CN220137571U

CN220137571U - Scheduling system

Info

Publication number: CN220137571U
Application number: CN202321559802.7U
Authority: CN
Inventors: 刘雯; 高华; 刘召志
Original assignee: Hangzhou Hikrobot Co Ltd
Current assignee: Hangzhou Hikrobot Co Ltd
Priority date: 2023-06-19
Filing date: 2023-06-19
Publication date: 2023-12-05
Anticipated expiration: 2033-06-19

Abstract

The embodiment of the utility model provides a scheduling system, and relates to the technical field of AGV application. The system comprises: caller, loRa gateway device and scheduling device; the scheduling device is in communication connection with the LoRa gateway device and in communication connection with the AGV in the scene; the caller comprises a first main control chip and a first LoRa communication interface, and the LoRa gateway equipment comprises a second main control chip and a second LoRa communication interface; the caller and the LoRa gateway device are in communication connection through a first LoRa communication interface and a second LoRa communication interface; after the first main control chip detects the appointed scheduling request about the AGV, the target scheduling task matched with the appointed scheduling request is sent to the second LoRa communication interface based on the first LoRa communication interface, and the second main control chip responds to the received target scheduling task and sends the target scheduling task to the scheduling equipment, so that the AGV executes the target scheduling task. Therefore, the dispatching system can ensure the reliability of the system and promote the standby time of the caller.

Description

Scheduling system

Technical Field

The utility model relates to the technical field of AGV application, in particular to a scheduling system.

Background

For a scenario in which an AGV (Automatic Guided Vehicle ) is provided, for example: factory scenarios where there is a need for loading and unloading of goods typically require scheduling systems for AGVs to be scheduled to handle goods, and in particular, operators may issue scheduling tasks for AGVs based on callers in the scheduling systems.

Because the frequency of use of the caller is high, and the power consumption of each communication process of the caller in the dispatching system of the related art is high, the standby time of the caller cannot meet the use requirement; in addition, reliability of the scheduling system is also a concern for the scheduling system.

Therefore, a scheduling system is needed to ensure the reliability of the system and to increase the standby time of the caller.

Disclosure of Invention

The embodiment of the utility model aims to provide a scheduling system which is used for guaranteeing the reliability of the system and improving the standby time of a caller. The specific technical scheme is as follows:

in a first aspect, the present utility model provides a scheduling system comprising: a caller, a remote radio LoRa gateway device, and a scheduling device;

the scheduling equipment is in communication connection with the LoRa gateway equipment and is in communication connection with an automatic guided vehicle AGV configured in a target scene;

the caller comprises a first main control chip and a first LoRa communication interface, and the LoRa gateway equipment comprises a second main control chip and a second LoRa communication interface; the caller and the LoRa gateway equipment are in communication connection through a first LoRa communication interface and a second LoRa communication interface;

the first main control chip is configured to respond to detection of a specified scheduling request, sent by a user, of the caller for an AGV configured in a target scene, and send a target scheduling task matched with the specified scheduling request to the second LoRa communication interface based on the first LoRa communication interface;

the second main control chip is configured to respond to receiving a target scheduling task through the second LoRa communication interface and send the target scheduling task to the scheduling equipment, so that the scheduling equipment responds to receiving the target scheduling task and performs scheduling processing matched with the target scheduling task for the AGV in the target scene.

Optionally, the first main control chip comprises a first micro control unit MCU; the second main control chip comprises: and a second micro control unit MCU.

Optionally, the caller also comprises a signal indicator lamp; the signal indicator lamp is used for being turned on after the target scheduling task is sent to the second main control chip.

Optionally, a scheduling button for sending out a specified scheduling request is arranged in the caller;

optionally, the scheduling button includes:

the first scheduling button, the second scheduling button, the third scheduling button and the fourth scheduling button;

the first scheduling button is used for sending a cargo carrying-in request; the second dispatching button is used for sending out a button for sending out a goods moving request; the third scheduling button is used for sending out a request of stopping the operation of the AGV; and the fourth scheduling button is used for sending a request for the AGV to resume operation.

Optionally, the scheduling device and the LoRa gateway device establish a communication connection through a low-power wide area network LPWAN protocol.

Optionally, the caller is a handheld device.

Optionally, the caller is a non-handheld device disposed at a target location of the target scene; wherein the target position includes an entrance of the target scene.

Optionally, the caller also comprises a dormancy control module;

wherein the sleep control module is configured to: and if the first main control chip is monitored to not detect any specified scheduling request within the preset time, controlling the first main control chip and the first LoRa communication interface to enter a dormant state.

Optionally, the number of the callers is a plurality, the number of the LoRa gateway devices is at least one, and each caller is in communication connection with one gateway device of the at least one LoRa gateway device.

The scheduling system provided by the embodiment of the utility model can comprise: calling device, loRa gateway equipment and scheduling equipment; the dispatching equipment is in communication connection with the LoRa gateway equipment and in communication connection with an automatic guided vehicle AGV configured in the target scene; the caller comprises a first main control chip and a first LoRa communication interface, and the LoRa gateway equipment comprises a second main control chip and a second LoRa communication interface; the caller and the LoRa gateway equipment are in communication connection through a first LoRa communication interface and a second LoRa communication interface; and interaction among the caller, the LoRa gateway equipment and the scheduling equipment is adopted, so that scheduling processing matched with scheduling tasks is carried out for the AGVs in the target scene.

Therefore, the caller, the LoRa gateway equipment and the dispatching equipment in the dispatching system can form an ad hoc network, and the ad hoc network has the characteristic of high reliability, so that the dispatching system can ensure the reliability of the system; in addition, when the caller and the LoRa gateway equipment communicate, the communication can be performed by using the LoRa communication interface with lower power consumption, so that the standby time of the caller is prolonged. Therefore, the utility model can ensure the reliability of the system and promote the standby time of the caller.

Of course, it is not necessary for any one product to practice the utility model to achieve all of the advantages set forth above at the same time.

Drawings

In order to more clearly illustrate the embodiments of the present utility model or the technical solutions in the prior art, the drawings used in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are only some embodiments of the present utility model, and other drawings may be obtained according to these drawings for a person having ordinary skill in the art.

FIG. 1 is a schematic diagram of a scheduling system according to the present utility model;

fig. 2 is a schematic diagram of an application scenario of a scheduling system provided by the present utility model;

fig. 3 is a schematic diagram of a working principle of a scheduling system provided by the present utility model.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by the person skilled in the art based on the present utility model are included in the scope of protection of the present utility model.

The utility model provides a dispatching system for ensuring the reliability of the system and improving the standby time of a caller.

The application scenario of the scheduling system provided by the utility model can be a scenario for setting an AGV, such as: a factory or warehouse where there is a need to load and unload goods, etc., any operator in the scenario can use the scheduling system to schedule the AGVs in the scenario.

Wherein, a scheduling system may include: a caller, a remote radio LoRa gateway device, and a scheduling device;

the first main control chip is configured to respond to detection of specified scheduling operation of the AGV configured in a target scene sent by a user to the caller, and send a target scheduling task matched with the specified scheduling request to the second LoRa communication interface based on the first LoRa communication interface;

As shown in fig. 1, a scheduling system provided by the present utility model may include:

a caller 110, a long range radio LoRa gateway device 120, and a dispatch device 130;

the scheduling device 130 is in communication connection with the LoRa gateway device 120, and is in communication connection with an automatic guided vehicle AGV configured in a target scene;

the caller 110 includes a first main control chip and a first LoRa communication interface, and the LoRa gateway device 120 includes a second main control chip and a second LoRa communication interface; the caller 110 and the LoRa gateway device 120 are communicatively connected through a first LoRa communication interface and a second LoRa communication interface;

the first main control chip is configured to respond to detection of a specified scheduling operation of the AGV configured in a target scene sent by a user to the caller 110, and send a target scheduling task matched with the specified scheduling request to the second LoRa communication interface based on the first LoRa communication interface;

the second main control chip is configured to send the target scheduling task to the scheduling device 130 in response to receiving the target scheduling task through the second LoRa communication interface, so that the scheduling device 130 performs scheduling processing matched with the target scheduling task for the AGV in the target scene in response to receiving the target scheduling task.

The scheduling device 130 may also be referred to as an RCS (Robot Control System ) scheduling device. Illustratively, the scheduling device may be a device deployed with an RCS scheduling platform, and the scheduling function of the scheduling device may be implemented by the RCS scheduling platform. It will be appreciated that embodiments of the present utility model are not limited to scheduling devices. In addition, the scheduling device 130 and the AGV may be communicatively connected through an AP (Access Point), a wireless Access Point.

The first LoRa communication interface may also be referred to as a LoRa module, the second LoRa communication interface may also be referred to as a LoRa transponder, and the LoRa gateway device 120 may also be referred to as a LoRa gateway, which is not limited by the present utility model.

It will be appreciated that the LoRa gateway device 120 may act as a master in a dispatch system and the caller 110 may act as a slave, and may communicate wirelessly with the master LoRa gateway device 120 upon receipt of a specified dispatch request from the caller 110.

It can be understood that the number of the callers 110 in the dispatching system can be one or more, the specific number of the callers 110 can be determined according to actual requirements, and as an example, when the factory area a has only one entrance and exit and only one road, one caller can meet all requirements; the factory b has a plurality of entrances and exits, and a large amount of load is required for carrying in and out the load, and a plurality of pagers are required in the factory. It will be appreciated that the utility model is not particularly limited in this regard.

By way of example, the designated dispatch request for the AGV may be a load in request, a load out request, a request for the AGV to pause operation, or a request for the AGV to resume operation, etc. Correspondingly, the target scheduling task can also be a cargo carrying-in task, a cargo carrying-out task, an AGV pause operation task or an AGV resume operation task, and the like.

It is to be understood that the caller 110 may be preconfigured with a corresponding calling area, which may be an exit/entrance of a factory floor, or may be a sub-area in the factory floor, such as a workshop in the factory floor, etc., which is not limited by the present utility model. Illustratively, the caller 1 is preconfigured with a corresponding calling zone, which is room a in the factory floor. Then, after receiving the task of loading the goods into room a, the scheduling device may randomly allocate the AGV in the idle state to execute the loading of the goods into room a according to the corresponding algorithm. For example, after receiving the cargo carrying-out task, the scheduling device may execute the cargo carrying-out task by using the AGV No. 1 allocated to the idle state according to the corresponding algorithm according to the calling area corresponding to the caller, and then the AGV No. 1 may carry out the cargo from the calling area to a preset designated area.

It should be noted that, after the scheduling device 130 obtains the target scheduling task and the number of the caller that sends the target scheduling task, the AGV in the idle state may be randomly allocated to execute the target scheduling task according to a corresponding algorithm.

Optionally, in another implementation, after the scheduling device 130 acquires the target scheduling task, the scheduling device 130 directly designates a certain AGV to execute the target scheduling task, and the scheduling device 130 may designate the AGV to execute the target scheduling task according to the current idle state of the AGV or the distance between the AGV and the calling area corresponding to the caller.

For a better understanding of the foregoing, a brief description will be provided below of an AGV in a factory floor, taken as an example, in conjunction with the accompanying drawings:

as shown in fig. 2, there are a plurality of AGVs, that is, AGVs 1-8, and a plurality of pagers, that is, pagers 1-7, each corresponding to one gateway, if the LoRa gateway receives a target dispatching task for carrying out goods sent by the pager 1, then sends the target dispatching task for carrying out goods to the dispatching device, since the distance between the AGV1 and the gateway corresponding to the pager 1 is closest, the dispatching device responds to the target dispatching task, then randomly distributes the target dispatching task to the AGV1 in an idle state according to a corresponding algorithm, and the AGV1 carries the goods to the gateway corresponding to the pager 1; if the LoRa gateway receives the target dispatching task of the carried-in goods sent by the caller 6, the target dispatching task of the carried-in goods is sent to the dispatching equipment, and the dispatching equipment responds to the target dispatching task and then randomly distributes the target dispatching task to the AGVs 8 in an idle state according to a corresponding algorithm to execute the target dispatching task, and the AGVs 8 carry the goods from the corresponding entrances of the caller 6 to the factory.

Optionally, in one implementation, the caller is a handheld device.

Optionally, in another implementation, the caller is a non-handheld device disposed at a target location of the target scene; wherein the target position includes an entrance of the target scene.

It can be understood that the device form of the caller can be a handheld device or a non-handheld device arranged at the target position of the target scene; the target position may be an entrance or an exit of the target scene, or may be another position of the target scene, and the target position is not specifically limited in the present utility model.

For example, when the caller is a handheld device, the operator may hold the caller; when the caller is a non-handheld device disposed at the target location, the operator can operate the caller at a fixed location when the AGV dispatch based on the caller is required. The specific structure of the caller is not limited, and any caller that can realize the AGV can be applied to the present utility model.

Therefore, the form of the caller is not unique, and the caller can be suitable for various target scenes, so that the reliability of the system is ensured.

Optionally, in one implementation, the caller further includes a sleep control module;

It can be understood that when the sleep control module detects that the first main control chip does not detect any specified scheduling request within a predetermined time, that is, the caller has no executable task for a long time, the sleep control module can control the first main control chip and the first LoRa communication interface to enter a sleep state, that is, the caller can be in the sleep state, and in this state, the caller can reduce the power consumption of the first main control chip and the first LoRa communication interface to the greatest extent, so that the standby time of the caller can be further improved. When an operator wants to send a target scheduling task to the LoRa gateway device by using the caller, the operator can actively click a button on the caller, so that a first main control chip in the caller can be awakened, and the target scheduling task is sent to a second LoRa communication interface based on the first LoRa communication interface.

It should be noted that, the caller adopts passive wake-up, that is, when there is a target scheduling task to issue, the caller is manually wake-up, and when not wake-up, the caller is in a sleep state, for example: when the operator puts the goods into storage, the caller is used for sending the goods into storage instructions, and at the moment, the caller is awakened manually.

Therefore, the caller can be in a dormant state when not working, and the power consumption of the main control can be reduced to the maximum extent, so that the standby time of the caller is prolonged.

Optionally, in one implementation, the number of the callers is a plurality, the number of the LoRa gateway devices is at least one, and each caller is communicatively connected to one gateway device of the at least one LoRa gateway device;

it will be appreciated that in a specific scenario, the number of callers may be multiple, and the number of LoRa gateway devices may be one or multiple, which is not particularly limited by the present utility model. In addition, each caller is communicatively connected to at least one of the LoRa gateway devices, which may also be understood as a first LoRa communication interface in each caller that is communicatively connected to at least one second LoRa communication interface in one of the LoRa gateway devices.

Optionally, in one implementation, the first main control chip includes a first micro control unit MCU; the second main control chip comprises: and a second micro control unit MCU.

It can be understood that the main control chip comprises a micro control unit MCU, which can be called a single-chip microcomputer or a single-chip microcomputer. Then the MCU may integrate multiple interfaces on one chip.

Optionally, in one implementation, the caller further includes a signal indicator light; the signal indicator lamp is used for being turned on after the target scheduling task is sent to the second main control chip.

It can be understood that after the target scheduling task is sent to the second main control chip, the signal indicator lamp can be lightened, so that the signal indicator lamp can effectively confirm whether the target scheduling task is sent correctly, and the phenomenon that an operator clicks a button on the caller for multiple times because the operator does not know whether the target scheduling task is sent normally or not can be avoided, and the target scheduling task is sent for multiple times.

Optionally, in one implementation, the scheduling device establishes a communication connection with the LoRa gateway device through a low power wide area network LPWAN protocol.

The low-power wide area network LPWAN protocol is a wireless network used for Internet of things and capable of carrying out long-distance communication with low bit rate, and is characterized by low power requirement and low bit rate. It will be appreciated that establishing a communication connection via the LPWAN protocol typically relies on wired communication.

Optionally, in one implementation, a scheduling button for sending out a specified scheduling request is disposed in the caller;

optionally, in one implementation, the schedule button includes:

the first scheduling button is used for sending a cargo carrying-in request; the second dispatching button is used for sending out a button for carrying out goods; the third scheduling button is used for sending out a request of stopping the operation of the AGV; and the fourth scheduling button is used for sending a request for the AGV to resume operation.

It will be appreciated that a caller may be provided with dispatch buttons, each of which may issue a corresponding designated dispatch request, a first dispatch button may also be referred to as a carry-in cargo button, a second dispatch button may also be referred to as a carry-out cargo button, a third dispatch button may also be referred to as a pause button, and a fourth dispatch button may also be referred to as a resume button. The first scheduling button and the second scheduling button may instruct the AGV to carry the goods into/out of the target scene, and both the first scheduling button and the second scheduling button are scheduling buttons that are frequently used in the target scene. The third scheduling button and the fourth scheduling button are two corresponding scheduling buttons, the third scheduling button can enable all AGVs in the target scene to stop working, or AGVs in the calling area corresponding to the caller stop operation, and the scheduling button can be suitable for the situation that the AGVs in the target scene are abnormal, such as: the AGVs in the factory are not working, at the moment, the staff can press the third scheduling button and enter the factory to check the reason that the AGVs are not working; and the fourth scheduling button can enable all or part of AGVs to recover from the state of stopping working under the target scene, and the scheduling button can be suitable for the situation of recovering the normal working of the AGVs after the staff eliminates the abnormality of the AGVs.

In addition, the third schedule button may also be referred to as a one-key pause button, and the fourth schedule button may also be referred to as a one-key resume button.

It will be appreciated that the button functions of the caller are relatively fixed, the functions thereof can be burned and cured by the program in the function customizing stage, can be 4-key or 6-key and the like, and are specifically customized by actual projects, and the scheduling device can also perform unique functions for the project customizing functions and realize the functions. Of course, the dispatch buttons on the caller are not limited to the dispatch buttons described above, and other dispatch buttons may be provided, which are not particularly limited in the present utility model.

Based on the above embodiment, the following takes three callers as an example to simply describe the working principle of a scheduling system provided by the present utility model, as shown in fig. 3:

the scheduling system may include: three callers, a LoRa gateway device, a scheduling device and a wireless access point AP.

The operator 1 can click a scheduling button on the caller 1 so as to wake up the caller 1, and the first micro control unit MCU in the caller 1 can send the target scheduling task corresponding to the scheduling button to the LoRa transponder in the LoRa gateway device through the LoRa module. It will be appreciated that the LoRa module is configured to transmit a target scheduled task, and that the LoRa transponder may receive the target scheduled task, and that the LoRa transponder may simultaneously receive the target scheduled tasks transmitted by multiple LoRa modules.

The second micro control unit MCU in the LoRa gateway equipment can send the target scheduling task to the scheduling equipment through the LPWAN, the scheduling equipment responds to the received target scheduling task and randomly distributes the target scheduling task to the caller 1 according to a corresponding algorithm, and then the target scheduling task is executed by the scheduling AGV1 through the wireless access point AP-2.

It will be appreciated that in the factory, there are also multiple wireless access points AP, each of which may cover multiple AGVs, such as wireless access point AP-3 may cover AGV2 and AGV4, through which the scheduling apparatus may communicate with the AGV.

The foregoing description is only of the preferred embodiments of the present utility model and is not intended to limit the scope of the present utility model. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present utility model are included in the protection scope of the present utility model.

Claims

1. A scheduling system, the scheduling system comprising: a caller, a remote radio LoRa gateway device, and a scheduling device;

2. The system of claim 1, wherein the first master control chip comprises a first micro control unit MCU; the second main control chip comprises: and a second micro control unit MCU.

3. The system of claim 1, wherein the pager further comprises a signaling light therein; the signal indicator lamp is used for being turned on after the target scheduling task is sent to the second main control chip.

4. The system of claim 1, wherein the caller has a dispatch button disposed therein for issuing a specified dispatch request.

5. The system of claim 4, wherein the schedule button comprises:

6. The system of claim 1, wherein the scheduling device establishes a communication connection with the LoRa gateway device via a low power wide area network, LPWAN, protocol.

7. The system of any of claims 1-6, wherein the pager is a handheld device.

8. The system of any of claims 1-6, wherein the caller is a non-handheld device disposed at a target location of the target scene; wherein the target position includes an entrance of the target scene.

9. The system of any of claims 1-6, wherein the caller further comprises a sleep control module;

10. The system of any of claims 1-6, wherein the number of pagers is a plurality and the number of LoRa gateway devices is at least one, each pager communicatively coupled to one of the at least one LoRa gateway device.