CN-122018366-A - Control system, method, device, equipment and medium for automatic guided vehicle

Abstract

The embodiment of the invention provides a control system, a method, a device, equipment and a medium of an automatic guided vehicle, wherein the system comprises a control unit, an arbitration unit and a control unit, wherein the control unit is used for detecting a mode switching signal under the condition that a current working mode is a full-automatic control mode, switching the current working mode into the manual control mode if the mode switching signal indicates to switch into the manual control mode, acquiring switching time if the mode switching signal indicates to switch into the semi-automatic control mode and the task is currently being executed, switching the current working mode into the semi-automatic control mode when the switching time is reached, and determining the switching time according to the task. According to the embodiment of the invention, the control unit responds to the mode switching signal to switch the current working mode into the manual control mode or the semi-automatic control mode, and the arbitration unit determines the switching time of the semi-automatic mode according to the current task, so that the flexible switching of the modes is realized, and the safety accident risk caused by the disorder of the mode switching is effectively avoided.

Inventors

• GUO WEIZENG
• WU ZHIWEI
• ZHANG XIBIN
• LIU YUSHU
• LI LIANG
• WU SIQIAN

Assignees

• 珠海格力智能装备有限公司
• 珠海格力数控机床有限公司

Dates

Publication Date

20260512

Application Date

20260114

Claims (15)

1. 1. A control system for an automated guided vehicle, the system comprising: The control unit is used for detecting a mode switching signal when the current working mode is a full-automatic control mode, switching the current working mode into a manual control mode if the mode switching signal indicates to switch into the manual control mode, acquiring switching time if the mode switching signal indicates to switch into a semi-automatic control mode and a task is currently being executed, and switching the current working mode into the semi-automatic control mode when the switching time is reached; And the arbitration unit is used for determining the switching time according to the task.
2. 2. The control system of an automated guided vehicle according to claim 1, wherein, The arbitration unit is used for judging whether the task is an urgent task, executing the task through the full-automatic control mode when the task is the urgent task, determining the execution time for completing the task as the switching time, and determining the current time as the switching time when the task is a non-urgent task.
3. 3. The automated guided vehicle control system of claim 2, wherein the tasks include a plurality of events, And the arbitration unit is used for judging that the task is an emergency task when at least one emergency event exists in a plurality of events in the task.
4. 4. The control system of an automated guided vehicle according to claim 1, wherein, The control unit is further configured to switch the current working mode to a manual control mode if a mode switching signal indicating switching to the manual control mode and a mode switching signal indicating switching to the semiautomatic control mode are detected simultaneously.
5. 5. The automated guided vehicle control system of claim 1, wherein the system further comprises: the interaction unit is used for determining a target task selected by a user on a visual interface under the condition that the current working mode is the semi-automatic control mode; and the control unit is used for acquiring the target task selected by the user on the visual interface and executing the target task.
6. 6. The control system of an automated guided vehicle according to claim 1, wherein, The control unit is also used for determining the task and the state information to be executed under the condition that the current working mode is a manual control mode or a semi-automatic control mode, and uploading the task and the state information to the warehouse management system.
7. 7. A control method of an automatic guided vehicle, the method comprising: Detecting a mode switching signal under the condition that the current working mode is a full-automatic control mode; if the mode switching signal indicates to switch to a manual control mode, the current working mode is switched to the manual control mode; and determining a switching time according to the task, and switching the current working mode into the semi-automatic control mode when the switching time is reached.
8. 8. The method for controlling an automatic guided vehicle according to claim 7, wherein determining a switching timing according to the task comprises: judging whether the task is an urgent task or not; when the task is an urgent task, executing the task through the full-automatic control mode; And when the task is a non-urgent task, determining the current moment as a switching time.
9. 9. The method for controlling an automatic guided vehicle according to claim 8, wherein the tasks include a plurality of events, and the determining whether the tasks are emergency tasks includes: and when at least one emergency event exists in a plurality of events in the task, judging that the task is an emergency task.
10. 10. The control method of an automatic guided vehicle according to claim 7, characterized in that the method further comprises: and if the mode switching signal for indicating to switch to the manual control mode and the mode switching signal for indicating to switch to the semi-automatic control mode are detected at the same time, switching the current working mode to the manual control mode.
11. 11. The control method of an automatic guided vehicle according to claim 7, characterized in that the method further comprises: And under the condition that the current working mode is the semi-automatic control mode, acquiring a target task selected by a user on a visual interface and executing the target task.
12. 12. The control method of an automatic guided vehicle according to claim 7, characterized in that the method further comprises: Under the condition that the current working mode is a manual control mode or a semi-automatic control mode, determining the executed task and state information; And uploading the task and state information to a warehouse management system.
13. 13. A control device for an automatic guided vehicle, the device comprising: The detection module is used for detecting a mode switching signal under the condition that the current working mode is a full-automatic control mode; The first switching module is used for switching the current working mode into a manual control mode if the mode switching signal indicates to switch into the manual control mode; and the second switching module is used for determining switching time according to the task if the mode switching signal indicates to switch to the semi-automatic control mode and the task is currently being executed, and switching the current working mode to the semi-automatic control mode when the switching time is reached.
14. 14. An electronic device, comprising: A processor, a memory and a computer program stored on the memory and executable on the processor, the processor implementing the control method of an automated guided vehicle according to any one of claims 7-12 when executing the program.
15. 15. A readable storage medium, characterized in that instructions in the storage medium, when executed by a processor of an electronic device, enable the electronic device to perform the control method of an automated guided vehicle according to any one of claims 7-12.

Description

Control system, method, device, equipment and medium for automatic guided vehicle Technical Field The invention relates to the technical field of equipment control, in particular to a control method of an automatic guided vehicle and a control device of the automatic guided vehicle. Background With the development of intelligent warehouse, the automatic guided vehicle is increasingly widely applied to warehouse management systems. However, the control mode of the existing automatic guided vehicle has significant limitations. The automatic guided vehicle in the full-automatic mode cannot cope with scenes needing manual intervention such as emergency bill insertion, equipment abnormality and the like, and has poor flexibility. The automatic guided vehicle simply controlled manually is low in efficiency and is separated from system scheduling, so that collaborative operation is difficult to realize. Although some automatic guided vehicles have a mode switching function, the switching of the automatic guided vehicles depends on manual judgment and operation, so that a central dispatching command and a manual control command are easy to conflict, and safety accidents are caused. Disclosure of Invention In view of the foregoing, embodiments of the present invention have been developed to provide a control system, method, apparatus, device, and medium for an automated guided vehicle that overcome, or at least partially solve, the foregoing problems. According to a first aspect of an embodiment of the present invention, there is provided a control system of an automatic guided vehicle, the system including: The control unit is used for detecting a mode switching signal when the current working mode is a full-automatic control mode, switching the current working mode into a manual control mode if the mode switching signal indicates to switch into the manual control mode, acquiring switching time if the mode switching signal indicates to switch into a semi-automatic control mode and a task is currently being executed, and switching the current working mode into the semi-automatic control mode when the switching time is reached; And the arbitration unit is used for determining the switching time according to the task. Optionally, the arbitration unit is configured to determine whether the task is an urgent task, execute the task in the full-automatic control mode when the task is an urgent task, determine that the execution time for completing the task is a switching time, and determine that the current time is a switching time when the task is a non-urgent task. Optionally, the task includes a plurality of events, And the arbitration unit is used for judging that the task is an emergency task when at least one emergency event exists in a plurality of events in the task. Optionally, the method is characterized in that, The control unit is further configured to switch the current working mode to a manual control mode if a mode switching signal indicating switching to the manual control mode and a mode switching signal indicating switching to the semiautomatic control mode are detected simultaneously. Optionally, the system further comprises: the interaction unit is used for determining a target task selected by a user on a visual interface under the condition that the current working mode is the semi-automatic control mode; and the control unit is used for acquiring the target task selected by the user on the visual interface and executing the target task. Optionally, the control unit is further configured to determine the task and the status information to be executed when the current working mode is a manual control mode or a semi-automatic control mode, and upload the task and the status information to the warehouse management system. According to a second aspect of an embodiment of the present invention, there is provided a control method of an automatic guided vehicle, the method including: Detecting a mode switching signal under the condition that the current working mode is a full-automatic control mode; if the mode switching signal indicates to switch to a manual control mode, the current working mode is switched to the manual control mode; and determining a switching time according to the task, and switching the current working mode into the semi-automatic control mode when the switching time is reached. Optionally, the determining the switching opportunity according to the task includes: judging whether the task is an urgent task or not; when the task is an urgent task, executing the task through the full-automatic control mode; And when the task is a non-urgent task, determining the current moment as a switching time. Optionally, the task includes a plurality of events, and the determining whether the task is an urgent task includes: and when at least one emergency event exists in a plurality of events in the task, judging that the task is an emergency task. Optionally, the method further comprises: and if t