referred to as an integrated scheduling system), a proxy client 22 (hereinafter also referred to as an AGV proxy client), a protocol conversion server 23, and an automated guided transport apparatus 24 (hereinafter also referred to as an AGV).

The integrated dispatch unit 21 and the proxy client 22 may communicate via one or more protocols, such as TCP (Transmission Control Protocol, transport layer communication protocol); the proxy client 22 and the protocol conversion server 23 may also communicate via one or more protocols, such as via an internal interface or HTTP (Hypertext Transfer Protocol ), and the conversion server 23 and the automated guided transport apparatus 24 may also communicate via one or more protocols, such as via at least one of SDK (Software Development Kit ), TCP and UDP (User Datagram Protocol, user datagram protocol).

The integrated scheduling system is used for realizing management contents such as AGV management, task issuing, traffic control, work station management, manufacturer management, model management, protocol management and the like; the AGV agent client is a virtual AGV middleware realized by a programming language, has the capability of communicating with the integrated scheduling system and the protocol conversion server, and can receive the data issued by the integrated scheduling system and reported by the protocol conversion server; the protocol conversion server is a bridge for connecting the AGV and the AGV agent client, supports communication with the AGV, is different from the protocol conversion server corresponding to different manufacturers, is simultaneously used for map conversion, instruction conversion, state receiving, instruction issuing, difference processing, log recording and the like, and can be at least one of Modbus TCP (Modbus Transmission Control Protocol, serial communication transmission protocol) protocol, VDA5050 (Verband der Automobilindustrie5050, automatic guided transport device communication standard interface) protocol and other AGV communication protocols.

As shown in fig. 1, the execution body of the method may be a proxy client, and the method is used for receiving an instruction issued by an integrated scheduling system and data reported by a reporting protocol proxy server, and includes:

Step 101, determining target equipment information of the automatic guiding transportation equipment according to a task instruction of the automatic guiding transportation equipment sent by the integrated scheduling unit; wherein the proxy client is determined based on the target device information.

Alternatively, the determination of the proxy client may be implemented by the integrated scheduling unit acquiring, according to the target device information, a communication protocol matching the automated guided transport device, and determining, among a plurality of proxy clients configured in advance according to different communication protocols, a proxy client corresponding to the communication protocol matching the automated guided transport device.

The agent client firstly acquires a task instruction of the automatic guided transportation device sent by the integrated dispatching unit, and then determines target device information of the automatic guided transportation device according to the task instruction.

The automatic guided transport device may be an AGV in the automatic guided transport device scheduling system, or may be a transport device on which an AGV device is mounted, which is not particularly limited in this embodiment.

The task instruction may be generated in real time by the integrated scheduling unit according to the historical state data fed back by the automatic guiding transportation device, or may be generated by the integrated scheduling unit according to the task requirement uploaded by the operator, which is not limited in detail in this embodiment.

Optionally, the implementation manner of uploading the task requirement by the operator may be to fill in the task requirement manually by the operator and upload the task requirement; or the operator can directly carry out filling by means of touch input, voice input, gesture input, visual input, brain-computer input and the like; the operator may also select the abnormal behavior task requirement by applying a pull-down option set in advance, which is not specifically limited in this embodiment.

In some embodiments, the task instruction of the automated guided transport apparatus sent by the integrated scheduling unit may be a task, an online task, an apparatus scheduling task, and the like, including a task downloaded by the integrated scheduling unit in advance according to a unified map file mapped by the map factory topology, which is not specifically limited in this embodiment.

It will be appreciated that the integrated dispatching unit may be a map file drawn according to the actual situation of the site before sending the equipment dispatching task of the automated guided transport equipment, where the map file includes, but is not limited to, information for labeling stations, charging piles, rotation points, elevators, etc. to provide technical support for unified integrated dispatching.

Optionally, the proxy client determines the target device information according to the task instruction, which may be directly obtained by analyzing the task instruction; or the device identifier of the automatic guiding and transporting device corresponding to the task instruction may be obtained according to the task instruction, and then the device identifier of the automatic guiding and transporting device is searched for, which is not limited in this embodiment.

Step 102, determining a protocol conversion server corresponding to the automatic guidance transportation equipment according to the target equipment information;

after the target device information of the automatic guiding transportation device is obtained, the proxy client may determine a protocol conversion server corresponding to the automatic guiding transportation device according to the target device information.

In some embodiments, the target device information includes one or more combinations of device vendor, device type, and device number;

the determining, according to the target device information, a protocol conversion server corresponding to the automated guided transportation device includes: and determining a protocol conversion server corresponding to the automatic guided transportation equipment in a protocol conversion service cluster according to one or more combinations of the equipment manufacturer, the equipment type and the equipment number.

Wherein, equipment manufacturers refer to manufacturers producing automatic guiding transportation equipment.

Optionally, the target device information may be preconfigured to the integrated scheduling unit by an operator, and sorted and categorized by the integrated scheduling unit for functional attributes of different vehicle types of different manufacturers.

Wherein, the functional attribute of the automatic guiding transportation equipment can be configured according to the actual scene; by way of example, the functional attributes of the automated guided transport apparatus in this embodiment may be attributes including the maximum lift height, drop height, etc. of the AGV, which is not specifically limited in this embodiment.

Optionally, the implementation manner of configuring the target device information by the operator may be that the operator manually fills in the target device information such as the device manufacturer, the device type, the device number, and the like in batch and configures the target device information to the integrated scheduling unit; or the operator can directly fill the information of the target equipment in the integrated scheduling unit by means of touch input, voice input, gesture input, visual input, brain-computer input and the like; the operator may also select the target device information by applying a pull-down option preset in the integrated scheduling unit for information such as a device manufacturer, a device type, and a device number, which is not specifically limited in this embodiment.

The proxy client may determine a protocol conversion server corresponding to the automated guided transport equipment in the protocol conversion service cluster according to one or more of equipment manufacturer, equipment type, and equipment number.

Wherein, the protocol conversion service cluster can be generated in advance based on different communication protocol configurations; there may be a one-to-one mapping between the protocol conversion service clusters and the corresponding communication protocols.

Correspondingly, the proxy client may determine a communication protocol matching the automated guided transport device according to one or more of a combination of device vendor, device type, and device number; and then determining a proxy client corresponding to the communication protocol matched with the automatic guided transportation equipment in the pre-configured protocol conversion service cluster according to the communication protocol and the mapping relation between the protocol conversion service cluster and the corresponding communication protocol.

Alternatively, the implementation manner of determining, by the proxy client, the communication protocol matched with the automated guided transport apparatus may be that the proxy client first determines, according to the apparatus manufacturer, a communication protocol set matched with the apparatus manufacturer, and then determines, in the communication protocol set matched with the apparatus manufacturer, the communication protocol matched with the automated guided transport apparatus according to the apparatus type, the mapping relationship configured in advance between the apparatus number and the communication protocol, and the embodiment is not limited specifically.

According to the method, the agent client determines the protocol conversion server corresponding to the automatic guiding transportation equipment in the protocol conversion service cluster based on one or more of equipment manufacturer, equipment type and equipment number, realizes the establishment of a double-layer agent technology to solve the protocol conversion of instructions and transmit the instructions to the automatic guiding transportation equipment, is beneficial to eliminating the influence of different protocols on a dispatching process, achieves centralized management and control of the automatic guiding transportation equipment, and efficiently and conveniently dispatches the automatic guiding transportation equipment of each type.

Step 103, the task instruction and the target equipment information are sent to the protocol conversion server, so that the protocol conversion server carries out protocol conversion on the task instruction, and the converted task instruction is sent to the automatic guiding transportation equipment according to the target equipment information;

after determining the protocol conversion server corresponding to the automated guided transport equipment, the proxy client may establish communication with the protocol conversion server, and send the task instruction and the target equipment information to the protocol conversion server through a communication link.

The protocol conversion server monitors the protocol conversion server in real time to acquire the task instruction and the target equipment information of the automatic guiding transportation equipment, which are sent by the protocol conversion server.

After receiving the task instruction and the target device information, the protocol conversion server may perform protocol conversion on the task instruction according to a pre-stored communication protocol, that is, the task instruction is converted into an AGV communication protocol instruction that can be identified by the automatic guided transport device by an integrated scheduling communication protocol instruction for unified scheduling.

And then the protocol conversion server can establish communication with the automatic guiding transportation equipment according to the target equipment information, and send the converted task instruction to the automatic guiding transportation equipment through a communication link so that the automatic guiding transportation equipment can execute the task instruction according to the converted task instruction and acquire an execution result.

The method comprises the steps that a proxy client firstly receives a task instruction of automatic guiding transportation equipment sent by an integrated dispatching unit and determines corresponding target equipment information according to the task instruction; and then, determining a protocol conversion server corresponding to the automatic guiding transportation equipment according to the target equipment information, sending the task instruction and the target equipment information to the protocol conversion server, so that the protocol conversion server carries out protocol conversion on the task instruction and sends the task instruction to the automatic guiding transportation equipment, constructing a double-layer proxy technology to solve the protocol conversion of the instruction and transmit the instruction to the automatic guiding transportation equipment, eliminating the influence of different protocols on a dispatching process, achieving centralized management and control on the automatic guiding transportation equipment, realizing efficient and convenient dispatching on each type of automatic guiding transportation equipment, improving the utilization rate and the production efficiency, expanding the collaborative operation range and reducing the dispatching implementation cost.

In some embodiments, the determining the target device information of the automated guided transport device according to the task instruction of the automated guided transport device sent by the integrated scheduling unit includes: acquiring a target identifier of the automatic guiding transportation equipment according to the task instruction; and determining the target equipment information according to the target identification.

The proxy client may first obtain the target identifier of the automated guided transport device according to the received task instruction.

The target identifier is an identifier of a mapping relation existing between the integrated scheduling unit and target equipment information in the process of generating the task instruction, and the identifier is configured in the task instruction and transmitted to the proxy client.

Accordingly, the proxy client may determine the target device information of the automated guided transport device according to the target identifier and the mapping relationship between the target identifier and the target device information in a one-to-one correspondence.

According to the embodiment, a target identifier of the automatic guiding transportation equipment is obtained through the proxy client according to a task instruction; and then, determining target equipment information according to the target identification, so that the target equipment information of the automatic guiding transportation equipment is effectively acquired, the automatic guiding transportation equipment of each type can be efficiently and conveniently scheduled, and the production efficiency is improved.

In some embodiments, the method further comprises: receiving target state data sent by the protocol conversion server; the target state data is generated by the protocol conversion server through protocol conversion on the original state data fed back by the automatic guided transportation equipment; the original state data is generated by the automatic guidance transportation equipment executing the task instruction according to the execution result; and sending the target state data to the integrated scheduling unit so that the integrated scheduling unit can determine the execution state of the task instruction according to the target state data.

After the converted task instruction is sent to the automated guided transporting device, the protocol conversion server may monitor the automated guided transporting device to receive the original state data generated by the automated guided transporting device according to the execution result after the task instruction is executed.

After receiving the original state data, the protocol conversion server may perform protocol conversion on the original state data according to a communication protocol, that is, convert the task instruction from the AGV communication protocol data into integrated scheduling communication protocol data that can be identified by the integrated scheduling unit, and use the converted data as target state data.

Wherein the target state data includes device state data and/or device location data, and task state data.

The equipment status data may be a combination of one or more of data including operational status data and charge status data of the automated guided transport equipment.

The protocol conversion server may then send the converted target state data to the proxy client over the communication link.

And then, the proxy client sends the target state data to the integrated scheduling unit so that the integrated scheduling unit can determine the execution state of the task instruction according to the target state data.

The execution state of the task instruction may include an execution success state, an execution failure state, and an executing state.

Optionally, the implementation manner of determining the execution state of the task instruction by the integrated scheduling unit may be that the integrated scheduling unit directly determines whether the task instruction is executed according to the task state data, and then the integrated scheduling unit may determine whether the automatic guidance transportation device currently meets the expected device state according to the device state data, so as to determine whether the task instruction is executed successfully; or judging whether the automated guided transporting apparatus currently meets the expected apparatus position according to the apparatus position data to determine whether the task instruction is successfully executed, which is not particularly limited in the embodiment.

It can be understood that after determining the execution state of the task instruction, the integrated scheduling unit may perform the control of the AGV according to the execution state of the task instruction, such as a suspension instruction and a issuing instruction, and repeat the above steps, so as to implement the control of the AGV vehicle.

According to the method, the agent client receives the target state data sent by the protocol conversion server and sends the target state data to the integrated scheduling unit, so that the integrated scheduling unit can determine the execution state of the task instruction according to the target state data, the monitoring of the execution state of the task instruction by the automatic guided transportation equipment is realized, the centralized management and control of the automatic guided transportation equipment are facilitated, and each type of automatic guided transportation equipment is efficiently and conveniently scheduled.

In some embodiments, the converted task instruction is sent to the automated guided transport equipment according to the target communication link by the protocol conversion server, determining an internet protocol address and an equipment port number corresponding to the automated guided transport equipment according to the target equipment information, and establishing a target communication link according to the internet protocol address and the equipment port number.

After the protocol conversion of the task instruction is completed, the protocol conversion server may parse the target device information to obtain a parsing result, and determine an internet protocol address (IP, internet Protocol) and a device port number corresponding to the automatic guided transportation device according to the parsing result.

And then, establishing a target communication link between the automatic guiding transportation equipment and the automatic guiding transportation equipment according to the Internet protocol address and the equipment port number, and sending the converted task instruction to the automatic guiding transportation equipment through the target communication link so as to enable the automatic guiding transportation equipment to execute the task instruction.

Optionally, the target communication link established by the protocol conversion server and the automatic guidance transportation equipment can be set according to an AGV communication protocol provided by each manufacturer in an actual scene by establishing a protocol proxy server; the protocol conversion server in this embodiment may be, for example, configured to establish a target communication link with the automated guided transport equipment via a TCP/UDP connection, which is not specifically limited in this embodiment.

According to the embodiment, the application of the converted task instruction is limited, so that the automatic guiding transportation equipment of each type can be efficiently and conveniently scheduled, and the scheduling implementation cost is reduced.

In some embodiments, the task instructions are generated by the integrated dispatch unit based on a task template determined by the task type of the automated guided transport equipment and the target equipment information.

Before sending the task instruction to the proxy client, the integrated scheduling unit may determine an adapted task template from a plurality of task templates according to the task type of the automated guided transport equipment and the target equipment information, and fill task content in the task template, so as to implement generation of the task instruction.

Optionally, the implementation manner of configuring the plurality of task templates by the integrated scheduling unit may be that the integrated scheduling unit acquires equipment manufacturers and equipment types of each automatic guiding and transporting equipment in advance, then numbers the respective automatic guiding and transporting equipment to obtain equipment numbers, and finally configures the task templates to obtain the plurality of task templates according to the equipment manufacturers, the equipment types and the equipment numbers of each automatic guiding and transporting equipment and the task types.

Alternatively, the functions implemented by the task templates may be set according to the actual scenario; by way of example, the functions implemented by the task templates in this embodiment may include functions of issuing a scheduling task, traffic management, status reception, map downloading, and the like, which are not particularly limited in this embodiment.

The method and the device for dispatching the automatic guided transportation equipment are beneficial to dispatching the automatic guided transportation equipment of each type efficiently and conveniently by limiting the generation of the task instruction, improve the utilization rate and the production efficiency and reduce the dispatching implementation cost.

Fig. 3 is a second flowchart of a method for scheduling an automated guided transportation device according to an embodiment of the present invention. As shown in fig. 3, the execution body of the method may be a protocol conversion server, configured to perform protocol conversion on the task instruction, and send the converted task instruction to the automated guided transport apparatus according to the target apparatus information, where the method includes:

step 301, receiving a task instruction of an automatic guiding transportation device and target device information of the automatic guiding transportation device, which are sent by a proxy client corresponding to the automatic guiding transportation device;

the protocol conversion server is determined by the proxy client according to the task instruction of the automatic guiding transportation equipment sent by the integrated dispatching unit, and the determined target equipment information of the automatic guiding transportation equipment is determined.

The task instruction may be generated in real time by the integrated scheduling unit according to the historical state data fed back by the automatic guiding transportation device, or may be generated by the integrated scheduling unit according to the task requirement uploaded by the operator, which is not limited in detail in this embodiment.

Optionally, the implementation manner of uploading the task requirement by the operator may be to fill in the task requirement manually by the operator and upload the task requirement; or the operator can directly carry out filling by means of touch input, voice input, gesture input, visual input, brain-computer input and the like; the operator may also select the abnormal behavior task requirement by applying a pull-down option set in advance, which is not specifically limited in this embodiment.

Optionally, the proxy client determines the target device information according to the task instruction, which may be directly obtained by analyzing the task instruction; or the device identifier of the automatic guiding and transporting device corresponding to the task instruction may be obtained according to the task instruction, and then the device identifier of the automatic guiding and transporting device is searched for, which is not limited in this embodiment.

After the target device information of the automatic guiding transportation device is obtained, the proxy client may determine a protocol conversion server corresponding to the automatic guiding transportation device according to the target device information.

In some embodiments, the target device information includes one or more combinations of device vendor, device type, and device number. The proxy client determines, according to the target device information, an implementation manner of a protocol conversion server corresponding to the automatic guided transport device, where the proxy client determines, according to one or more combinations of a device manufacturer, a device type, and a device number, the protocol conversion server corresponding to the automatic guided transport device in a protocol conversion service cluster.

Optionally, the target device information may be preconfigured to the integrated scheduling unit by an operator, and sorted and categorized by the integrated scheduling unit for functional attributes of different vehicle types of different manufacturers.

Wherein, the functional attribute of the automatic guiding transportation equipment can be configured according to the actual scene; by way of example, the functional attributes of the automated guided transport apparatus in this embodiment may be attributes including the maximum lift height, drop height, etc. of the AGV, which is not specifically limited in this embodiment.

Optionally, the implementation manner of configuring the target device information by the operator may be that the operator manually fills in the target device information such as the device manufacturer, the device type, the device number, and the like in batch and configures the target device information to the integrated scheduling unit; or the operator can directly fill the information of the target equipment in the integrated scheduling unit by means of touch input, voice input, gesture input, visual input, brain-computer input and the like; the operator may also select the target device information by applying a pull-down option preset in the integrated scheduling unit for information such as a device manufacturer, a device type, and a device number, which is not specifically limited in this embodiment.

The proxy client may determine a protocol conversion server corresponding to the automated guided transport equipment in the protocol conversion service cluster according to one or more of equipment manufacturer, equipment type, and equipment number.

Wherein, the protocol conversion service cluster can be generated in advance based on different communication protocol configurations; there may be a one-to-one mapping between the protocol conversion service clusters and the corresponding communication protocols.

Correspondingly, the proxy client may determine a communication protocol matching the automated guided transport device according to one or more of a combination of device vendor, device type, and device number; and then determining a proxy client corresponding to the communication protocol matched with the automatic guided transportation equipment in the pre-configured protocol conversion service cluster according to the communication protocol and the mapping relation between the protocol conversion service cluster and the corresponding communication protocol.

Alternatively, the implementation manner of determining, by the proxy client, the communication protocol matched with the automated guided transport apparatus may be that the proxy client first determines, according to the apparatus manufacturer, a communication protocol set matched with the apparatus manufacturer, and then determines, in the communication protocol set matched with the apparatus manufacturer, the communication protocol matched with the automated guided transport apparatus according to the apparatus type, the mapping relationship configured in advance between the apparatus number and the communication protocol, and the embodiment is not limited specifically.

After determining the protocol conversion server corresponding to the automatic guiding transportation equipment, the proxy client corresponding to the automatic guiding transportation equipment can establish communication with the protocol conversion server, and send the task instruction and the target equipment information to the protocol conversion server through a communication link.

The protocol conversion server monitors the protocol conversion server in real time to acquire the task instruction and the target equipment information of the automatic guiding transportation equipment, which are sent by the proxy client corresponding to the automatic guiding transportation equipment.

Step 302, performing protocol conversion on the task instruction, and sending the converted task instruction to the automatic guiding transportation equipment according to the target equipment information;

after receiving the task instruction and the target device information, the protocol conversion server may perform protocol conversion on the task instruction according to a pre-stored communication protocol, that is, the task instruction is converted into an AGV communication protocol instruction that can be identified by the automatic guided transport device by an integrated scheduling communication protocol instruction for unified scheduling.

And then the protocol conversion server can establish communication with the automatic guiding transportation equipment according to the target equipment information, and send the converted task instruction to the automatic guiding transportation equipment through a communication link so that the automatic guiding transportation equipment can execute the task instruction according to the converted task instruction and acquire an execution result.

It will be appreciated that after sending the converted task instruction to the automated guided transport equipment, the protocol conversion server may monitor the automated guided transport equipment to receive raw state data generated by the automated guided transport equipment according to the execution result after executing the task instruction.

After receiving the original state data, the protocol conversion server may perform protocol conversion on the original state data according to a communication protocol, that is, convert the task instruction from the AGV communication protocol data into integrated scheduling communication protocol data that can be identified by the integrated scheduling unit, and use the converted data as target state data.

Wherein the target state data includes device state data and/or device location data, and task state data.

The equipment status data may be a combination of one or more of data including operational status data and charge status data of the automated guided transport equipment.

The protocol conversion server may then send the converted target state data to the proxy client over the communication link.

According to the embodiment, the protocol conversion server firstly receives the task instruction and the target equipment information of the automatic guiding and transporting equipment sent by the proxy client corresponding to the automatic guiding and transporting equipment, then carries out protocol conversion on the task instruction, sends the converted task instruction to the automatic guiding and transporting equipment according to the target equipment information, builds a double-layer proxy technology to solve the protocol conversion of the instruction and transmit the instruction to the automatic guiding and transporting equipment, eliminates the influence of different protocols on a dispatching process, achieves centralized management and control of the automatic guiding and transporting equipment, effectively and conveniently dispatches the automatic guiding and transporting equipment of each type, improves the utilization rate and the production efficiency, enlarges the cooperative operation range, and reduces the dispatching implementation cost.

In some embodiments, the sending the converted task instruction to the automated guided transport device according to the target device information includes: according to the target equipment information, determining an Internet protocol address and an equipment port number corresponding to the automatic guided transportation equipment; establishing a target communication link according to the Internet protocol address and the equipment port number; and sending the converted task instruction to the automatic guided transportation equipment according to the target communication link.

After the protocol conversion of the task instruction is completed, the protocol conversion server may parse the target device information to obtain a parsing result, and determine an internet protocol address (IP, internet Protocol) and a device port number corresponding to the automatic guided transportation device according to the parsing result.

And then, establishing a target communication link between the automatic guiding transportation equipment and the automatic guiding transportation equipment through a TCP/UDP connection according to the Internet protocol address and the equipment port number, and sending the converted task instruction to the automatic guiding transportation equipment through the target communication link so as to enable the automatic guiding transportation equipment to execute the task instruction.

Optionally, the target communication link established by the protocol conversion server and the automatic guidance transportation equipment can be set according to an AGV communication protocol provided by each manufacturer in an actual scene by establishing a protocol proxy server; the protocol conversion server in this embodiment may be, for example, configured to establish a target communication link with the automated guided transport equipment via a TCP/UDP connection, which is not specifically limited in this embodiment.

According to the embodiment, an internet protocol address and a device port number corresponding to the automatic guiding transportation device are determined through a protocol conversion server according to target device information, and a target communication link is established; and then, the converted task instruction is sent to the automatic guiding transportation equipment according to the target communication link, so that each type of automatic guiding transportation equipment is efficiently and conveniently scheduled, and the scheduling implementation cost is reduced.

The following describes the automated guided transport equipment scheduling system provided by the present invention, and the automated guided transport equipment scheduling system described below and the automated guided transport equipment scheduling method described above can be referred to correspondingly.

As shown in fig. 4, a second schematic structural diagram of the automated guided transport equipment dispatching system provided by the present invention includes an integrated dispatching unit 21, a proxy client 22, a protocol conversion server 23 and an automated guided transport equipment 24;

the proxy client is respectively in communication connection with the integrated scheduling unit and the protocol conversion server; the protocol conversion server is in communication connection with the automatic guided transportation equipment;

in some embodiments, the proxy client corresponding to the automated guided transport device comprises:

The first determining unit is used for determining target equipment information of the automatic guiding transportation equipment according to the task instruction of the automatic guiding transportation equipment sent by the integrated scheduling unit;

the second determining unit is used for determining a protocol conversion server corresponding to the automatic guiding transportation equipment according to the target equipment information;

the sending unit is used for sending the task instruction and the target equipment information to the protocol conversion server so that the protocol conversion server can perform protocol conversion on the task instruction and send the converted task instruction to the automatic guiding transportation equipment according to the target equipment information;

wherein the proxy client is determined based on the target device information.

According to the automatic guiding transportation equipment scheduling system provided by the embodiment, a proxy client firstly receives a task instruction of automatic guiding transportation equipment sent by an integrated scheduling unit and determines corresponding target equipment information according to the task instruction; and then, determining a protocol conversion server corresponding to the automatic guiding transportation equipment according to the target equipment information, sending the task instruction and the target equipment information to the protocol conversion server, so that the protocol conversion server carries out protocol conversion on the task instruction and sends the task instruction to the automatic guiding transportation equipment, constructing a double-layer proxy technology to solve the protocol conversion of the instruction and transmit the instruction to the automatic guiding transportation equipment, eliminating the influence of different protocols on a dispatching process, achieving centralized management and control on the automatic guiding transportation equipment, realizing efficient and convenient dispatching on each type of automatic guiding transportation equipment, improving the utilization rate and the production efficiency, expanding the collaborative operation range and reducing the dispatching implementation cost.

In some embodiments, the target device information includes one or more combinations of device vendor, device type, and device number;

the second determining unit is specifically configured to: and determining a protocol conversion server corresponding to the automatic guided transportation equipment in a protocol conversion service cluster according to one or more combinations of the equipment manufacturer, the equipment type and the equipment number.

In some embodiments, the first determining unit is specifically configured to:

acquiring a target identifier of the automatic guiding transportation equipment according to the task instruction;

and determining the target equipment information according to the target identification.

In some embodiments, the proxy client further comprises a feedback unit for:

receiving target state data sent by the protocol conversion server; the target state data is generated by the protocol conversion server through protocol conversion on the original state data fed back by the automatic guided transportation equipment; the original state data is generated by the automatic guidance transportation equipment executing the task instruction according to the execution result;

the target state data is sent to the integrated scheduling unit so that the integrated scheduling unit can determine the execution state of the task instruction according to the target state data;

Wherein the target state data includes device state data and/or device location data, and task state data.

In some embodiments, the converted task instruction is sent to the automated guided transport equipment according to the target communication link by the protocol conversion server, determining an internet protocol address and an equipment port number corresponding to the automated guided transport equipment according to the target equipment information, and establishing a target communication link according to the internet protocol address and the equipment port number.

In some embodiments, the task instructions are generated by the integrated dispatch unit based on a task template determined by the task type of the automated guided transport equipment and the target equipment information.

In some embodiments, the protocol conversion server corresponding to the automated guided transport equipment comprises:

the receiving unit is used for receiving a task instruction of the automatic guiding transportation equipment and target equipment information of the automatic guiding transportation equipment, which are sent by a proxy client corresponding to the automatic guiding transportation equipment;

the conversion unit is used for carrying out protocol conversion on the task instruction and sending the converted task instruction to the automatic guiding transportation equipment according to the target equipment information;

The protocol conversion server is determined by the proxy client according to the task instruction of the automatic guiding transportation equipment sent by the integrated dispatching unit, and the determined target equipment information of the automatic guiding transportation equipment is determined.

According to the automatic guiding transportation equipment dispatching system, the protocol conversion server is used for firstly receiving the task instruction and the target equipment information of the automatic guiding transportation equipment sent by the proxy client corresponding to the automatic guiding transportation equipment, then carrying out protocol conversion on the task instruction, sending the converted task instruction to the automatic guiding transportation equipment according to the target equipment information, constructing a double-layer proxy technology to solve the protocol conversion of the instruction and transmitting the instruction to the automatic guiding transportation equipment, eliminating the influence of different protocols on a dispatching process, achieving centralized management and control on the automatic guiding transportation equipment, realizing efficient and convenient dispatching on the automatic guiding transportation equipment of each type, improving the utilization rate and the production efficiency, expanding the cooperative operation range and reducing the dispatching implementation cost.

In some embodiments, the conversion unit is specifically configured to: according to the target equipment information, determining an Internet protocol address and an equipment port number corresponding to the automatic guided transportation equipment; establishing a target communication link according to the Internet protocol address and the equipment port number; and sending the converted task instruction to the automatic guided transportation equipment according to the target communication link.

Fig. 5 illustrates a physical schematic diagram of an electronic device, as shown in fig. 5, which may include: processor (processor) 501, communication interface (Communications Interface) 502, memory (memory) 503 and communication bus 505, wherein processor 501, communication interface 502, memory 503 complete communication with each other through communication bus 505. The processor 501 may invoke logic instructions in the memory 503 to perform an automated guided transport device scheduling method comprising: determining target equipment information of the automatic guiding transportation equipment according to the task instruction of the automatic guiding transportation equipment sent by the integrated dispatching unit; determining a protocol conversion server corresponding to the automatic guiding transportation equipment according to the target equipment information; the task instruction and the target equipment information are sent to the protocol conversion server, so that the protocol conversion server carries out protocol conversion on the task instruction, and the converted task instruction is sent to the automatic guiding transportation equipment according to the target equipment information; wherein the proxy client is determined based on the target device information.

The electronic device provided in the embodiment of the present invention is used for executing the above embodiments of the method, and specific flow and details refer to the above embodiments, which are not repeated herein.

Further, the logic instructions in the memory 503 described above may be implemented in the form of software functional units and may be stored in a computer readable storage medium when sold or used as a stand alone product. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.

In another aspect, the present invention also provides a computer program product, the computer program product comprising a computer program, the computer program being storable on a non-transitory computer readable storage medium, the computer program, when executed by a processor, being capable of performing the automated guided transportation device scheduling method provided by the methods described above, the method comprising: determining target equipment information of the automatic guiding transportation equipment according to the task instruction of the automatic guiding transportation equipment sent by the integrated dispatching unit; determining a protocol conversion server corresponding to the automatic guiding transportation equipment according to the target equipment information; the task instruction and the target equipment information are sent to the protocol conversion server, so that the protocol conversion server carries out protocol conversion on the task instruction, and the converted task instruction is sent to the automatic guiding transportation equipment according to the target equipment information; wherein the proxy client is determined based on the target device information.

The electronic device provided in the embodiment of the present invention is used for executing the above embodiments of the method, and specific flow and details refer to the above embodiments, which are not repeated herein.

In yet another aspect, the present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, is implemented to perform the automated guided transport equipment scheduling method provided by the methods above, the method comprising: determining target equipment information of the automatic guiding transportation equipment according to the task instruction of the automatic guiding transportation equipment sent by the integrated dispatching unit; determining a protocol conversion server corresponding to the automatic guiding transportation equipment according to the target equipment information; the task instruction and the target equipment information are sent to the protocol conversion server, so that the protocol conversion server carries out protocol conversion on the task instruction, and the converted task instruction is sent to the automatic guiding transportation equipment according to the target equipment information; wherein the proxy client is determined based on the target device information.

The electronic device provided in the embodiment of the present invention is used for executing the above embodiments of the method, and specific flow and details refer to the above embodiments, which are not repeated herein.

The apparatus embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.

From the above description of the embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus necessary general hardware platforms, or of course may be implemented by means of hardware. Based on this understanding, the foregoing technical solution may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as ROM/RAM, a magnetic disk, an optical disk, etc., including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method described in the respective embodiments or some parts of the embodiments.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims (11)

1. The automatic guided transportation equipment scheduling method is characterized by being applied to a proxy client corresponding to automatic guided transportation equipment and comprising the following steps of:

determining target equipment information of the automatic guiding transportation equipment according to the task instruction of the automatic guiding transportation equipment sent by the integrated dispatching unit;

determining a protocol conversion server corresponding to the automatic guiding transportation equipment according to the target equipment information;

the task instruction and the target equipment information are sent to the protocol conversion server, so that the protocol conversion server carries out protocol conversion on the task instruction, and the converted task instruction is sent to the automatic guiding transportation equipment according to the target equipment information;

Wherein the proxy client is determined based on the target device information.

2. The automated guided transport equipment scheduling method of claim 1, wherein the target equipment information comprises one or more combinations of equipment vendor, equipment type, and equipment number;

the determining, according to the target device information, a protocol conversion server corresponding to the automated guided transportation device includes:

and determining a protocol conversion server corresponding to the automatic guided transportation equipment in a protocol conversion service cluster according to one or more combinations of the equipment manufacturer, the equipment type and the equipment number.

3. The automated guided transport equipment scheduling method of claim 1, wherein determining the target equipment information of the automated guided transport equipment according to the task instruction of the automated guided transport equipment sent by the integrated scheduling unit comprises:

acquiring a target identifier of the automatic guiding transportation equipment according to the task instruction;

and determining the target equipment information according to the target identification.

4. A method of automated guided transport equipment scheduling according to any one of claims 1-3, wherein the method further comprises:

Receiving target state data sent by the protocol conversion server; the target state data is generated by the protocol conversion server through protocol conversion on the original state data fed back by the automatic guided transportation equipment; the original state data is generated by the automatic guidance transportation equipment executing the task instruction according to the execution result;

the target state data is sent to the integrated scheduling unit so that the integrated scheduling unit can determine the execution state of the task instruction according to the target state data;

wherein the target state data includes device state data and/or device location data, and task state data.

5. A method for scheduling an automated guided transport apparatus according to any one of claims 1-3, wherein the converted task instruction is sent to the automated guided transport apparatus by the protocol conversion server, determining an internet protocol address and an apparatus port number corresponding to the automated guided transport apparatus according to the target apparatus information, and establishing a target communication link according to the internet protocol address and the apparatus port number, and sending the target communication link to the automated guided transport apparatus.

6. The automated guided transport equipment scheduling method of claim 3, wherein the task instructions are generated by the integrated scheduling unit based on a task type of the automated guided transport equipment and a task template determined by the target equipment information.

7. The dispatching method of the automatic guided transportation equipment is characterized by being applied to a protocol conversion server corresponding to the automatic guided transportation equipment and comprising the following steps of:

receiving a task instruction of the automatic guiding transportation equipment and target equipment information of the automatic guiding transportation equipment, which are sent by a proxy client corresponding to the automatic guiding transportation equipment;

performing protocol conversion on the task instruction, and sending the converted task instruction to the automatic guiding transportation equipment according to the target equipment information;

the protocol conversion server is determined by the proxy client according to the task instruction of the automatic guiding transportation equipment sent by the integrated dispatching unit, and the determined target equipment information of the automatic guiding transportation equipment is determined.

8. The automated guided transport equipment scheduling method of claim 7, wherein the sending the converted task instructions to the automated guided transport equipment according to the target equipment information comprises:

According to the target equipment information, determining an Internet protocol address and an equipment port number corresponding to the automatic guided transportation equipment;

establishing a target communication link according to the Internet protocol address and the equipment port number;

and sending the converted task instruction to the automatic guided transportation equipment according to the target communication link.

9. An automatic guided transportation equipment dispatching system is characterized by comprising an integrated dispatching unit, an agent client, a protocol conversion server and automatic guided transportation equipment;

the proxy client is respectively in communication connection with the integrated scheduling unit and the protocol conversion server; the protocol conversion server is in communication connection with the automatic guided transportation equipment;

-the proxy client for performing the automated guided transportation device scheduling method of any one of claims 1 to 6;

protocol conversion server for executing the automated guided transportation device scheduling method according to any one of claims 7 to 8.

10. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the automated guided transportation device scheduling method of any one of claims 1 to 6 or the automated guided transportation device scheduling method of any one of claims 7 to 8 when executing the program.

11. A non-transitory computer readable storage medium having stored thereon a computer program, wherein the computer program when executed by a processor implements the automated guided transportation device scheduling method of any one of claims 1 to 6 or implements the automated guided transportation device scheduling method of any one of claims 7 to 8.