WO2019237851A1 - 用于控制自动导引运输车的方法、装置和系统 - Google Patents

用于控制自动导引运输车的方法、装置和系统 Download PDF

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Publication number
WO2019237851A1
WO2019237851A1 PCT/CN2019/085640 CN2019085640W WO2019237851A1 WO 2019237851 A1 WO2019237851 A1 WO 2019237851A1 CN 2019085640 W CN2019085640 W CN 2019085640W WO 2019237851 A1 WO2019237851 A1 WO 2019237851A1
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WIPO (PCT)
Prior art keywords
transport vehicle
automatic guided
guided transport
task
target
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PCT/CN2019/085640
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English (en)
French (fr)
Inventor
李亮
Original Assignee
北京京东尚科信息技术有限公司
北京京东世纪贸易有限公司
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Application filed by 北京京东尚科信息技术有限公司, 北京京东世纪贸易有限公司 filed Critical 北京京东尚科信息技术有限公司
Priority to JP2020560359A priority Critical patent/JP7052080B2/ja
Priority to US17/044,216 priority patent/US11529975B2/en
Publication of WO2019237851A1 publication Critical patent/WO2019237851A1/zh

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
    • G05B19/41865—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by job scheduling, process planning, material flow
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
    • B60W50/0205—Diagnosing or detecting failures; Failure detection models
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
    • B60W50/0225—Failure correction strategy
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B60W60/0025—Planning or execution of driving tasks specially adapted for specific operations
    • B60W60/00256—Delivery operations
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B15/00—Systems controlled by a computer
    • G05B15/02—Systems controlled by a computer electric
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
    • G05B19/4189—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the transport system
    • G05B19/41895—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the transport system using automatic guided vehicles [AGV]
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/12—Target-seeking control
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/20—Monitoring the location of vehicles belonging to a group, e.g. fleet of vehicles, countable or determined number of vehicles
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/20—Monitoring the location of vehicles belonging to a group, e.g. fleet of vehicles, countable or determined number of vehicles
    • G08G1/202—Dispatching vehicles on the basis of a location, e.g. taxi dispatching
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/20—Monitoring the location of vehicles belonging to a group, e.g. fleet of vehicles, countable or determined number of vehicles
    • G08G1/205—Indicating the location of the monitored vehicles as destination, e.g. accidents, stolen, rental
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/22—Platooning, i.e. convoy of communicating vehicles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/20—Pc systems
    • G05B2219/26—Pc applications
    • G05B2219/2637—Vehicle, car, auto, wheelchair
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/20—Pc systems
    • G05B2219/26—Pc applications
    • G05B2219/2641—Fork lift, material handling vehicle
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/31—From computer integrated manufacturing till monitoring
    • G05B2219/31004—Move vehicle to battery charge or maintenance area
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/31—From computer integrated manufacturing till monitoring
    • G05B2219/31006—Monitoring of vehicle
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/60—Electric or hybrid propulsion means for production processes

Definitions

  • the embodiments of the present application relate to the field of computer technology, and in particular, to a method, a device, and a system for controlling an automatic guided transport vehicle.
  • Automatic guided transport vehicle (Automated Guided Vehicle, AGV), also known as unmanned transport vehicle, is equipped with automatic guidance devices such as electromagnetic or optical, can travel along a specified guidance path, has safety protection and various transfer functions Transport vehicle.
  • Automatic guided transport vehicles will inevitably be abnormal during driving. For some faults, you can solve them by restarting and restoring tasks. However, for other faults, it is usually impossible to handle in a short period of time, and the unfinished task of the faulty car needs to be continued by changing the car.
  • the existing method is to push the failed automatic guided transport vehicle out of the field first, and then manually dispatch one Non-fault automatic guided transport vehicle to the maintenance area, modify the attributes of the non-faulted automatic guided transport vehicle (such as number, IP (Internet Protocol) address, etc.) to the faulty automatic guided transport vehicle After restarting the non-faulty automatic guided transport vehicle, the task is resumed, and the non-faulty automatic guided transport vehicle replaces the faulty automatic guided transport vehicle to complete the operation.
  • the attributes of the non-faulted automatic guided transport vehicle such as number, IP (Internet Protocol) address, etc.
  • the embodiments of the present application provide a method, a device, and a system for controlling an automatic guided transport vehicle.
  • an embodiment of the present application provides a method for controlling an automatic guided transport vehicle.
  • the method includes: receiving a fault message, wherein the fault message includes a trip for indicating a travel state of the faulty automatic guided transport vehicle. Status information and location information of the fault point where the fault occurred; determine the fault area based on the position information, and send instructions to the non-faulty automated guided transport vehicle that is performing the task to indicate that the passage in the fault area is prohibited; based on the trip status information, from The target automatic guided transport vehicle is determined from the automatic guided transport vehicles that are not currently performing the task, and a task execution instruction is sent to the target automatic guided transport vehicle, wherein the task execution instruction includes an instruction for instructing the execution of the target task, and the target task is a failure Automated guided transport vehicle did not perform the completed task; in response to determining that the faulty automated guided transport vehicle was transferred to the maintenance area, a non-faulty automated guided transport vehicle that was performing the task was sent to instruct the cancellation of the prohibition of passage in the troubled area. instruction.
  • determining a target automatic guided transport vehicle from the automatic guided transport vehicles that are not currently performing a task, and sending a task execution instruction to the target automatic guided transport vehicle includes: in response to determining the travel state
  • the itinerary status indicated by the information is the state of picking up items, determining the storage location of the items to be picked up by the faulty automatic guided transport vehicle; the automatic guidance closest to the storage location in the automatic guided transport vehicle that is not currently performing the task
  • the transport vehicle is determined as the target automatic guided transport vehicle, and a task execution instruction is sent to the target automatic guided transport vehicle, wherein the task execution instruction includes an instruction for instructing the execution of the target task, and the target task is a fault that the automatic guided transport vehicle is not completed. Task.
  • determining a target automatic guided transport vehicle from the automatic guided transport vehicles that are not currently performing a task, and sending a task execution instruction to the target automatic guided transport vehicle includes: in response to determining the travel state
  • the itinerary status indicated by the information is the delivery status.
  • the automatic guided transport vehicle closest to the fault point in the automatic guided transport vehicle that is not currently performing the task is determined as the target automatic guided transport vehicle, and the guided automatic transportation to the target is performed.
  • the vehicle sends a task execution instruction, where the task execution instruction includes an instruction for instructing to travel to the location of the failure point and an instruction for performing a target task, and the target task is a failure to automatically guide the transportation vehicle to complete a task that has not been completed.
  • the method further includes: sending a task stop instruction to the failed automatic guided transport vehicle to stop the task executed by the failed automatic guided transport vehicle.
  • the method further includes: clearing the travel state information of the failed automatic guided transport vehicle.
  • an embodiment of the present application provides a device for controlling an automatic guided transport vehicle.
  • the device includes a receiving unit configured to receive a fault message, where the fault message includes an automatic guided transport for indicating a fault.
  • the first sending unit is configured to determine the fault area based on the position information, and sends a non-fault automatic guided transport vehicle performing the task to indicate prohibition Instructions passing in the fault area;
  • a determining unit configured to determine a target automatic guided transport vehicle from the automatic guided transport vehicles that are not currently performing a task based on the travel state information, and send a task execution instruction to the target automatic guided transport vehicle
  • the task execution instruction includes an instruction for instructing execution of a target task, the target task being a task that is not performed by the faulty automatic guided transport vehicle; and a second sending unit configured to be transferred in response to determining the faulty automatic guided transport vehicle Go to the maintenance area and send it to the non-failure automatic
  • the determining unit includes: a determining module configured to determine a storage position of an item to be taken by the faulty automatic guided transport vehicle in response to determining that the itinerary status indicated by the itinerary status information is an item fetching status; first The sending module is configured to determine the automatic guided transport vehicle closest to the storage location in the currently guided automatic guided transport vehicle as the target automatic guided transport vehicle, and send the task execution to the target automatic guided transport vehicle. Instruction, wherein the task execution instruction includes an instruction for instructing execution of a target task, and the target task is a task that is not performed by the failure automatic guided transport vehicle.
  • the determining unit includes: a second sending module configured to, in response to determining that the travel status indicated by the travel status information is an item delivery status, direct a distance fault in an automatic guided transport vehicle that is not currently performing a task
  • the nearest automatic guided transport vehicle is determined as the target automatic guided transport vehicle, and a task execution instruction is sent to the target automatic guided transport vehicle, wherein the task execution instruction includes an instruction for instructing to travel to the location of the fault point and an instruction for execution
  • the instruction of the target task, the target task is the unfinished task of the auto-guided transportation vehicle that fails.
  • the apparatus further includes: a third sending unit configured to send a task stop instruction to the faulty automatic guided transport vehicle to stop a task performed by the faulty automatic guided transport vehicle.
  • the apparatus further includes: a setting unit configured to clear the trip state information of the faulty automatic guided transport vehicle.
  • an embodiment of the present application provides a system for controlling an automatic guided transport vehicle.
  • the system includes a server and at least one automatic guided transport vehicle. Each of the at least one automatic guided transport vehicle is automatically guided.
  • the transport vehicle is communicatively connected to the server; the server is configured to receive the fault message, and determine the fault area based on the location information of the fault point of the at least one automatic guided transport vehicle where the fault occurs, wherein the fault message includes The travel status information and fault information for indicating the travel status of the faulty automatic guided transport vehicle; at least one non-faulting automatic guided transport vehicle that is performing a task in the at least one automatic guided transport vehicle is configured to receive a server sent for An instruction to prohibit passage in the fault area; the server is further configured to determine a target automatic guided transport vehicle from the automatic guided transport vehicles that are not currently performing a task based on the travel status information, and send the task to the target automatic guided transport vehicle Execution instructions, where the task execution instructions include instructions for Instruction, the target task is the unfinished task of the failed automatic guided transport
  • the system further includes a terminal device, the terminal device is communicatively connected to the server; and the terminal device is configured to send a fault message to the server, wherein the fault message includes a trip status for indicating a fault automatically guided transport vehicle Stroke status information and location information of the point where the fault occurred.
  • the server is further configured to: in response to determining that the trip status indicated by the trip status information is an item picking status, determine a storage location of the item to be picked up by the faulty automatic guided transport vehicle; Among the automatic guided transport vehicles, the automatic guided transport vehicle closest to the storage location is determined as the target automatic guided transport vehicle, and a task execution instruction is sent to the target automatic guided transport vehicle, wherein the task execution instruction includes instructions for execution The instruction of the target task, the target task is the unfinished task of the auto-guided transportation vehicle that fails.
  • the server is further configured to: in response to determining that the trip status indicated by the trip status information is an item delivery state, automatically guide an auto-guided transport vehicle closest to the point of failure in an auto-guided transport vehicle that is not currently performing a task.
  • the transport vehicle is determined as the target automatic guided transport vehicle, and a task execution instruction is sent to the target automatic guided transport vehicle, wherein the task execution instruction includes an instruction for instructing to travel to the location of the failure point and an instruction for instructing execution of the target task.
  • the task is the unfinished task of the automated guided transport vehicle that failed.
  • the server is further configured to: after sending the task execution instruction to the target automatic guided transport vehicle, send a task stop instruction to the failed automatic guided transport vehicle to stop the task performed by the failed automatic guided transport vehicle .
  • the server is further configured to clear the trip status information of the faulty automatic guided transport vehicle.
  • an embodiment of the present application provides a server, including: one or more processors; a storage device storing one or more programs thereon, when the one or more programs are executed by the one or more processors To cause one or more processors to implement the method as in any of the embodiments of the method for controlling an automated guided transport vehicle.
  • an embodiment of the present application provides a computer-readable medium having stored thereon a computer program that, when executed by a processor, implements a method as in any one of the methods for controlling an automated guided transport vehicle .
  • the method, device, and system for controlling an automatic guided transport vehicle provided in the embodiments of the present application.
  • the automatic guided transport vehicle fails, first receive the fault message; then, determine the fault area based on the location of the fault point to prevent the The non-faulting automatic guided transport vehicle performing the task passes in the fault area; then, based on the travel state information of the faulty automatic guided transport vehicle, the target automatic guided transport vehicle in the automatic guided transport vehicle that is not currently performing the task is determined, Make the target automatic guided transport vehicle perform the tasks not completed by the faulty automatic guided transport vehicle.
  • the faulty automatic guided transport vehicle is transferred to the maintenance area, send a cancellation to the automatic guided transport vehicle to prohibit passage in the faulty area. Instructions.
  • FIG. 1 is an exemplary system architecture diagram to which the present application can be applied;
  • FIG. 2 is a flowchart of an embodiment of a method for controlling an automatic guided transport vehicle according to the present application
  • FIG. 3 is a schematic diagram of an application scenario of a method for controlling an automatic guided transport vehicle according to the present application
  • FIG. 4 is a flowchart of still another embodiment of a method for controlling an automatic guided transport vehicle according to the present application
  • FIG. 5 is a schematic structural diagram of an embodiment of a device for controlling an automatic guided transport vehicle according to the present application
  • FIG. 6 is a schematic diagram of an interaction process between devices in a system for controlling an automatic guided transport vehicle according to the present application
  • FIG. 7 is a schematic structural diagram of a computer system suitable for implementing a server according to an embodiment of the present application.
  • FIG. 1 illustrates an exemplary system architecture 100 to which the method for controlling an automatic guided transport vehicle or the apparatus for controlling an automatic guided transport vehicle of the present application can be applied.
  • the system architecture 100 may include automatic guided transport vehicles 101, 102, 103, a network 104, and a server 105.
  • the network 104 is used to provide a medium for a communication link between the automated guided vehicles 101, 102, 103 and the server 105.
  • the network 104 may include various connection types, such as wired, wireless communication links, or fiber optic cables, among others.
  • the automatic guided transport vehicles 101, 102, 103 interact with the server 105 through the network 104 to receive instructions (for example, instructions for instructing to prohibit passage in the above-mentioned fault area) or send messages (for example, fault information).
  • instructions for example, instructions for instructing to prohibit passage in the above-mentioned fault area
  • messages for example, fault information
  • the server 105 may be a server that provides various services, such as a control server that controls the automatic guided transport vehicles 101, 102, and 103.
  • the control server can schedule the automatic guided transport vehicle to perform operations, and send instructions to the automatic guided transport vehicle to control the automatic guided transport vehicle to perform tasks, prohibit traffic in the fault area, and the like.
  • the server may be hardware or software.
  • the server can be implemented as a distributed server cluster consisting of multiple servers or as a single server.
  • the server can be implemented as multiple software or software modules (for example, multiple software or software modules used to provide distributed services), or it can be implemented as a single software or software module. It is not specifically limited here.
  • the system architecture 100 may further include a terminal device (not shown in the figure).
  • the terminal device may be communicatively connected to the server 105 through a network.
  • a technician can use the terminal device to send fault information to the server 105.
  • the method for controlling the automatic guided transport vehicle provided by the embodiment of the present application is generally executed by the server 105, and accordingly, the device for controlling the automatic guided transport vehicle is generally disposed in the server 105.
  • FIG. 1 the number of automated guided transport vehicles, networks, and servers in FIG. 1 is merely exemplary. Depending on the implementation needs, there can be any number of automated guided transport vehicles, networks and servers.
  • a flowchart 200 of one embodiment of a method for controlling an automated guided transport vehicle according to the present application is shown.
  • the method for controlling an automatic guided transport vehicle includes the following steps:
  • Step 201 Receive a fault message.
  • an execution subject (such as the server 105 shown in FIG. 1) of the method for controlling an automatic guided transport vehicle may receive a fault message.
  • the fault message may include travel state information used to indicate a travel state of the faulty automatic guided transport vehicle and position information of the fault point (for example, coordinates of the fault point).
  • the trip state of the faulty transportation vehicle may include, but is not limited to, a state of picking up an item and a state of sending an item.
  • Items here can be shelves, goods, etc. When the item is a shelf, the shelf may or may not carry the goods.
  • the shelf may be a single-layer shelf or a multilayer shelf, which is not limited herein.
  • the fault information is sent by the fault automatic guided transport vehicle to the execution subject when the fault automatic guided transport vehicle detects an abnormality.
  • the automatic guided transport vehicle can automatically detect its own abnormality.
  • the battery power may be detected periodically, and when it is detected that the battery power is less than a preset minimum power, it is determined that the battery is abnormal.
  • the faulty automatic guided transport vehicle cannot detect its abnormality due to a battery failure or failure to start.
  • the fault information can be manually set by the manager or technician of the warehouse through the terminal device, and the terminal device is used to send the fault information to the execution subject.
  • Step 202 Determine a fault area based on the position information, and send an instruction for instructing the non-fault automatic guided transport vehicle performing the task to prohibit passage in the fault area.
  • the execution subject may first determine a fault area based on the location information. Then, an instruction is issued to the non-failure automatic guided transport vehicle that is performing the task to instruct that the vehicle is not allowed to pass in the above-mentioned faulty area.
  • the above-mentioned execution subject may determine the fault area through the following steps. First, the positioning point closest to the location of the fault point can be determined, and the positioning point can be used as the central positioning point.
  • the anchor point may be the center of a pre-drawn two-dimensional code in the ground. Each two-dimensional code may store information such as the coordinates of the center position of the two-dimensional code (that is, the coordinates of the anchor point), the number of the anchor point, and the like.
  • a preset range with the center positioning point as a center may be determined as the fault area.
  • the preset range may be a circular range formed by using the center anchor point as a center and a preset length as a radius.
  • the preset range may be a rectangular range formed by using the center anchor point as a center and a preset length as a length and a width.
  • the preset range may also be a range determined by using the center anchor point as a center and a preset number of anchor points around the center anchor point (for example, 25 anchor points including the center anchor point described above).
  • the above 25 positioning points can be distributed in 5 rows and 5 columns, and the positioning points are all located at the intersection of the rows and columns.
  • the center anchor point is the intersection of rows 3 and 3. It can be a straight line connection of adjacent anchor points in the first row, a straight line connection of adjacent anchor points in the first column, a straight line connection of adjacent anchor points in the fifth row, and a straight line of adjacent anchor points in the fifth column.
  • the formed closed rectangular area can be used as a preset range.
  • the staff can transfer the faulty automatic guided transport vehicle to the faulty area.
  • each non-faulty automatic guided transport vehicle that is performing a task can re-plan the path to avoid driving into the above-mentioned fault area. If there is no new route to avoid entering the above-mentioned preset area, you can wait outside the failure area until you receive an instruction to cancel the prohibition of passage in the above-mentioned failure area. After receiving the instruction to cancel the prohibition of traffic in the above-mentioned fault area, the vehicle can continue to follow the originally planned route.
  • the above-mentioned execution subject may send an instruction for instructing each non-fault automatic guided transport vehicle that is performing a task to prohibit passage in the fault area.
  • the execution entity may first query the running path of the non-fault automatic guided transport vehicle performing the task, and indicate to the driving path the non-fault automatic guidance that needs to pass through the fault area.
  • the guide truck sends instructions to prohibit traffic in the troubled area.
  • Step 203 Based on the travel state information, determine a target automatic guided transport vehicle from the automatic guided transport vehicles that are not currently performing a task, and send a task execution instruction to the target automatic guided transport vehicle.
  • the execution body may determine a target automatic guided transport vehicle from the automatic guided transport vehicles that are not currently performing a task based on the travel state information, and send a task execution instruction to the target automatic guided transport vehicle.
  • the above-mentioned task execution instruction includes an instruction for instructing execution of a target task, and the above-mentioned target task is a task that is not performed by the failure automatic guided transport vehicle. It should be noted that the above-mentioned task execution instruction may also include other instructions, such as an instruction for instructing the target automatic guided transport vehicle to start.
  • different target automatic guided transport vehicles can be determined based on different travel states.
  • the travel state is the state of picking up items
  • the longest idle time of the automatic guided transports that are currently not performing a task may be determined as the target automatic guided transport;
  • an automatic guided transport vehicle that can withstand the load in the currently unguided automatic guided transport vehicle and the faulty automatic guided transport vehicle can bear the load can be determined as the target automatic guided transport vehicle.
  • Step 204 In response to determining that the faulty automatic guided transport vehicle is transferred to the maintenance area, send an instruction to the non-faulty automatic guided transport vehicle that is performing a task to instruct cancellation of prohibition of passage in the faulty area.
  • the above-mentioned execution body may send an instruction to the non-faulty automatic guided transport vehicle that is performing a task to instruct the cancellation of the prohibition of passage in the faulty area.
  • the non-faulting automatic guided transport vehicle in travel may re-plan the route after receiving the instruction for canceling the prohibition of passage in the faulty area.
  • the non-faulty automatic guided transport vehicle waiting outside the faulty area can continue to follow the originally planned route after receiving the instruction to cancel the prohibition of traffic in the faulty area. Therefore, the automatic guided transport vehicle that is performing the task can be flexibly controlled, and the overall operation efficiency is improved.
  • the personal safety of the staff when handling the faulty vehicle is guaranteed.
  • FIG. 3 is a schematic diagram of an application scenario of a method for controlling an automatic guided transport vehicle according to this embodiment.
  • the server first receives the fault message sent by the failed automatic guided transport vehicle. Then, the server determines the fault area based on the location of the fault point, and sends a first instruction for instructing the non-fault automatic guided transport vehicle performing the task to prohibit passage in the fault area.
  • the server determines the target automatic guided transport vehicle in the automatic guided transport vehicle that is not currently performing the task, and sends a task execution instruction to the target automatic guided transport vehicle to make the target automatically
  • the guided transport vehicle performs unfinished tasks when the automatic guided transport vehicle fails.
  • the server sends a second instruction for instructing the non-faulty automatic guided transport vehicle that is performing a task to cancel the prohibition of traffic in the faulty area.
  • a failure message is first received; and then, a fault area is determined based on the location of the failure point to prohibit non-faulting automatic guided transport vehicles that are performing tasks from Traffic in the fault area; then, based on the travel state information of the faulty automatic guided transport vehicle, determine the target automatic guided transport vehicle in the automatic guided transport vehicle that is not currently performing the task, so that the target automatic guided transport vehicle performs the automatic fault guidance of the fault.
  • the guided vehicle did not perform the completed task.
  • an instruction was sent to the automatic guided vehicle to cancel the prohibition of passage in the faulty area.
  • FIG. 4 a flowchart 400 of yet another embodiment of a method for controlling an automated guided transport vehicle is shown.
  • the process 400 of the method for controlling an automatic guided transport vehicle includes the following steps:
  • Step 401 Receive a fault message.
  • an execution subject for example, the server 105 shown in FIG. 1 for controlling the method for automatically guiding a transport vehicle may receive a fault message.
  • the above-mentioned fault message may include travel state information for indicating a travel state of the faulty automatic guided transport vehicle and position information of the fault point.
  • the trip state of the faulty transportation vehicle may include, but is not limited to, a state of picking up an item and a state of sending an item.
  • Step 402 Determine the fault area based on the position information, and send an instruction to the non-fault automatic guided transport vehicle that is performing the task to instruct prohibiting traffic in the fault area.
  • the execution subject may first determine a fault area based on the location information. Then, an instruction is issued to the non-failure automatic guided transport vehicle that is performing the task to instruct that the vehicle is not allowed to pass in the above-mentioned faulty area.
  • the above-mentioned execution subject may determine the fault area through the following steps. First, the positioning point closest to the location of the fault point can be determined, and the positioning point can be used as the central positioning point.
  • the anchor point may be the center of a pre-drawn two-dimensional code in the ground. After that, a preset range with the center positioning point as a center may be determined as the fault area.
  • step 403 in response to determining that the travel status indicated by the travel status information is an item pickup status, a storage position of the item to be retrieved by the faulty automatic guided transport vehicle is determined.
  • the execution subject in response to determining that the travel status indicated by the travel status information is an item pickup status, the execution subject may determine a storage position of the item to be retrieved by the faulty automatic guided transport vehicle.
  • the information indicating the storage location may be recorded in advance in the task performed by the faulty automatic guided transport vehicle, and the execution subject may directly read it. After the storage location is determined, step 404 may be performed.
  • Step 404 Determine the automatic guided transport vehicle closest to the storage location in the currently guided automatic guided transport vehicle as the target automatic guided transport vehicle, and send a task execution instruction to the target automatic guided transport vehicle. .
  • the automatic guided transport vehicle closest to the storage position in the currently guided automatic guided transport vehicle may be determined as the target automatic guided transport vehicle, and the automatic guided transport vehicle may be guided to the target.
  • Send a task execution instruction may include an instruction for performing a target task, and the target task is a task that is not performed by the faulty automatic guided transport vehicle.
  • the above-mentioned task execution instruction may also include other instructions, such as an instruction for instructing the target automatic guided transport vehicle to start.
  • the automatic guided transport vehicle closest to the storage location and currently idle is used as the target automatic guided transport vehicle, which can ensure that the failed automatic guided transport vehicle is not Completed tasks are executed the fastest, which improves the efficiency of troubleshooting.
  • step 405 in response to determining that the travel status indicated by the travel status information is an item delivery status, the automatic guided transport vehicle closest to the failure point in the automatic guided transport vehicle that is not currently performing a task is determined as the target automatic guided transport. Vehicle, sending task execution instructions to the target automatic guided transport vehicle.
  • the execution subject in response to determining that the itinerary status indicated by the itinerary status information is an item delivery status, may guide an auto-guided vehicle in an auto-transport vehicle that is not currently performing a task closest to the failure point.
  • the transport vehicle is determined as the target automatic guided transport vehicle, and a task execution instruction is sent to the target automatic guided transport vehicle.
  • the task execution instruction may include an instruction for instructing to travel to the position of the fault point and an instruction for performing a target task.
  • the target task is a task that is not performed by the fault automatic guided transport vehicle. It should be noted that the above-mentioned task execution instruction may also include other instructions, such as an instruction for instructing the target automatic guided transport vehicle to start.
  • the automatic guided transport vehicle closest to the fault point and currently idle is used as the target automatic guided transport vehicle, which can ensure that the failed automatic guided transport vehicle is not completed.
  • the tasks are executed the fastest, which improves the efficiency of troubleshooting.
  • Step 406 In response to determining that the faulty automatic guided transport vehicle is transferred to the maintenance area, send an instruction to the non-faulty automatic guided transport vehicle that is performing a task to instruct canceling the prohibition of passage in the faulty area.
  • the above-mentioned execution subject may send an instruction to the non-faulty automatic guided transport vehicle that is performing a task to instruct the cancellation of the prohibition of passage in the faulty area .
  • the non-faulting automatic guided transport vehicle in travel may re-plan the route after receiving the instruction for canceling the prohibition of passage in the faulty area.
  • the non-faulty automatic guided transport vehicle waiting outside the faulty area can continue to follow the originally planned route after receiving the instruction to cancel the prohibition of traffic in the faulty area. Therefore, the automatic guided transport vehicle that is performing the task can be flexibly controlled, and the overall operation efficiency is improved.
  • the personal safety of the staff when handling the faulty vehicle is guaranteed.
  • Step 407 Send a task stop instruction to the faulty automatic guided transport vehicle to stop the task performed by the faulty automatic guided transport vehicle.
  • the execution entity may further send a task stop instruction to the faulty automatic guided transport vehicle to stop the faulty automatic guided transport vehicle. Tasks performed.
  • Step 408 Clear the travel state information of the fault automatic guided transport vehicle.
  • the execution state of the faulty automatic guided transport vehicle may be cleared.
  • steps 406 to 408 is not limited to the order indicated by the above sequence numbers, and may also be performed in other orders.
  • step 406, step 407, and step 408 may be performed simultaneously; or step 408, step 407, and step 406 may be performed sequentially.
  • the process 400 of the method for controlling an automatic guided transport vehicle in this embodiment highlights the target automatic determination of the object pickup status and the item delivery status. Steps to guide the transport vehicle. Therefore, the solution described in this embodiment can ensure that the unfinished tasks of the automatic guided transport vehicle with faults are executed fastest, which further improves the efficiency of fault processing.
  • this application provides an embodiment of a device for controlling an automatic guided transport vehicle.
  • the device embodiment and the method embodiment shown in FIG. 2 Correspondingly, the device can be specifically applied to various electronic devices.
  • the apparatus 500 for controlling an automatic guided transport vehicle includes: a receiving unit 501 configured to receive a fault message, wherein the fault message includes an automatic guided transport for indicating a fault.
  • the first sending unit 502 is configured to determine the fault area based on the above position information, and send the An instruction for prohibiting passage in the above-mentioned fault area;
  • a determining unit 503 is configured to determine a target automatic guided transport vehicle from the automatic guided transport vehicles that are not currently performing a task based on the above-mentioned travel state information, and automatically guide to the target
  • the transport vehicle sends a task execution instruction, wherein the task execution instruction includes an instruction for performing a target task, and the target task is an unfinished task of the faulty automatic guided transport vehicle;
  • the second sending unit 504 is configured to respond After determining the above faults, the automatic guided transport vehicle was transferred to the maintenance area, The non-fault automatic guided transport vehicle of
  • the foregoing determining unit 503 may include a determining module and a first sending module (not shown in the figure).
  • the determining module may be configured to determine a storage position of the item to be picked up by the faulty automatic guided transport vehicle in response to determining that the trip status indicated by the trip status information is an item picking state;
  • a first sending module is configured It is determined that the automatic guided transport vehicle closest to the storage position in the currently guided automatic guided transport vehicle is the target automatic guided transport vehicle, and sends a task execution instruction to the target automatic guided transport vehicle, where
  • the above-mentioned task execution instruction includes an instruction for instructing execution of a target task, and the above-mentioned target task is a task that is not performed by the faulty automatic guided transport vehicle.
  • the foregoing determining unit 503 may include a second sending module (not shown in the figure).
  • the second sending module may be configured to, in response to determining that the travel status indicated by the travel status information is an item delivery status, guide an automatic guide closest to the failure point in an automatic guided transport vehicle that is not currently performing a task.
  • the guide transport vehicle is determined as a target automatic guided transport vehicle, and a task execution instruction is sent to the target automatic guided transport vehicle, wherein the task execution instruction includes an instruction for instructing to travel to the position of the fault point and an instruction for performing the target task.
  • the above-mentioned target task is the unfinished task of the faulty automatic guided transport vehicle.
  • the apparatus may further include a third sending unit (not shown in the figure).
  • the third sending unit may be configured to send a task stop instruction to the faulty automatic guided transport vehicle to stop a task performed by the faulty automatic guided transport vehicle.
  • the device further includes a setting unit (not shown in the figure).
  • the setting unit may be configured to clear the travel state information of the faulty automatic guided transport vehicle.
  • the device provided by the foregoing embodiment of the present application receives a fault message through the receiving unit 501 after a failure of the automatic guided transport vehicle; and then the first sending unit 502 determines a fault area based on the location of the fault point, and sends a non-fault to the task that is performing the task.
  • the automatic guided transport vehicle is sending an instruction prohibiting passage in the fault area; then the determination unit 503 determines the target automatic guided transport in the automatic guided transport vehicle that is not currently performing a task based on the travel state information of the failed automatic guided transport vehicle.
  • the second sending unit 504 sends a cancellation canceled automatic guided transportation vehicle after the failed automatic guided transport vehicle is transferred to the maintenance area. Instructions to pass within the fault area. Therefore, after the failure of the automatic guided transport vehicle, there is no need to manually dispatch the target to automatically guide the transport vehicle and modify the attributes, which reduces the complexity and difficulty of processing the fault and improves the efficiency of processing the fault event.
  • FIG. 6 illustrates a schematic diagram 600 of an interaction process between devices in a system for controlling an automated guided transport vehicle according to the present application.
  • the system for controlling an automatic guided transport vehicle includes a server and at least one automatic guided transport vehicle, and each of the at least one automatic guided transport vehicle is communicatively connected with the server.
  • the interaction process 600 between various devices may include the following steps:
  • Step 601 The server receives a fault message.
  • the server may receive a fault message.
  • the fault message includes travel state information for indicating a travel state of the faulty auto-guided transport vehicle in the at least one auto-guided transport vehicle, and position information of a fault point where the fault occurs.
  • the above fault message may be sent to the server after the fault automatic guided transport vehicle detects its abnormality.
  • the system for controlling an automatic guided transport vehicle may further include a terminal device.
  • the terminal device may be communicatively connected with the server.
  • the terminal device may be configured to send a fault message to the server.
  • the terminal device can send the fault information.
  • Step 602 The server determines a fault area based on the location information.
  • Step 603 The non-faulty automatic guided transport vehicle in the at least one automatic guided transport vehicle that is performing a task receives an instruction sent by the server and used to instruct prohibiting traffic in the faulty area.
  • Step 604 The server determines a target automatic guided transport vehicle from the automatic guided transport vehicles that are not currently performing a task based on the travel status information.
  • Step 605 Send a task execution instruction to the target automatic guided transport vehicle.
  • the task execution instruction may include an instruction for instructing execution of a target task, and the target task is a task that is not performed by the faulty automatic guided transport vehicle.
  • the server in response to determining that the travel status indicated by the travel status information is an item picking status, the server may first determine the storage location of the items to be picked up by the faulty automatic guided transport vehicle; Then, the automatic guided transport vehicle that is closest to the storage location in the currently guided automatic guided transport vehicle may be determined as the target automatic guided transport vehicle, and a task execution instruction may be sent to the target automatic guided transport vehicle.
  • the task execution instruction includes an instruction for instructing execution of a target task, and the target task is a task that is not performed by the faulty automatic guided transport vehicle.
  • the server in response to determining that the itinerary status indicated by the above-mentioned itinerary status information is an item delivery status, the server may distance from the above-mentioned failure point in an automatic guided transport vehicle that is not currently performing a task.
  • the nearest automatic guided transport vehicle is determined as the target automatic guided transport vehicle, and a task execution instruction is sent to the target automatic guided transport vehicle.
  • the task execution instruction includes an instruction for instructing to travel to the position of the fault point and an instruction for performing a target task.
  • the target task is a task that is not performed by the fault automatic guided transport vehicle.
  • step 606 the server responds to the determination that the faulty automatic guided transport vehicle is transferred to the maintenance area, and sends an instruction to the non-faulty automatic guided transport vehicle that is performing a task to instruct canceling the prohibition of passage in the faulty area.
  • the server may further send a task stop instruction to the faulty automatic guided transport vehicle to stop the faulty automatic operation. Guide the tasks performed by the transport vehicle.
  • the server may also clear the travel state information of the faulty automatic guided transport vehicle.
  • the server may first receive the fault message; then, the fault area is determined based on the location of the fault point to Prohibition of non-faulting automated guided transport vehicles that are performing tasks in the fault area; after that, based on the travel state information of the faulty automated guided transport vehicles, determine the target automated guided transport of the currently not performing automated guided transport vehicles Vehicle, so that the target automatic guided transport vehicle performs the tasks not completed by the faulty automatic guided transport vehicle. Finally, after the faulty automatic guided transport vehicle is transferred to the maintenance area, send the automatic guided transport vehicle to cancel the prohibition in the faulty area.
  • FIG. 7 illustrates a schematic structural diagram of a computer system 700 suitable for implementing a server according to an embodiment of the present application.
  • the server shown in FIG. 7 is only an example, and should not impose any limitation on the functions and scope of use of the embodiments of the present application.
  • the computer system 700 includes a central processing unit (CPU) 701, which can be based on a program stored in a read-only memory (ROM) 702 or a program loaded from a storage section 708 into a random access memory (RAM) 703. Instead, perform various appropriate actions and processes.
  • ROM read-only memory
  • RAM random access memory
  • various programs and data required for the operation of the system 700 are also stored.
  • the CPU 701, ROM 702, and RAM 703 are connected to each other through a bus 704.
  • An input / output (I / O) interface 705 is also connected to the bus 704.
  • the following components are connected to the I / O interface 705: an input portion 706 including a keyboard, a mouse, and the like; an output portion 707 including a cathode ray tube (CRT), a liquid crystal display (LCD), and the speaker; a storage portion 708 including a hard disk and the like And a communication section 709 including a network interface card such as a LAN card, a modem, and the like.
  • the communication section 709 performs communication processing via a network such as the Internet.
  • the driver 710 is also connected to the I / O interface 705 as needed.
  • a removable medium 711 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 710 as needed, so that a computer program read out therefrom is installed into the storage section 708 as needed.
  • the process described above with reference to the flowchart may be implemented as a computer software program.
  • embodiments of the present application include a computer program product including a computer program carried on a computer-readable medium, the computer program containing program code for performing the method shown in the flowchart.
  • the computer program may be downloaded and installed from a network through the communication section 709, and / or installed from a removable medium 711.
  • CPU central processing unit
  • the above-mentioned functions defined in the method of the present application are executed.
  • the computer-readable medium described in this application may be a computer-readable signal medium or a computer-readable storage medium or any combination of the two.
  • the computer-readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: electrical connections with one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable Programming read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination of the foregoing.
  • a computer-readable storage medium may be any tangible medium that contains or stores a program that can be used by or in combination with an instruction execution system, apparatus, or device.
  • a computer-readable signal medium may include a data signal that is included in baseband or propagated as part of a carrier wave, and which carries computer-readable program code. Such a propagated data signal may take many forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the foregoing.
  • the computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, and the computer-readable medium may send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device.
  • Program code embodied on a computer-readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
  • each block in the flowchart or block diagram may represent a module, a program segment, or a part of code, which contains one or more functions to implement a specified logical function Executable instructions.
  • the functions labeled in the blocks may also occur in a different order than those labeled in the drawings. For example, two blocks represented one after the other may actually be executed substantially in parallel, and they may sometimes be executed in the reverse order, depending on the functions involved.
  • each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts can be implemented by a dedicated hardware-based system that performs the specified function or operation , Or it can be implemented with a combination of dedicated hardware and computer instructions.
  • the units described in the embodiments of the present application may be implemented by software or hardware.
  • the described unit may also be provided in a processor, for example, it may be described as: a processor includes a receiving unit, a first sending unit, a determining unit, and a second sending unit.
  • a processor includes a receiving unit, a first sending unit, a determining unit, and a second sending unit.
  • the names of these units do not constitute a limitation on the unit itself in some cases.
  • the receiving unit may also be described as a “unit that receives a fault message”.
  • the present application further provides a computer-readable medium, which may be included in the device described in the foregoing embodiments; or may exist alone without being assembled into the device.
  • the computer-readable medium carries one or more programs, and when the one or more programs are executed by the device, the device causes the device to: receive a fault message, the fault message includes a trip status for indicating a fault automatic guided transport vehicle Based on the location information of the trip state and the location information of the fault point where the fault occurred; determine the fault area based on the position information, and send instructions to the non-faulty automatic guided transport vehicle that is performing the task to indicate that the passage in the fault area is prohibited; based on the Travel status information, determine the target automatic guided transport vehicle from the currently not performing automatic guided transport vehicles, and send a task execution instruction to the target automatic guided transport vehicle; in response to determining the fault, the automatic guided transport vehicle is transferred to In the maintenance area, an instruction is sent to the non-failure automatic guided transport vehicle that is performing the task to instruct to cancel the prohibition of traffic in the faulty

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Abstract

提供了用于控制自动导引运输车的方法、装置和系统。该方法包括：接收故障消息，该故障消息包括用于指示故障自动导引运输车的行程状态的行程状态信息和发生故障的故障点的位置信息（201）；基于该位置信息确定故障区域，向正在执行任务的非故障自动导引运输车发送用于指示禁止在该故障区域内通行的指令（202）；基于该行程状态信息，从当前未执行任务的自动导引运输车中确定目标自动导引运输车，向该目标自动导引运输车发送任务执行指令（203）；响应于确定该故障自动导引运输车被转移至维修区域，向正在执行任务的非故障自动导引运输车发送用于指示取消禁止在该故障区域内通行的指令（204）。该方法提高了对故障事件的处理效率。

Description

用于控制自动导引运输车的方法、装置和系统
本专利申请要求于2018年6月11日提交的、申请号为201810593981.3、申请人为北京京东尚科信息技术有限公司和北京京东世纪贸易有限公司、发明名称为“用于控制自动导引运输车的方法、装置和系统”的中国专利申请的优先权，该申请的全文以引用的方式并入本申请中。
技术领域
本申请实施例涉及计算机技术领域，具体涉及用于控制自动导引运输车的方法、装置和系统。
背景技术
自动导引运输车(Automated Guided Vehicle，AGV)，也称无人搬运车，指装备有电磁或光学等自动导引装置，能够沿规定的导引路径行驶，具有安全保护以及各种移载功能的运输车。自动导引运输车在行驶过程中不可避免会出现异常。对于一些故障，可以通过重启、恢复任务解决。但是对于另一些故障，在短时间内通常无法处理，需要通过换车的方式来将故障车未完成的任务继续执行。
当发现仓库中有发生故障的自动导引运输车，且该故障无法在短时间内处理时，现有的方式是先将发生故障的自动导引运输车推出场外，再通过人工调度一辆非故障自动导引运输车到维修区，将该非故障自动导引运输车的属性(例如编号、IP(Internet Protocol，网络之间互连的协议)地址等)修改为故障自动导引运输车的属性之后，重新启动该非故障自动导引运输车，恢复任务，使该非故障自动导引运输车替代故障自动导引运输车完成作业。
发明内容
本申请实施例提出了用于控制自动导引运输车的方法、装置和系统。
第一方面，本申请实施例提供了一种用于控制自动导引运输车的方法，该方法包括：接收故障消息，其中，故障消息包括用于指示故障自动导引运输车的行程状态的行程状态信息和发生故障的故障点的位置信息；基于位置信息确定故障区域，向正在执行任务的非故障自动导引运输车发送用于指示禁止在故障区域内通行的指令；基于行程状态信息，从当前未执行任务的自动导引运输车中确定目标自动导引运输车，向目标自动导引运输车发送任务执行指令，其中，任务执行指令包括用于指示执行目标任务的指令，目标任务为故障自动导引运输车未执行完成的任务；响应于确定故障自动导引运输车被转移至维修区域，向正在执行任务的非故障自动导引运输车发送用于指示取消禁止在故障区域内通行的指令。
在一些实施例中，基于行程状态信息，从当前未执行任务的自动导引运输车中确定目标自动导引运输车，向目标自动导引运输车发送任务执行指令，包括：响应于确定行程状态信息所指示的行程状态为取物品状态，确定故障自动导引运输车待取的物品的储位位置；将当前未执行任务的自动导引运输车中的、距离储位位置最近的自动导引运输车确定为目标自动导引运输车，向目标自动导引运输车发送任务执行指令，其中，任务执行指令包括用于指示执行目标任务的指令，目标任务为故障自动导引运输车未执行完成的任务。
在一些实施例中，基于行程状态信息，从当前未执行任务的自动导引运输车中确定目标自动导引运输车，向目标自动导引运输车发送任务执行指令，包括：响应于确定行程状态信息所指示的行程状态为送物品状态，将当前未执行任务的自动导引运输车中的、距离故障点最近的自动导引运输车确定为目标自动导引运输车，向目标自动导引运输车发送任务执行指令，其中，任务执行指令包括用于指示行驶至故障点位置的指令和用于指示执行目标任务的指令，目标任务为故障自动导引运输车未执行完成的任务。
在一些实施例中，在向目标自动导引运输车发送任务执行指令之后，该方法还包括：向故障自动导引运输车发送任务停止指令，以停止故障自动导引运输车所执行的任务。
在一些实施例中，在向目标自动导引运输车发送任务执行指令之后，该方法还包括：将故障自动导引运输车的行程状态信息清空。
第二方面，本申请实施例提供了一种用于控制自动导引运输车的装置，该装置包括：接收单元，被配置成接收故障消息，其中，故障消息包括用于指示故障自动导引运输车的行程状态的行程状态信息和发生故障的故障点的位置信息；第一发送单元，被配置成基于位置信息确定故障区域，向正在执行任务的非故障自动导引运输车发送用于指示禁止在故障区域内通行的指令；确定单元，被配置成基于行程状态信息，从当前未执行任务的自动导引运输车中确定目标自动导引运输车，向目标自动导引运输车发送任务执行指令，其中，任务执行指令包括用于指示执行目标任务的指令，目标任务为故障自动导引运输车未执行完成的任务；第二发送单元，被配置成响应于确定故障自动导引运输车被转移至维修区域，向正在执行任务的非故障自动导引运输车发送用于指示取消禁止在故障区域内通行的指令。
在一些实施例中，确定单元包括：确定模块，被配置成响应于确定行程状态信息所指示的行程状态为取物品状态，确定故障自动导引运输车待取的物品的储位位置；第一发送模块，被配置成将当前未执行任务的自动导引运输车中的、距离储位位置最近的自动导引运输车确定为目标自动导引运输车，向目标自动导引运输车发送任务执行指令，其中，任务执行指令包括用于指示执行目标任务的指令，目标任务为故障自动导引运输车未执行完成的任务。
在一些实施例中，确定单元包括：第二发送模块，被配置成响应于确定行程状态信息所指示的行程状态为送物品状态，将当前未执行任务的自动导引运输车中的、距离故障点最近的自动导引运输车确定为目标自动导引运输车，向目标自动导引运输车发送任务执行指令，其中，任务执行指令包括用于指示行驶至故障点位置的指令和用于指示执行目标任务的指令，目标任务为故障自动导引运输车未执行完成的任务。
在一些实施例中，该装置还包括：第三发送单元，被配置成向故障自动导引运输车发送任务停止指令，以停止故障自动导引运输车所 执行的任务。
在一些实施例中，该装置还包括：设置单元，被配置成将故障自动导引运输车的行程状态信息清空。
第三方面，本申请实施例提供了一种用于控制自动导引运输车的系统，该系统包括服务器和至少一个自动导引运输车，至少一个自动导引运输车中的每一个自动导引运输车与服务器通信连接；服务器，被配置成接收故障消息，基于至少一个自动导引运输车中的故障自动导引运输车发生故障的故障点的位置信息确定故障区域，其中，故障消息包括用于指示故障自动导引运输车的行程状态的行程状态信息和故障信息；至少一个自动导引运输车中的正在执行任务的非故障自动导引运输车，被配置成接收服务器发送的、用于指示禁止在故障区域内通行的指令；服务器，进一步被配置成基于行程状态信息，从当前未执行任务的自动导引运输车中确定目标自动导引运输车，向目标自动导引运输车发送任务执行指令，其中，任务执行指令包括用于指示执行目标任务的指令，目标任务为故障自动导引运输车未执行完成的任务，响应于确定故障自动导引运输车被转移至维修区域，向正在执行任务的非故障自动导引运输车发送用于指示取消禁止在故障区域内通行的指令。
在一些实施例中，系统还包括终端设备，终端设备与服务器通信连接；以及终端设备，被配置成向服务器发送故障消息，其中，故障消息包括用于指示故障自动导引运输车的行程状态的行程状态信息和发生故障的故障点的位置信息。
在一些实施例中，服务器进一步被配置成：响应于确定行程状态信息所指示的行程状态为取物品状态，确定故障自动导引运输车待取的物品的储位位置；将当前未执行任务的自动导引运输车中的、距离储位位置最近的自动导引运输车确定为目标自动导引运输车，向目标自动导引运输车发送任务执行指令，其中，任务执行指令包括用于指示执行目标任务的指令，目标任务为故障自动导引运输车未执行完成的任务。
在一些实施例中，服务器进一步被配置成：响应于确定行程状态 信息所指示的行程状态为送物品状态，将当前未执行任务的自动导引运输车中的、距离故障点最近的自动导引运输车确定为目标自动导引运输车，向目标自动导引运输车发送任务执行指令，其中，任务执行指令包括用于指示行驶至故障点位置的指令和用于指示执行目标任务的指令，目标任务为故障自动导引运输车未执行完成的任务。
在一些实施例中，服务器进一步被配置成：在向目标自动导引运输车发送任务执行指令之后，向故障自动导引运输车发送任务停止指令，以停止故障自动导引运输车所执行的任务。
在一些实施例中，服务器进一步被配置成：将故障自动导引运输车的行程状态信息清空。
第四方面，本申请实施例提供了一种服务器，包括：一个或多个处理器；存储装置，其上存储有一个或多个程序，当一个或多个程序被一个或多个处理器执行，使得一个或多个处理器实现如用于控制自动导引运输车的方法中任一实施例的方法。
第五方面，本申请实施例提供了一种计算机可读介质，其上存储有计算机程序，该程序被处理器执行时实现如用于控制自动导引运输车的方法中任一实施例的方法。
本申请实施例提供的用于控制自动导引运输车的方法、装置和系统，在自动导引运输车发生故障后，首先接收故障消息；而后，基于故障点的位置确定故障区域，以禁止正在执行任务的非故障自动导引运输车在故障区域内通行；之后，基于故障自动导引运输车的行程状态信息，确定当前未执行任务的自动导引运输车中的目标自动导引运输车，使目标自动导引运输车执行故障自动导引运输车未执行完成的任务；最后，在故障自动导引运输车被转移至维修区域后，向自动导引运输车发送取消禁止在故障区域内通行的指令。从而，在自动导引运输车发生故障后，不需要进行人工调度目标自动导引运输车和进行属性修改，降低了故障处理的复杂度和处理难度，提高了对故障事件的处理效率。同时，控制自动导引运输车禁止在故障区域内通行，以及取消自动导引运输车禁止在故障区域内通行的禁令，不需要在发生故障后使正在执行任务的自动导引运输车停止行驶，实现了对正在执 行任务的自动导引运输车的灵活控制。
附图说明
通过阅读参照以下附图所作的对非限制性实施例所作的详细描述，本申请的其它特征、目的和优点将会变得更明显：
图1是本申请可以应用于其中的示例性系统架构图；
图2是根据本申请的用于控制自动导引运输车的方法的一个实施例的流程图；
图3是根据本申请的用于控制自动导引运输车的方法的一个应用场景的示意图；
图4是根据本申请的用于控制自动导引运输车的方法的又一个实施例的流程图；
图5是根据本申请的用于控制自动导引运输车的装置的一个实施例的结构示意图；
图6是根据本申请的用于控制自动导引运输车的系统中各装置之间的交互过程的示意图；
图7是适于用来实现本申请实施例的服务器的计算机系统的结构示意图。
具体实施方式
下面结合附图和实施例对本申请作进一步的详细说明。可以理解的是，此处所描述的具体实施例仅仅用于解释相关发明，而非对该发明的限定。另外还需要说明的是，为了便于描述，附图中仅示出了与有关发明相关的部分。
需要说明的是，在不冲突的情况下，本申请中的实施例及实施例中的特征可以相互组合。下面将参考附图并结合实施例来详细说明本申请。
图1示出了可以应用本申请的用于控制自动导引运输车的方法或用于控制自动导引运输车的装置的示例性系统架构100。
如图1所示，系统架构100可以包括自动导引运输车101、102、 103，网络104和服务器105。网络104用以在自动导引运输车101、102、103和服务器105之间提供通信链路的介质。网络104可以包括各种连接类型，例如有线、无线通信链路或者光纤电缆等等。
自动导引运输车101、102、103通过网络104与服务器105交互，以接收指令(例如用于指示禁止在上述故障区域内通行的指令)或发送消息(例如故障信息)等。
服务器105可以是提供各种服务的服务器，例如对自动导引运输车101、102、103进行控制的控制服务器。控制服务器可以调度自动导引运输车进行作业，以及向自动导引运输车发送指令，以控制自动导引运输车执行任务、在故障区域禁止通行等。
需要说明的是，服务器可以是硬件，也可以是软件。当服务器为硬件时，可以实现成多个服务器组成的分布式服务器集群，也可以实现成单个服务器。当服务器为软件时，可以实现成多个软件或软件模块(例如用来提供分布式服务的多个软件或软件模块)，也可以实现成单个软件或软件模块。在此不做具体限定。
需要说明的是，系统架构100还可以包括终端设备(图中未示出)。终端设备可以通过网络分别与上述服务器105通信连接。在自动导引运输车101、102、103电池故障或者无法开机等情况下，可以由技术人员使用该终端设备向服务器105发送故障信息。
需要说明的是，本申请实施例所提供的用于控制自动导引运输车的方法一般由服务器105执行，相应地，用于控制自动导引运输车的装置一般设置于服务器105中。
应该理解，图1中的自动导引运输车、网络和服务器的数目仅仅是示意性的。根据实现需要，可以具有任意数目的自动导引运输车、网络和服务器。
继续参考图2，示出了根据本申请的用于控制自动导引运输车的方法的一个实施例的流程200。该用于控制自动导引运输车的方法，包括以下步骤：
步骤201，接收故障消息。
在本实施例中，用于控制自动导引运输车的方法的执行主体(例如图1所示的服务器105)可以接收故障消息。其中，上述故障消息可以包括用于指示故障自动导引运输车的行程状态的行程状态信息和故障点的位置信息(例如故障点的坐标)。此处，故障运输车的行程状态可以包括但不限于取物品状态和送物品状态。实践中，自动导引运输车处于取物品状态时，车身未承载物品；自动导引运输车处于送物品状态时，车身承载有物品。此处的物品可以是货架、货物等。当该物品为货架时，货架中可以承载有货物，也可以未承载有货物。货架可以是单层货架，也可以是多层货架，此处不作限定。
在一种场景中，上述故障信息是在故障自动导引运输车检测到自身异常时，由故障自动导引运输车发送至上述执行主体的。此处，自动导引运输车可以自动检测到自身异常。例如，可以周期性地对电池电量进行检测，当检测到电池电量小于预设的最低电量时，则确定电池存在异常。
在另一种场景中，故障自动导引运输车由于电池发生故障、无法开机等原因，导致无法检测自身异常。此时，可以由仓库的管理人员或者技术人员通过终端设备人工设置故障信息，并利用终端设备向上述执行主体发送该故障信息。
步骤202，基于位置信息确定故障区域，向正在执行任务的非故障自动导引运输车发送用于指示禁止在故障区域内通行的指令。
在本实施例中，上述执行主体可以首先基于上述位置信息确定故障区域。而后，向正在执行任务的非故障自动导引运输车发送用于指示禁止在上述故障区域内通行的指令。此处，上述执行主体可以通过如下步骤确定故障区域。首先，可以确定距离故障点的位置最近的定位点，将该定位点作为中心定位点。实践中，定位点可以是地面中预先绘制的二维码的中心。每一个二维码中可以存储有该二维码的中心位置的坐标(即定位点的坐标)、定位点的编号等信息。之后，可以将以该中心定位点作为中心的预设范围确定为故障区域。作为示例，预设范围可以是以该中心定位点为圆心、以预设长度作为半径所构成的圆形范围。作为又一示例，预设范围可以是以该中心定位点为中心、 以预设长度作为长和宽所构成的矩形范围。作为又一示例，预设范围还可以是以该中心定位点为中心、周围预设数量的定位点(例如包含上述中心定位点在内的25个定位点)所确定的范围。实践中，上述25个定位点可以呈5行、5列分布，定位点均位于行列交点。中心定位点即为第3行、第3列的交点。可以为分别将第1行中的相邻定位点直线连接、第1列中的相邻定位点直线连接、第5行中的相邻定位点直线连接、第5列中的相邻定位点直线连接，此时，可以将所形成的封闭矩形区域作为预设范围。
实践中，在向正在执行任务的非故障自动导引运输车发送用于指示禁止在故障区域内通行的指令后，工作人员可以将上述故障自动导引运输车转移至故障区域。正在执行任务的各个非故障自动导引运输车在接收到该指令后，可以重新规划路径，以避免驶入上述故障区域。若不存在可避免驶入上述预设区域的新路径，则可以在该故障区域外等待，直至接收到用于指示取消禁止在上述故障区域内通行的指令。在接收到用于指示取消禁止在上述故障区域内通行的指令后，可以继续按照原始规划的路径行驶。此处，由于在发生故障后不需要使正在执行任务的自动导引运输车均停止行驶，实现了对正在执行任务的自动导引运输车的灵活控制，提高了整体的作业效率。同时，由于在发生故障后，使正在执行任务的自动导引运输车避免在故障区域通行，保证了工作人员处理故障车时的人身安全。
在一种场景中，在确定故障区域后，上述执行主体可以向正在执行任务的各个非故障自动导引运输车发送用于指示禁止在故障区域内通行的指令。
在另一种场景中，在确定故障区域后，上述执行主体可以首先查询正在执行任务的非故障自动导引运输车的行驶路径，向行驶路径指示需要在上述故障区域内通行的非故障自动导引运输车发送用于指示禁止在故障区域内通行的指令。
步骤203，基于行程状态信息，从当前未执行任务的自动导引运输车中确定目标自动导引运输车，向目标自动导引运输车发送任务执行指令。
在本实施例中，上述执行主体可以基于上述行程状态信息，从当前未执行任务的自动导引运输车中确定目标自动导引运输车，向目标自动导引运输车发送任务执行指令。其中，上述任务执行指令包括用于指示执行目标任务的指令，上述目标任务为故障自动导引运输车未执行完成的任务。需要说明的是，上述任务执行指令也可以包括其他指令，例如用于指示目标自动导引运输车启动的指令等。
此处，基于不同的行程状态可以确定不同的目标自动导引运输车。作为示例，在行程状态为取物品状态时，可以将当前未执行任务的自动导引运输车中的空闲时间最长的自动导引运输车确定为目标自动导引运输车；在行程状态为取物品状态时，可以将当前未执行任务的自动导引运输车中的可承受负载与上述故障自动导引运输车可承受负载一致的自动导引运输车确定为目标自动导引运输车。
由此，在自动导引运输车发生故障后，不需要进行人工调度目标自动导引运输车和进行属性修改，降低了故障处理的复杂度和处理难度，提高了对故障事件的处理效率。
步骤204，响应于确定故障自动导引运输车被转移至维修区域，向正在执行任务的非故障自动导引运输车发送用于指示取消禁止在故障区域内通行的指令。
在本实施例中，响应于确定故障自动导引运输车被转移至维修区域，上述执行主体可以向正在执行任务的非故障自动导引运输车发送用于指示取消禁止在故障区域内通行的指令。
实践中，行驶中的非故障自动导引运输车在接收到用于指示取消禁止在故障区域内通行的指令后，可以重新进行路径规划。在故障区域外等待的非故障自动导引运输车，在接收到用于指示取消禁止在上述故障区域内通行的指令后，可以继续按照原始规划的路径行驶。由此，可以对正在执行任务的自动导引运输车进行灵活控制，提高了整体的作业效率。同时，由于在故障清除后恢复故障区域的正常通行，保证了工作人员处理故障车时的人身安全。
继续参见图3，图3是根据本实施例的用于控制自动导引运输车 的方法的应用场景的一个示意图。在图3的应用场景中，在自动导引运输车发生故障(发生故障的自动导引运输车为故障自动导引运输车)后，服务器首先接收故障自动导引运输车所发送的故障消息。而后，服务器基于故障点的位置确定故障区域，向正在执行任务的非故障自动导引运输车发送用于指示禁止在故障区域内通行的第一指令。之后，服务器基于故障自动导引运输车的行程状态信息，确定当前未执行任务的自动导引运输车中的目标自动导引运输车，向目标自动导引运输车发送任务执行指令，使目标自动导引运输车执行故障自动导引运输车未执行完成的任务。最后，在故障自动导引运输车被转移至维修区域后，服务器向正在执行任务的非故障自动导引运输车发送用于指示取消禁止在上述故障区域内通行的第二指令。
本申请的上述实施例提供的方法，在自动导引运输车发生故障后，首先接收故障消息；而后，基于故障点的位置确定故障区域，以禁止正在执行任务的非故障自动导引运输车在故障区域内通行；之后，基于故障自动导引运输车的行程状态信息，确定当前未执行任务的自动导引运输车中的目标自动导引运输车，使目标自动导引运输车执行故障自动导引运输车未执行完成的任务；最后，在故障自动导引运输车被转移至维修区域后，向自动导引运输车发送取消禁止在故障区域内通行的指令。从而，在自动导引运输车发生故障后，不需要进行人工调度目标自动导引运输车和进行属性修改，降低了故障处理的复杂度和处理难度，提高了对故障事件的处理效率。同时，控制自动导引运输车禁止在故障区域内通行，以及取消自动导引运输车禁止在故障区域内通行的禁令，不需要在发生故障后使正在执行任务的自动导引运输车停止行驶，实现了对正在执行任务的自动导引运输车的灵活控制。
进一步参考图4，其示出了用于控制自动导引运输车的方法的又一个实施例的流程400。该用于控制自动导引运输车的方法的流程400，包括以下步骤：
步骤401，接收故障消息。
在本实施例中，用于控制自动导引运输车的方法的执行主体(例 如图1所示的服务器105)可以接收故障消息。其中，上述故障消息可以包括用于指示故障自动导引运输车的行程状态的行程状态信息和故障点的位置信息。此处，故障运输车的行程状态可以包括但不限于取物品状态和送物品状态。
步骤402，基于位置信息确定故障区域，向正在执行任务的非故障自动导引运输车发送用于指示禁止在故障区域内通行的指令。
在本实施例中，上述执行主体可以首先基于上述位置信息确定故障区域。而后，向正在执行任务的非故障自动导引运输车发送用于指示禁止在上述故障区域内通行的指令。此处，上述执行主体可以通过如下步骤确定故障区域。首先，可以确定距离故障点的位置最近的定位点，将该定位点作为中心定位点。实践中，定位点可以是地面中预先绘制的二维码的中心。之后，可以将以该中心定位点作为中心的预设范围确定为故障区域。
此处，由于在发生故障后不需要使正在执行任务的自动导引运输车均停止行驶，实现了对正在执行任务的自动导引运输车的灵活控制，提高了整体的作业效率。同时，由于在发生故障后，使正在执行任务的自动导引运输车避免在故障区域通行，保证了工作人员处理故障车时的人身安全。
步骤403，响应于确定行程状态信息所指示的行程状态为取物品状态，确定故障自动导引运输车待取的物品的储位位置。
在本实施例中，响应于确定上述行程状态信息所指示的行程状态为取物品状态，上述执行主体可以确定上述故障自动导引运输车待取的物品的储位位置。此处，用于指示该储位位置的信息可以预先记录于上述故障自动导引运输车所执行的任务中，上述执行主体可以直接进行读取。在确定储位位置后，可以执行步骤404。
步骤404，将当前未执行任务的自动导引运输车中的、距离上述储位位置最近的自动导引运输车确定为目标自动导引运输车，向上述目标自动导引运输车发送任务执行指令。
在本实施例中，可以将当前未执行任务的自动导引运输车中的、距离上述储位位置最近的自动导引运输车确定为目标自动导引运输 车，向上述目标自动导引运输车发送任务执行指令。此时，上述任务执行指令可以包括用于指示执行目标任务的指令，上述目标任务为上述故障自动导引运输车未执行完成的任务。需要说明的是，上述任务执行指令也可以包括其他指令，例如用于指示目标自动导引运输车启动的指令等。
由此，在自动导引运输车取物品途中出现故障的情况下，将距离储位位置最近且当前空闲的自动导引运输车作为目标自动导引运输车，可以保证故障自动导引运输车未完成的任务得到最快的执行，提高了故障处理的效率。同时，不需要进行人工调度目标自动导引运输车和进行属性修改，降低了故障处理的复杂度和处理难度，进一步提高了对故障事件的处理效率。
步骤405，响应于确定行程状态信息所指示的行程状态为送物品状态，将当前未执行任务的自动导引运输车中的、距离故障点最近的自动导引运输车确定为目标自动导引运输车，向目标自动导引运输车发送任务执行指令。
在本实施例中，响应于确定上述行程状态信息所指示的行程状态为送物品状态，上述执行主体可以将当前未执行任务的自动导引运输车中的、距离上述故障点最近的自动导引运输车确定为目标自动导引运输车，向上述目标自动导引运输车发送任务执行指令。其中，上述任务执行指令可以包括用于指示行驶至上述故障点位置的指令和用于指示执行目标任务的指令，上述目标任务为上述故障自动导引运输车未执行完成的任务。需要说明的是，上述任务执行指令也可以包括其他指令，例如用于指示目标自动导引运输车启动的指令等。
由此，在自动导引运输车送物品途中出现故障的情况下，将距离故障点最近且当前空闲的自动导引运输车作为目标自动导引运输车，可以保证故障自动导引运输车未完成的任务得到最快的执行，提高了故障处理的效率。同时，不需要进行人工调度目标自动导引运输车和进行属性修改，降低了故障处理的复杂度和处理难度，进一步提高了对故障事件的处理效率。
实践中，在自动导引运输车送物品途中出现故障，且向正在执行 任务的非故障自动导引运输车发送用于指示禁止在故障区域内通行的指令之后，可以由工作人员将故障自动导引运输车所承载的物品放置当前位置(即故障点)的地面上，而后将故障自动导引运输车推送至维修区域。因此，向正在执行任务的非故障自动导引运输车发送用于指示禁止在故障区域内通行的指令，还可以避免其他承载有物品的自动导引运输车碰撞地面上的物品，保证其他承载有物品的自动导引运输车的安全。
步骤406，响应于确定故障自动导引运输车被转移至维修区域，向正在执行任务的非故障自动导引运输车发送用于指示取消禁止在故障区域内通行的指令。
在本实施例中，响应于确定故障自动导引运输车被转移至维修区域，上述执行主体可以向正在执行任务的非故障自动导引运输车发送用于指示取消禁止在故障区域内通行的指令。
实践中，行驶中的非故障自动导引运输车在接收到用于指示取消禁止在故障区域内通行的指令后，可以重新进行路径规划。在故障区域外等待的非故障自动导引运输车，在接收到用于指示取消禁止在上述故障区域内通行的指令后，可以继续按照原始规划的路径行驶。由此，可以对正在执行任务的自动导引运输车进行灵活控制，提高了整体的作业效率。同时，由于在故障清除后恢复故障区域的正常通行，保证了工作人员处理故障车时的人身安全。
步骤407，向故障自动导引运输车发送任务停止指令，以停止故障自动导引运输车所执行的任务。
在本实施例中，上述执行主体在上述向上述目标自动导引运输车发送任务执行指令之后，还可以向上述故障自动导引运输车发送任务停止指令，以停止上述故障自动导引运输车所执行的任务。
步骤408，将上述故障自动导引运输车的行程状态信息清空。
在本实施例中，上述执行主体在上述向上述目标自动导引运输车发送任务执行指令之后，可以将上述故障自动导引运输车的行程状态信息清空。
需要说明的是，步骤406到步骤408的执行顺序不限于上述顺序 编号所指示的顺序，也可按照其他顺序执行。例如，可以同时执行步骤406、步骤407和步骤408；或者，依次执行步骤408、步骤407、步骤406。
从图4中可以看出，与图2对应的实施例相比，本实施例中的用于控制自动导引运输车的方法的流程400突出了针对取物品状态、送物品状态分别确定目标自动导引运输车的步骤。由此，本实施例描述的方案可以保证故障自动导引运输车未完成的任务得到最快的执行，进一步提高了故障处理的效率。
进一步参考图5，作为对上述各图所示方法的实现，本申请提供了一种用于控制自动导引运输车的装置的一个实施例，该装置实施例与图2所示的方法实施例相对应，该装置具体可以应用于各种电子设备中。
如图5所示，本实施例所述的用于控制自动导引运输车的装置500包括：接收单元501，被配置成接收故障消息，其中，上述故障消息包括用于指示故障自动导引运输车的行程状态的行程状态信息和发生故障的故障点的位置信息；第一发送单元502，被配置成基于上述位置信息确定故障区域，向正在执行任务的非故障自动导引运输车发送用于指示禁止在上述故障区域内通行的指令；确定单元503，被配置成基于上述行程状态信息，从当前未执行任务的自动导引运输车中确定目标自动导引运输车，向上述目标自动导引运输车发送任务执行指令，其中，上述任务执行指令包括用于指示执行目标任务的指令，上述目标任务为上述故障自动导引运输车未执行完成的任务；第二发送单元504，被配置成响应于确定上述故障自动导引运输车被转移至维修区域，向正在执行任务的非故障自动导引运输车发送用于指示取消禁止在上述故障区域内通行的指令。
在本实施例的一些可选的实现方式中，上述确定单元503可以包括确定模块和第一发送模块(图中未示出)。其中，上述确定模块可以被配置成响应于确定上述行程状态信息所指示的行程状态为取物品状态，确定上述故障自动导引运输车待取的物品的储位位置；第一发送 模块，被配置成将当前未执行任务的自动导引运输车中的、距离上述储位位置最近的自动导引运输车确定为目标自动导引运输车，向上述目标自动导引运输车发送任务执行指令，其中，上述任务执行指令包括用于指示执行目标任务的指令，上述目标任务为上述故障自动导引运输车未执行完成的任务。
在本实施例的一些可选的实现方式中，上述确定单元503可以包括第二发送模块(图中未示出)。其中，上述第二发送模块可以被配置成响应于确定上述行程状态信息所指示的行程状态为送物品状态，将当前未执行任务的自动导引运输车中的、距离上述故障点最近的自动导引运输车确定为目标自动导引运输车，向上述目标自动导引运输车发送任务执行指令，其中，上述任务执行指令包括用于指示行驶至上述故障点位置的指令和用于指示执行目标任务的指令，上述目标任务为上述故障自动导引运输车未执行完成的任务。
在本实施例的一些可选的实现方式中，该装置还可以包括第三发送单元(图中未示出)。其中，上述第三发送单元可以被配置成向上述故障自动导引运输车发送任务停止指令，以停止上述故障自动导引运输车所执行的任务。
在本实施例的一些可选的实现方式中，该装置还包括设置单元(图中未示出)。其中，上述设置单元可以被配置成将上述故障自动导引运输车的行程状态信息清空。
本申请的上述实施例提供的装置，在自动导引运输车发生故障后，通过接收单元501接收故障消息；而后第一发送单元502基于故障点的位置确定故障区域，向正在执行任务的非故障自动导引运输车在发送禁止在故障区域内通行的指令；之后确定单元503基于故障自动导引运输车的行程状态信息，确定当前未执行任务的自动导引运输车中的目标自动导引运输车，使目标自动导引运输车执行故障自动导引运输车未执行完成的任务；最后第二发送单元504在故障自动导引运输车被转移至维修区域后，发送取消禁止自动导引运输车在故障区域内通行的指令。从而，在自动导引运输车发生故障后，不需要进行人工调度目标自动导引运输车和进行属性修改，降低了故障处理的复杂度 和处理难度，提高了对故障事件的处理效率。同时，控制自动导引运输车禁止在故障区域内通行，以及取消自动导引运输车禁止在故障区域内通行的禁令，不需要在发生故障后使正在执行任务的自动导引运输车停止行驶，实现了对正在执行任务的自动导引运输车的灵活控制。
进一步参考图6，其示出了根据本申请的用于控制自动导引运输车的系统中各装置之间的交互过程的示意图600。
用于控制自动导引运输车的系统包括服务器和至少一个自动导引运输车，上述至少一个自动导引运输车中的每一个自动导引运输车与上述服务器通信连接。
如图6所示，用于控制自动导引运输车的系统中，各装置之间的交互过程600可以包括以下步骤：
步骤601，服务器接收故障消息。
在本实施例中，服务器可以接收故障消息。其中，上述故障消息包括用于指示上述至少一个自动导引运输车中的故障自动导引运输车的行程状态的行程状态信息和发生故障的故障点的位置信息。上述故障消息可以是故障自动导引运输车检测到自身异常后发送给服务器的。
在本实施例的一些可选的实现方式中，上述用于控制自动导引运输车的系统还可以包括终端设备。上述终端设备可以和上述服务器通信连接。上述终端设备可以被配置成向上述服务器发送故障消息。实践中，在故障自动导引运输车无法自行检测到自身异常或者故障自动导引运输车无法发送故障信息时，可以由该终端设备发送该故障信息。
步骤602，服务器基于位置信息确定故障区域。
步骤603，上述至少一个自动导引运输车中的正在执行任务的非故障自动导引运输车接收上述服务器发送的、用于指示禁止在上述故障区域内通行的指令。
步骤604，服务器基于行程状态信息，从当前未执行任务的自动导引运输车中确定目标自动导引运输车。
步骤605，向目标自动导引运输车发送任务执行指令。
在本实施例中，上述任务执行指令可以包括用于指示执行目标任务的指令，上述目标任务为上述故障自动导引运输车未执行完成的任务。
在本实施例的一些可选的实现方式中，服务器响应于确定上述行程状态信息所指示的行程状态为取物品状态，可以首先确定上述故障自动导引运输车待取的物品的储位位置；而后，可以将当前未执行任务的自动导引运输车中的、距离上述储位位置最近的自动导引运输车确定为目标自动导引运输车，向上述目标自动导引运输车发送任务执行指令。其中，上述任务执行指令包括用于指示执行目标任务的指令，上述目标任务为上述故障自动导引运输车未执行完成的任务。
在本实施例的一些可选的实现方式中，服务器响应于确定上述行程状态信息所指示的行程状态为送物品状态，可以将当前未执行任务的自动导引运输车中的、距离上述故障点最近的自动导引运输车确定为目标自动导引运输车，向上述目标自动导引运输车发送任务执行指令。其中，上述任务执行指令包括用于指示行驶至上述故障点位置的指令和用于指示执行目标任务的指令，上述目标任务为上述故障自动导引运输车未执行完成的任务。
步骤606，服务器响应于确定故障自动导引运输车被转移至维修区域，向正在执行任务的非故障自动导引运输车发送用于指示取消禁止在故障区域内通行的指令。
在本实施例的一些可选的实现方式中，在上述向上述目标自动导引运输车发送任务执行指令之后，服务器还可以向上述故障自动导引运输车发送任务停止指令，以停止上述故障自动导引运输车所执行的任务。
在本实施例的一些可选的实现方式中，在上述向上述目标自动导引运输车发送任务执行指令之后，服务器还可以将上述故障自动导引运输车的行程状态信息清空。
本申请实施例提供的用于控制自动导引运输车的方法、装置和系统，在自动导引运输车发生故障后，服务器可以首先接收故障消息；而后，基于故障点的位置确定故障区域，以禁止正在执行任务的非故 障自动导引运输车在故障区域内通行；之后，基于故障自动导引运输车的行程状态信息，确定当前未执行任务的自动导引运输车中的目标自动导引运输车，使目标自动导引运输车执行故障自动导引运输车未执行完成的任务；最后，在故障自动导引运输车被转移至维修区域后，向自动导引运输车发送取消禁止在故障区域内通行的指令。从而，在自动导引运输车发生故障后，不需要进行人工调度目标自动导引运输车和进行属性修改，降低了故障处理的复杂度和处理难度，提高了对故障事件的处理效率。同时，控制自动导引运输车禁止在故障区域内通行，以及取消自动导引运输车禁止在故障区域内通行的禁令，不需要在发生故障后使正在执行任务的自动导引运输车停止行驶，实现了对正在执行任务的自动导引运输车的灵活控制。
下面参考图7，其示出了适于用来实现本申请实施例的服务器的计算机系统700的结构示意图。图7示出的服务器仅仅是一个示例，不应对本申请实施例的功能和使用范围带来任何限制。
如图7所示，计算机系统700包括中央处理单元(CPU)701，其可以根据存储在只读存储器(ROM)702中的程序或者从存储部分708加载到随机访问存储器(RAM)703中的程序而执行各种适当的动作和处理。在RAM 703中，还存储有系统700操作所需的各种程序和数据。CPU 701、ROM 702以及RAM 703通过总线704彼此相连。输入/输出(I/O)接口705也连接至总线704。
以下部件连接至I/O接口705：包括键盘、鼠标等的输入部分706；包括诸如阴极射线管(CRT)、液晶显示器(LCD)等以及扬声器等的输出部分707；包括硬盘等的存储部分708；以及包括诸如LAN卡、调制解调器等的网络接口卡的通信部分709。通信部分709经由诸如因特网的网络执行通信处理。驱动器710也根据需要连接至I/O接口705。可拆卸介质711，诸如磁盘、光盘、磁光盘、半导体存储器等等，根据需要安装在驱动器710上，以便于从其上读出的计算机程序根据需要被安装入存储部分708。
特别地，根据本申请的实施例，上文参考流程图描述的过程可以 被实现为计算机软件程序。例如，本申请的实施例包括一种计算机程序产品，其包括承载在计算机可读介质上的计算机程序，该计算机程序包含用于执行流程图所示的方法的程序代码。在这样的实施例中，该计算机程序可以通过通信部分709从网络上被下载和安装，和/或从可拆卸介质711被安装。在该计算机程序被中央处理单元(CPU)701执行时，执行本申请的方法中限定的上述功能。需要说明的是，本申请所述的计算机可读介质可以是计算机可读信号介质或者计算机可读存储介质或者是上述两者的任意组合。计算机可读存储介质例如可以是——但不限于——电、磁、光、电磁、红外线、或半导体的系统、装置或器件，或者任意以上的组合。计算机可读存储介质的更具体的例子可以包括但不限于：具有一个或多个导线的电连接、便携式计算机磁盘、硬盘、随机访问存储器(RAM)、只读存储器(ROM)、可擦式可编程只读存储器(EPROM或闪存)、光纤、便携式紧凑磁盘只读存储器(CD-ROM)、光存储器件、磁存储器件、或者上述的任意合适的组合。在本申请中，计算机可读存储介质可以是任何包含或存储程序的有形介质，该程序可以被指令执行系统、装置或者器件使用或者与其结合使用。而在本申请中，计算机可读的信号介质可以包括在基带中或者作为载波一部分传播的数据信号，其中承载了计算机可读的程序代码。这种传播的数据信号可以采用多种形式，包括但不限于电磁信号、光信号或上述的任意合适的组合。计算机可读的信号介质还可以是计算机可读存储介质以外的任何计算机可读介质，该计算机可读介质可以发送、传播或者传输用于由指令执行系统、装置或者器件使用或者与其结合使用的程序。计算机可读介质上包含的程序代码可以用任何适当的介质传输，包括但不限于：无线、电线、光缆、RF等等，或者上述的任意合适的组合。
附图中的流程图和框图，图示了按照本申请各种实施例的系统、方法和计算机程序产品的可能实现的体系架构、功能和操作。在这点上，流程图或框图中的每个方框可以代表一个模块、程序段、或代码的一部分，该模块、程序段、或代码的一部分包含一个或多个用于实 现规定的逻辑功能的可执行指令。也应当注意，在有些作为替换的实现中，方框中所标注的功能也可以以不同于附图中所标注的顺序发生。例如，两个接连地表示的方框实际上可以基本并行地执行，它们有时也可以按相反的顺序执行，这依所涉及的功能而定。也要注意的是，框图和/或流程图中的每个方框、以及框图和/或流程图中的方框的组合，可以用执行规定的功能或操作的专用的基于硬件的系统来实现，或者可以用专用硬件与计算机指令的组合来实现。
描述于本申请实施例中所涉及到的单元可以通过软件的方式实现，也可以通过硬件的方式来实现。所描述的单元也可以设置在处理器中，例如，可以描述为：一种处理器包括接收单元、第一发送单元、确定单元和第二发送单元。其中，这些单元的名称在某种情况下并不构成对该单元本身的限定，例如，接收单元还可以被描述为“接收故障消息的单元”。
作为另一方面，本申请还提供了一种计算机可读介质，该计算机可读介质可以是上述实施例中描述的装置中所包含的；也可以是单独存在，而未装配入该装置中。上述计算机可读介质承载有一个或者多个程序，当上述一个或者多个程序被该装置执行时，使得该装置：接收故障消息，该故障消息包括用于指示故障自动导引运输车的行程状态的行程状态信息和发生故障的故障点的位置信息；基于该位置信息确定故障区域，向正在执行任务的非故障自动导引运输车发送用于指示禁止在该故障区域内通行的指令；基于该行程状态信息，从当前未执行任务的自动导引运输车中确定目标自动导引运输车，向该目标自动导引运输车发送任务执行指令；响应于确定该故障自动导引运输车被转移至维修区域，向正在执行任务的非故障自动导引运输车发送用于指示取消禁止在该故障区域内通行的指令。
以上描述仅为本申请的较佳实施例以及对所运用技术原理的说明。本领域技术人员应当理解，本申请中所涉及的发明范围，并不限于上述技术特征的特定组合而成的技术方案，同时也应涵盖在不脱离上述发明构思的情况下，由上述技术特征或其等同特征进行任意组合而形成的其它技术方案。例如上述特征与本申请中公开的(但不限于) 具有类似功能的技术特征进行互相替换而形成的技术方案。

Claims (18)

  1. 一种用于控制自动导引运输车的方法，包括：
    接收故障消息，其中，所述故障消息包括用于指示故障自动导引运输车的行程状态的行程状态信息和发生故障的故障点的位置信息；
    基于所述位置信息确定故障区域，向正在执行任务的非故障自动导引运输车发送用于指示禁止在所述故障区域内通行的指令；
    基于所述行程状态信息，从当前未执行任务的自动导引运输车中确定目标自动导引运输车，向所述目标自动导引运输车发送任务执行指令，其中，所述任务执行指令包括用于指示执行目标任务的指令，所述目标任务为所述故障自动导引运输车未执行完成的任务；
    响应于确定所述故障自动导引运输车被转移至维修区域，向正在执行任务的非故障自动导引运输车发送用于指示取消禁止在所述故障区域内通行的指令。
  2. 根据权利要求1所述的用于控制自动导引运输车的方法，其中，所述基于所述行程状态信息，从当前未执行任务的自动导引运输车中确定目标自动导引运输车，向所述目标自动导引运输车发送任务执行指令，包括：
    响应于确定所述行程状态信息所指示的行程状态为取物品状态，确定所述故障自动导引运输车待取的物品的储位位置；
    将当前未执行任务的自动导引运输车中的、距离所述储位位置最近的自动导引运输车确定为目标自动导引运输车，向所述目标自动导引运输车发送任务执行指令，其中，所述任务执行指令包括用于指示执行目标任务的指令，所述目标任务为所述故障自动导引运输车未执行完成的任务。
  3. 根据权利要求1所述的用于控制自动导引运输车的方法，其中，所述基于所述行程状态信息，从当前未执行任务的自动导引运输车中确定目标自动导引运输车，向所述目标自动导引运输车发送任务执行 指令，包括：
    响应于确定所述行程状态信息所指示的行程状态为送物品状态，将当前未执行任务的自动导引运输车中的、距离所述故障点最近的自动导引运输车确定为目标自动导引运输车，向所述目标自动导引运输车发送任务执行指令，其中，所述任务执行指令包括用于指示行驶至所述故障点位置的指令和用于指示执行目标任务的指令，所述目标任务为所述故障自动导引运输车未执行完成的任务。
  4. 根据权利要求1所述的用于控制自动导引运输车的方法，其中，在所述向所述目标自动导引运输车发送任务执行指令之后，所述方法还包括：
    向所述故障自动导引运输车发送任务停止指令，以停止所述故障自动导引运输车所执行的任务。
  5. 根据权利要求1所述的用于控制自动导引运输车的方法，其中，在所述向所述目标自动导引运输车发送任务执行指令之后，所述方法还包括：
    将所述故障自动导引运输车的行程状态信息清空。
  6. 一种用于控制自动导引运输车的装置，包括：
    接收单元，被配置成接收故障消息，其中，所述故障消息包括用于指示故障自动导引运输车的行程状态的行程状态信息和发生故障的故障点的位置信息；
    第一发送单元，被配置成基于所述位置信息确定故障区域，向正在执行任务的非故障自动导引运输车发送用于指示禁止在所述故障区域内通行的指令；
    确定单元，被配置成基于所述行程状态信息，从当前未执行任务的自动导引运输车中确定目标自动导引运输车，向所述目标自动导引运输车发送任务执行指令，其中，所述任务执行指令包括用于指示执行目标任务的指令，所述目标任务为所述故障自动导引运输车未执行 完成的任务；
    第二发送单元，被配置成响应于确定所述故障自动导引运输车被转移至维修区域，向正在执行任务的非故障自动导引运输车发送用于指示取消禁止在所述故障区域内通行的指令。
  7. 根据权利要求6所述的用于控制自动导引运输车的装置，其中，所述确定单元包括：
    确定模块，被配置成响应于确定所述行程状态信息所指示的行程状态为取物品状态，确定所述故障自动导引运输车待取的物品的储位位置；
    第一发送模块，被配置成将当前未执行任务的自动导引运输车中的、距离所述储位位置最近的自动导引运输车确定为目标自动导引运输车，向所述目标自动导引运输车发送任务执行指令，其中，所述任务执行指令包括用于指示执行目标任务的指令，所述目标任务为所述故障自动导引运输车未执行完成的任务。
  8. 根据权利要求6所述的用于控制自动导引运输车的装置，其中，所述确定单元包括：
    第二发送模块，被配置成响应于确定所述行程状态信息所指示的行程状态为送物品状态，将当前未执行任务的自动导引运输车中的、距离所述故障点最近的自动导引运输车确定为目标自动导引运输车，向所述目标自动导引运输车发送任务执行指令，其中，所述任务执行指令包括用于指示行驶至所述故障点位置的指令和用于指示执行目标任务的指令，所述目标任务为所述故障自动导引运输车未执行完成的任务。
  9. 根据权利要求6所述的用于控制自动导引运输车的装置，其中，所述装置还包括：
    第三发送单元，被配置成向所述故障自动导引运输车发送任务停止指令，以停止所述故障自动导引运输车所执行的任务。
  10. 根据权利要求6所述的用于控制自动导引运输车的装置，其中，所述装置还包括：
    设置单元，被配置成将所述故障自动导引运输车的行程状态信息清空。
  11. 一种用于控制自动导引运输车的系统，所述系统包括服务器和至少一个自动导引运输车，所述至少一个自动导引运输车中的每一个自动导引运输车与所述服务器通信连接；
    所述服务器，被配置成接收故障消息，基于所述至少一个自动导引运输车中的故障自动导引运输车发生故障的故障点的位置信息确定故障区域，其中，所述故障消息包括用于指示所述故障自动导引运输车的行程状态的行程状态信息和所述故障信息；
    所述至少一个自动导引运输车中的正在执行任务的非故障自动导引运输车，被配置成接收所述服务器发送的、用于指示禁止在所述故障区域内通行的指令；
    所述服务器，进一步被配置成基于所述行程状态信息，从当前未执行任务的自动导引运输车中确定目标自动导引运输车，向所述目标自动导引运输车发送任务执行指令，其中，所述任务执行指令包括用于指示执行目标任务的指令，所述目标任务为所述故障自动导引运输车未执行完成的任务，响应于确定所述故障自动导引运输车被转移至维修区域，向正在执行任务的非故障自动导引运输车发送用于指示取消禁止在所述故障区域内通行的指令。
  12. 根据权利要求11所述的用于控制自动导引运输车的系统，其中，所述系统还包括终端设备，所述终端设备与所述服务器通信连接；以及
    所述终端设备，被配置成向所述服务器发送故障消息，其中，所述故障消息包括用于指示故障自动导引运输车的行程状态的行程状态信息和发生故障的故障点的位置信息。
  13. 根据权利要求11所述的用于控制自动导引运输车的系统，其中，所述服务器进一步被配置成：
    响应于确定所述行程状态信息所指示的行程状态为取物品状态，确定所述故障自动导引运输车待取的物品的储位位置；
    将当前未执行任务的自动导引运输车中的、距离所述储位位置最近的自动导引运输车确定为目标自动导引运输车，向所述目标自动导引运输车发送任务执行指令，其中，所述任务执行指令包括用于指示执行目标任务的指令，所述目标任务为所述故障自动导引运输车未执行完成的任务。
  14. 根据权利要求11所述的用于控制自动导引运输车的系统，其中，所述服务器进一步被配置成：
    响应于确定所述行程状态信息所指示的行程状态为送物品状态，将当前未执行任务的自动导引运输车中的、距离所述故障点最近的自动导引运输车确定为目标自动导引运输车，向所述目标自动导引运输车发送任务执行指令，其中，所述任务执行指令包括用于指示行驶至所述故障点位置的指令和用于指示执行目标任务的指令，所述目标任务为所述故障自动导引运输车未执行完成的任务。
  15. 根据权利要求11所述的用于控制自动导引运输车的系统，其中，所述服务器进一步被配置成：
    在所述向所述目标自动导引运输车发送任务执行指令之后，向所述故障自动导引运输车发送任务停止指令，以停止所述故障自动导引运输车所执行的任务。
  16. 根据权利要求11所述的用于控制自动导引运输车的系统，其中，所述服务器进一步被配置成：
    将所述故障自动导引运输车的行程状态信息清空。
  17. 一种服务器，包括：
    一个或多个处理器；
    存储装置，其上存储有一个或多个程序，
    当所述一个或多个程序被所述一个或多个处理器执行，使得所述一个或多个处理器实现如权利要求1-5中任一所述的方法。
  18. 一种计算机可读介质，其上存储有计算机程序，其中，该程序被处理器执行时实现如权利要求1-5中任一所述的方法。
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