WO2019100885A1

WO2019100885A1 - Cross-warehousing transport control method, apparatus, system, electronic device, and storage medium

Info

Publication number: WO2019100885A1
Application number: PCT/CN2018/111463
Authority: WO
Inventors: 龚岗华; 朱可平
Original assignee: 杭州海康机器人技术有限公司
Priority date: 2017-11-27
Filing date: 2018-10-23
Publication date: 2019-05-31
Also published as: CN109839926B; CN109839926A

Abstract

The embodiment of the present application provides a cross-warehousing transport control method, apparatus, system, electronic device and storage medium, in the method, the source AGV receives the first transport information sent by the source RCS, the first transport information includes the information of the first object to be transported, the first object to be transported is transported to the position of the first transfer point, and a message of successful transport is sent to the target RCS, so that after receiving the message of successful transport, the target RCS controls the target AGV to transport the first object to be transported from the position of the first transfer point to the position of the first target storage location. In the embodiment of the present application, first, the source AGV transports the object to be transported to the position of the first transfer point, then the target RCS controls the target AGV to transport the first object to be transported from the position of the first transfer point to the first target storage location. Thereby, the full automation of the segment transport and storage is realized, and the efficiency of transport and storage is improved compared to the manual transport method.

Description

Cross-warehousing handling control method, device, system, electronic device and storage medium

This application claims the priority of the Chinese Patent Application filed on November 27, 2017, the Chinese Patent Office, the application number is 201711209033.7, and the invention name is "cross-warehouse handling control method, device, system, electronic device and storage medium". The content is incorporated herein by reference.

Technical field

The present application relates to the field of automated logistics technology, and in particular, to a cross-warehouse handling control method, device, system, electronic device and storage medium.

Background technique

At present, in the related art, the process of warehousing and storage is: the source cooperative RCS (Robot Cooperative System) controls the AGV (Automated Guided Vehicle) in the plant, and the object to be transported is transported to the source plant and The intersection of the overlapping areas of the target building is then manually transported to the target storage location in the target building. There are multiple AGVs in the source building, and the source RCS controls the AGV in the source building.

Since the object to be transported is transported to the target storage place by manual connection at the junction, the full automation of the handling cannot be achieved, so that the efficiency of handling and storage is low.

Summary of the invention

The purpose of the embodiments of the present application is to provide a cross-warehouse handling control method, device, system, electronic device and storage medium to improve the efficiency of handling and storage. The specific technical solutions are as follows:

An inter-storage handling control method is applied to a source auto-navigation trolley AGV in an inter-storage handling control system, the cross-storage handling control system further comprising: a source RCS, a target RCS and a target auto-navigation trolley AGV, the method comprising:

Receiving first transport information sent by the source RCS, where the first transport information includes information of a first object to be transported;

Carrying the first object to be transported to a position of the first transfer point;

Sending a message of successful delivery to the target RCS, so that after the receiving the message of successful delivery, the target RCS controls the target AGV to move the first object to be transported from the first transfer point The position is moved to the location of the first target storage location.

Optionally, the first transfer point is located in a dump area, where the transfer area is an overlap area of a control area of the source RCS and a control area of the target RCS, and the sending to the target RCS is performed. Steps to a successful message, including:

A message of successful delivery is sent to the target RCS by the source RCS.

Optionally, the first transfer point is located in a dump area, where the transfer area is an area other than the overlap area in the control area of the target RCS, wherein the overlap area is a control of the target RCS An overlapping area of the area with the control area of the source RCS;

The step of transporting the first object to be transported to a position of the first transfer point includes:

Carrying the first object to be transported to a position of a handover point, wherein the handover point is located at an overlapping area of a control area of the source RCS and a control area of the target RCS;

Switching its own control right from the source RCS to the target RCS, and receiving the location of the first transfer point sent by the target RCS;

Carrying the first object to be transported from a position of the handover point to a position of the first transfer point;

The step of sending a message of successful delivery to the target RCS includes:

A message of successful delivery is sent to the target RCS through a communication link between itself and the target RCS.

Optionally, the step of switching control of the control from the source RCS to the target RCS includes:

Sending a suspend request to the source RCS;

Sending a takeover request to the target RCS;

Receiving a message of success of the takeover sent by the target RCS.

Optionally, before the step of receiving the location of the first transfer point sent by the target RCS, the method further includes:

A location request to obtain a location of the transfer point is sent to the target RCS.

Optionally, after the step of sending a message of successful delivery to the target RCS by using the source RCS, the method further includes:

Receiving second transport information sent by the target RCS, where the second transport information includes information of a second object to be transported at a second transfer point, and the second transfer point is located in the transfer area;

Receiving a location of the second target storage location sent by the source RCS;

The second object to be transported is transported from the position of the second transfer point to the position of the second target storage location.

Optionally, after the step of sending a message of successful delivery to the target RCS by using a communication link between the user and the target RCS, the method further includes:

Receiving second transport information sent by the target RCS, the second transport information includes information of a second object to be transported at a second transfer point, and the second transfer point is located in the transfer area;

Transporting the second object to be transported from a position of the second transfer point to a position of the transfer point;

Switching its own control right from the target RCS to the source RCS, and receiving the location of the second target storage location sent by the source RCS;

The second object to be transported is transported from the position of the handover point to the location of the second target storage location.

Receiving backhaul information sent by the target RCS;

Receiving a target location sent by the source RCS;

Move to the target location.

Receiving backhaul information sent by the target RCS;

Moving to the location of the junction;

Switching its own control right from the target RCS to the source RCS, and receiving a target location sent by the source RCS;

Moving from the position of the junction to the target location.

A cross-warehousing handling control device is applied to a source auto-navigation trolley AGV in a cross-warehousing handling control system, the cross-warehousing handling control system further comprising: a source RCS, a target RCS and a target automatic navigation trolley AGV, the device comprising:

a first transport information receiving module, configured to receive first transport information sent by the source RCS, where the first transport information includes information of a first object to be transported;

a first object to be transported module for transporting the first object to be transported to a position of the first transfer point;

a delivery success message sending module, configured to send a message of successful delivery to the target RCS, so that after receiving the message that the handling is successful, the target RCS controls the target AGV to move the first object to be transported from The position of the first transfer point is transported to a location of the first target storage location.

Optionally, the first transfer point is located in a transfer area, where the transfer area is an overlap area between the control area of the source RCS and the control area of the target RCS, and the transport success message sending module is specific. Used for:

A message of successful delivery is sent to the target RCS by the source RCS.

The first object to be transported module to be transported includes:

a transfer point location handling unit, configured to transport the first object to be transported to a location of a handover point, wherein the handover point is located at an overlap region of a control region of the source RCS and a control region of the target RCS;

a switching unit, configured to switch its own control right from the source RCS to the target RCS, and receive a location of the first transfer point sent by the target RCS;

a first transfer point location handling unit, configured to transport the first object to be transported from a position of the handover point to a position of the first transfer point;

The transport success message sending module is specifically configured to:

Optionally, the switching unit includes:

Suspending a request sending subunit for sending a suspend request to the source RCS;

Receiving a request sending subunit, configured to send a takeover request to the target RCS;

The takeover success message receiving subunit is configured to receive a message of successful takeover sent by the target RCS.

Optionally, the device further includes:

And a location request sending module, configured to send, to the target RCS, a location request for acquiring a location of the transfer point before receiving the location of the first transfer point sent by the target RCS.

Optionally, the device further includes:

a first receiving module, configured to receive second transport information sent by the target RCS after sending a message that the transport succeeds to the target RCS by using the source RCS, where the second transport information includes the second transfer information Information of the second object to be transported, wherein the second transfer point is located in the transfer area;

a second target storage location receiving module, configured to receive a location of the second target storage location sent by the source RCS;

The second object to be transported module is configured to transport the second object to be transported from a position of the second transfer point to a position of the second target storage location.

Optionally, the device further includes:

a second receiving module, configured to receive second handling information sent by the target RCS after sending a message of successful delivery to the target RCS by using a communication link between the user and the target RCS, the second handling The information includes information of the second object to be transported at the second transfer point, and the second transfer point is located in the transfer area;

a transfer point position handling module, configured to transport the second object to be transported from a position of the second transfer point to a position of the transfer point;

a switching module, configured to switch its control right from the target RCS to the source RCS, and receive a location of a second target storage location sent by the source RCS;

And a second target storage location handling module, configured to transport the second object to be transported from a position of the handover point to a location of the second target storage location.

Optionally, the device further includes:

a first backhaul information receiving module, configured to receive backhaul information sent by the target RCS after sending a message of successful delivery to the target RCS through the source RCS;

a first target location receiving module, configured to receive a target location sent by the source RCS;

a first target position moving module for moving to the target position.

Optionally, the device further includes:

a second backhaul information receiving module, configured to receive backhaul information sent by the target RCS after the step of sending a message of successful delivery to the target RCS through a communication link between itself and the target RCS;

a junction point location moving module for moving to a location of the junction point;

a second target location receiving module, configured to switch its control right from the target RCS to the source RCS, and receive a target location sent by the source RCS;

a second target position moving module for moving from the position of the junction point to the target position.

An automatic navigation trolley comprising: a vehicle body, a wheel, a controller and a memory, wherein the memory is for storing a computer program; the controller is configured to execute a program stored on the memory to implement any of the above The cross-warehousing handling control method step of the source auto-navigation trolley AGV applied in the cross-warehousing handling control system.

A computer readable storage medium having stored therein a computer program, the computer program being executed by a controller to implement a crossover of a source autopilot car AGV for use in an inter-storage handling control system as described above Storage handling control method steps.

An executable program code for a cross-warehousing handling control method step that is executed to perform the source autopilot car AGV in an inter-warehousing handling control system as described above.

An inter-storage handling control method is applied to a target RCS in a cross-warehousing handling control system, the cross-warehousing handling control system further comprising: a source auto-navigation trolley AGV, a source RCS and a target auto-navigation trolley AGV, the method comprising:

Receiving a takeover request sent by the source AGV, and controlling the source AGV;

Sending a position of the first transfer point to the source AGV, and controlling the source AGV to carry the first object to be transported from a position of the transfer point to a position of the first transfer point, wherein the transfer point is located at the location An overlapping area of a control area of the source RCS and a control area of the target RCS, where the first storage point is located in a dump area, and the dump area is a control area of the target RCS except the overlap area Area;

Receiving a message of successful delivery of the source AGV, and controlling the target AGV to transport the first object to be transported from a position of the first transfer point to a position of the first target storage location.

A cross-warehousing handling control device is applied to a target RCS in a cross-warehousing handling control system, the cross-warehousing handling control system further comprising: a source automatic navigation trolley AGV, a source RCS and a target automatic navigation trolley AGV, the device comprising:

Receiving a request receiving module, configured to receive a takeover request sent by the source AGV, and control the source AGV;

a first transfer point location sending module, configured to send a location of the first transfer point to the source AGV, and control the source AGV to transport the first object to be transported from the location of the handover point to the first transfer point a location, wherein the handover point is located in an overlapping area of a control area of the source RCS and a control area of the target RCS, the first transfer point is located in a dump area, and the transfer area is the target An area other than the overlapping area in the control area of the RCS;

a transport success message receiving module, configured to receive a message of successful delivery by the source AGV, and control the target AGV to move the first object to be transported from the location of the first transfer point to the first target storage location s position.

An electronic device, comprising: a processor and a memory, wherein the memory is configured to store a computer program; the processor is configured to execute a program stored on the memory, to implement the application of any of the foregoing Cross-warehousing handling control method steps for the target RCS in the cross-warehousing handling control system.

A computer readable storage medium having stored therein a computer program that, when executed by a processor, implements cross-warehousing handling control applied to a target RCS in an inter-warehousing handling control system as described above Method steps.

An executable program code for a cross-warehousing handling control method step applied to a target RCS in a cross-warehousing handling control system, executed to perform any of the above.

An inter-storage handling control system, the system comprising: a source RCS, a target RCS and a source auto-navigation trolley AGV and a target auto-navigation trolley AGV;

The source RCS is configured to send first transport information to the source AGV, where the first transport information includes information of a first object to be transported;

The source AGV is configured to receive the first transport information sent by the source RCS, transport the first object to be transported to a location of the first transfer point, and send a message indicating that the transport is successful to the target RCS;

The target RCS is configured to receive a message of successful delivery of the source AGV, and send the location of the first transfer point and the location of the first target storage location to the target AGV;

The target AGV is configured to receive a location of the first transfer point sent by the target RCS and a location of the first target storage location, and move the first object to be transported from the location of the first transfer point to The location of the first target storage location.

Optionally, the first transfer point is located in a dump area, where the transfer area is an overlap area of a control area of the source RCS and a control area of the target RCS;

The source AGV is specifically configured to send a message that the transport succeeds to the source RCS;

The source RCS is specifically configured to receive a message that the source AGV sends a successful delivery, and send a message of successful delivery to the target RCS;

The target RCS is specifically configured to receive a message that the transport is successfully sent by the source RCS.

The source AGV is specifically configured to transport the first object to be transported to a location of a handover point, where the handover point is located in an overlapping area of a control area of the source RCS and a control area of the target RCS, and Sending a first handover request to the source RCS;

The source RCS is further configured to receive a first handover request sent by the source AGV, and cancel control on the source AGV;

The source AGV is further configured to send a second handover request to the target RCS.

The target RCS is configured to receive a second handover request sent by the source AGV, control the source AGV, and send a location of the first transfer point to the source AGV;

The source AGV is further configured to receive a location of the first transfer point sent by the target RCS, and transport the first object to be transported from a location of the handover point to a location of the first transfer point;

The source AGV is specifically configured to send a message of successful delivery to the target RCS by using a communication link between itself and the target RCS;

The target RCS is specifically configured to receive, by using the communication link, a message that the source AGV sends a successful transport.

Optionally, the source AGV is further configured to send, to the target RCS, a location request for acquiring a location of the transfer point before receiving the location of the first transfer point sent by the target RCS;

The target RCS is specifically configured to receive a second handover request and a location request sent by the source AGV, and send a location of the first transfer point to the source AGV.

Optionally, the target RCS is further configured to: after receiving the message that the source RCS sends the transport success, send the second transport information to the source AGV, where the second transport information includes the second transfer point. Information of the second object to be transported, wherein the second transfer point is located in the transfer area;

The source AGV is further configured to receive second handling information sent by the target RCS;

The source RCS is further configured to send a location of the second target storage location to the source AGV;

The source AGV is further configured to receive a location of the second target storage location sent by the source RCS, and transport the second to-be-transported object from the location of the second storage point to the second target storage location s position.

Optionally, the target RCS is further configured to: after receiving the message that the source AGV sends the transport success, send the second transport information to the source AGV, where the second transport information includes the second transfer point. Information of the second object to be transported, wherein the second transfer point is located in the transfer area;

The source AGV is further configured to receive second transport information sent by the target RCS, and transport the second object to be transported from a position of the second transfer point to a position of the handover point, and The target RCS sends a fourth handover request;

The target RCS is further configured to receive a fourth handover request sent by the source AGV, and cancel control on the source AGV.

The source AGV is further configured to send a third handover request to the source RCS.

The source RCS is further configured to receive a third handover request sent by the source AGV, control the source AGV, and send a location of the second target storage location to the source AGV;

The source AGV is further configured to receive a location of the second target storage location sent by the source RCS, and transport the second to-be-transported object from a location of the handover point to a location of the second target storage location.

Optionally, the target RCS is further configured to send backhaul information to the source AGV after receiving the message of successful delivery sent by the source RCS;

The source AGV is further configured to receive backhaul information sent by the target RCS;

The source RCS is further configured to send a target location to the source AGV;

The source AGV is further configured to receive a target location sent by the source RCS and move to the target location.

Optionally, the target RCS is further configured to send backhaul information to the source AGV after receiving the message that the source AGV sends the delivery success.

The source AGV is further configured to receive backhaul information sent by the target RCS, move to a location of the handover point, and send a sixth handover request to the target RCS;

The target RCS is further configured to receive a sixth handover request sent by the source AGV, and cancel control on the source AGV.

The source AGV is further configured to send a fifth handover request to the source RCS.

The source RCS is further configured to receive a fifth handover request sent by the source AGV, control the source AGV, and send a target location to the source AGV;

The source AGV is further configured to receive a target location sent by the source RCS, and move from a location of the handover point to the target location.

In the embodiment of the present application, the source AGV first transports the object to be transported to the position of the first transfer point, and then the target RCS re-control target AGV transports the first object to be transported from the position of the first transfer point to the first target storage. The location of the bit. Thereby, the full automation of the segment handling and storage is realized, and the efficiency of handling and storage is improved compared to the manual transportation method.

DRAWINGS

In order to more clearly illustrate the technical solutions of the embodiments of the present application and the related art, the drawings used in the embodiments and the related art will be briefly described below. It is obvious that the drawings in the following description are only the present application. For some embodiments, other drawings may be obtained from those of ordinary skill in the art without departing from the drawings.

1 is a first schematic flowchart of a cross-warehouse handling control method according to an embodiment of the present application;

2 is a schematic flowchart of a position for carrying a first object to be transported to a first transfer point according to an embodiment of the present application;

3 is a schematic diagram of a source plant provided by an embodiment of the present application;

4(A) is a schematic diagram of a target factory building according to an embodiment of the present application;

FIG. 4(B) is a schematic diagram showing the movement of the source AGV according to the embodiment of the present application to move the position A of the first object to be transported to the position O of the first transfer point;

4(C) is a schematic diagram of the source AGV provided by the source AGV according to the embodiment of the present application for transporting the first object to be transported to the position O of the first transfer point;

4(D) is a schematic diagram of the movement of the target AGV to the position O of the first transfer point provided by the embodiment of the present application;

4(E) is a schematic diagram of the position AG of the target AGV moving to the first transfer point provided by the embodiment of the present application;

FIG. 4(F) is a schematic diagram of the target AGV carrying the first object to be transported A moving to the first target storage point P according to the embodiment of the present application;

4(G) is a schematic diagram of the target AGV of the embodiment of the present application transporting the first object to be transported A to the position P of the first target storage location;

FIG. 5 is a schematic flowchart of a control right handover according to an embodiment of the present disclosure;

6 is a second schematic flowchart of a cross-warehouse handling control method according to an embodiment of the present application;

FIG. 7 is a schematic diagram of a third process of the cross-warehouse handling control method provided by the embodiment of the present application;

8 is a fourth schematic flowchart of a cross-warehouse handling control method according to an embodiment of the present application;

9 is a fifth schematic flowchart of a method for controlling cross-warehousing and transportation provided by an embodiment of the present application;

10 is a first structural schematic diagram of an inter-storage handling control device according to an embodiment of the present application;

11 is a sixth schematic flowchart of a method for controlling cross-warehousing and transportation provided by an embodiment of the present application;

12 is a second schematic structural diagram of an inter-storage handling control device according to an embodiment of the present application;

FIG. 13 is a schematic structural diagram of an electronic device according to an embodiment of the present disclosure;

FIG. 14 is a schematic structural diagram of an inter-storage handling control system according to an embodiment of the present application.

Detailed ways

In order to make the objects, technical solutions, and advantages of the present application more comprehensible, the present application will be further described in detail below with reference to the accompanying drawings. It is apparent that the described embodiments are only a part of the embodiments of the present application, and not all of them. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present application without departing from the inventive scope are the scope of the present application.

In order to improve the efficiency of the transportation and storage, the embodiment of the present application provides a cross-warehousing and transportation control method, device, system, electronic device and storage medium.

In the following, a cross-warehousing and handling control method and apparatus provided by the embodiments of the present application are first introduced from the perspective of the source auto-navigation trolley AGV.

It should be noted that the cross-warehousing handling control method provided by the embodiments of the present application is applied to the source auto-navigation trolley AGV in the cross-warehousing handling control system, and the cross-warehousing handling control system further includes: a source RCS, a target RCS, and a target AGV. .

Among them, the AGV is a transport vehicle equipped with an automatic guiding device such as electromagnetic or optical, capable of traveling along a prescribed guiding path, and having safety protection and various transfer functions.

There are multiple AGVs in the source plant and in the target building. The control area of the source RCS is the source plant, the control area of the target RCS is the target building, and there is an overlapping area between the source plant and the target building, and the overlapping area is an overlapping area of the control area of the source RCS and the control area of the target RCS. The source RCS controls the source AGV in the source plant, and the target RCS (Robot Cooperative System) controls the target AGV in the target building.

As shown in FIG. 1 , a cross-warehouse handling control method provided by an embodiment of the present application may include:

S101: The source AGV receives the first transport information sent by the source RCS, where the first transport information includes information of the first object to be transported.

When the object to be transported needs to be transported to the target building, the source RCS sends the first handling information to the source AGV.

The first transport information includes information of the first object to be transported, and the first object to be transported may be a finished product and a container. In this case, the information of the first object to be transported may be the serial number of the finished product and the number of the container; The object may also be the finished product. In this case, the information of the first object to be transported may be the serial number of the finished product; the first object to be transported may also be only the container, and the information of the first object to be transported may be the number of the container. The finished serial number and container number can be obtained by scanning the production line end table.

S102: The source AGV carries the first object to be transported to a position of the first transfer point.

Because the space of each plant is relatively large, the route from the location of the object to be transported to the storage location is long. In order to avoid the fault of the source AGV in the process of carrying the first object to be transported to the storage location, the embodiment of the present application takes The method of segmental transportation, that is, the source AGV does not directly transport the first object to be transported to the storage location, but after receiving the first transport information sent by the source RCS, the object to be transported indicated in the first transport information It is transported from the position of the object to be transported to the position of the first transfer point.

In the embodiment of the present application, one source AGV carries only one object at a time, and therefore, the wrong object is not transported, and after moving to the position of the object to be transported, the position to be transported can be lifted to be carried. The object carries the position where the object to be transported moves to the first transfer point.

In addition, when the source plant is the factory where the production line is located and the target factory is the factory for storing finished products, and the objects to be transported include finished products and containers, in order to ensure that the end of the production line has a container to hold the finished product, the first to be handled After the object is removed, the source RCS can control the position of the other source AGV to transport the empty container to the end of the production line.

S103: The source AGV sends a message of successful delivery to the target RCS, so that after the target RCS receives the message of successful delivery, the control target AGV carries the first object to be transported from the position of the first transfer point to the first target storage place. s position.

After the source AGV carries the first object to be transported to the position of the first transfer point, the first segment of the segmented transport is completed. In order for the target RCS to know the situation, the source AGV needs to send a message of successful transport to the target RCS.

After receiving the message of successful transport, the target RCS can control the target AGV in the target building to transport the first object to be transported from the position of the first transfer point to the position of the first target storage location, thereby completing the segmentation. The second section of the transportation is completed and transported into the warehouse.

It should be noted that when the source plant is the plant where the production line is located and the target plant is the plant for storing the finished product, the location of the first target storage location is generally the placement to be stored in the finished product.

When the source plant is a plant for storing finished products and the target plant is the plant where the production line is located, the location of the first target storage location is generally the end of the production line.

In order for the target RCS to control the target AGV to carry the first object to be transported from the position of the first transfer point to the position of the first target storage location, the position of the first transfer point needs to be located in the control area of the target RCS.

And because there is an overlapping area between the source plant and the target building, the overlapping area is an overlapping area of the control area of the source RCS and the control area of the target RCS, that is, the overlapping area belongs to both the control area of the source RCS and the control area of the target RCS, and therefore, In an implementation manner, the first transfer point is located in the transfer area, and the transfer area is an overlap area of the control area of the source RCS and the control area of the target RCS. Step S103 in FIG. 1 may include:

The source AGV sends a message of successful delivery to the target RCS through the source RCS, so that after the target RCS receives the message of successful delivery, the control target AGV carries the first object to be transported from the position of the first transfer point to the first target storage. The location of the bit.

Since the dump area is an overlap area of the control area of the source RCS and the control area of the target RCS, after the source AGV transports the first object to be transported to the position of the first transfer point, it needs to send to the target RCS through the source RCS. The message of successful delivery.

In order to facilitate control of the source RCS and the target RCS, the cross-warehousing handling control system may further include a TPS (Transaction Processing Systems). For example, the source AGV sends a message of successful delivery to the target RCS through the source RCS. The source AGV sends a message of successful delivery to the source RCS. After receiving the message of successful delivery by the source AGV, the source RCS feeds back to the TPS. After the message of successful delivery, the TPS sends a message of successful delivery to the target RCS after receiving the message of successful delivery by the source RCS.

In another implementation manner, the first transfer point is located in the transfer area, and the transfer area may be an area other than the overlap area in the control area of the target RCS, wherein the overlap area is the control area of the target RCS and the source RCS. The overlapping area of the control area, for example, the dump area may be an area for temporarily storing empty containers and full containers. Referring to FIG. 2, step S102 may include:

S1021: The source AGV transports the first object to be transported to a position of the handover point, wherein the handover point is located in an overlapping area of the control area of the source RCS and the control area of the target RCS.

Since the dump area is an area other than the overlap area in the control area of the target RCS, in order to transport the first object to be transported to the position of the first transfer point, the first object to be transported needs to be moved from the object to be transported first. The position is moved to the position of the junction.

When the source plant is the plant where the production line is located and the target plant is the plant for storing the finished product, the position of the object to be transported is generally the work line end workbench.

When the source plant is the factory for storing the finished product and the target plant is the factory where the production line is located, the position of the object to be transported is generally the location of the empty container.

S1022: The source AGV switches its control right from the source RCS to the target RCS, and receives the location of the first transfer point sent by the target RCS.

Since the overlapping area belongs to both the control area of the source RCS and the control area of the target RCS, the AGV located in the overlapping area can implement the function of switching control rights, and since the handover point is located in the overlapping area, the AGV at the handover point can be implemented. The function of switching control rights.

Therefore, after the first object to be transported is transported to the position of the handover point, the source AGV switches its control right from the source RCS to the target RCS, at which time the target RCS takes over the source AGV.

Because the space of each plant is relatively large, the route from the junction point to the storage location is long in the target plant. In order to avoid the failure of the source AGV in the process of carrying the first object to be transported to the storage location, the embodiment of the present application is After the target RCS takes over the source AGV, instead of directly determining the location of the storage location, the location of the first storage point for dumping the first object to be transported is determined.

After determining the position of the first transfer point, the target RCS directly sends the determined position of the first transfer point to the source AGV, and the source AGV receives the position of the first transfer point sent by the target RCS.

In addition, in the cross-warehouse handling control method provided by the embodiment of the present application, before the step of receiving the location of the first transfer point sent by the target RCS, the method may further include:

Since the source AGV does not know the situation of the transfer point in the target building, the source AGV can send a position request for obtaining the position of the transfer point to the target RCS after switching its control right from the source RCS to the target RCS. After receiving the location request, the RCS sends the location of the first transfer point to the source AGV, and the source AGV receives the location of the first transfer point sent by the target RCS.

S1023: The source AGV transports the first object to be transported from the position of the handover point to the position of the first transfer point.

After receiving the position of the first transfer point, the source AGV transports the first object to be transported from the position of the transfer point to the position of the first transfer point.

In order to reduce the carrying time of the source AGV to transport the first object to be transported from the handover point to the first transfer point, the dump area may be an area adjacent to the overlap area in the control area of the target RCS.

Therefore, after the source AGV transports the object to be transported to the position of the handover point, the target RCS takes over the source AGV by switching its own control right from the source RCS to the target RCS, and the control source AGV will be the first object to be transported. Moved from the junction location to the location of the first transfer point.

Correspondingly, step S103 may include:

The source AGV sends a message of successful delivery to the target RCS through the communication link between itself and the target RCS, so that after the target RCS receives the message of successful delivery, the control target AGV transfers the first object to be transported from the first transfer point. The position is moved to the location of the first target storage location.

Since the source AGV has switched its control right from the source RCS to the target RCS, the source AGV can pass the self and the target RCS after transporting the first object to be transported from the position of the handover point to the position of the first transfer point. The communication link between the two sends a message of successful delivery to the target RCS, that is, a message that the delivery is successful is directly sent to the target RCS.

For convenience of understanding, the cross-warehousing handling control method in the case where the dump area is the area other than the overlap area in the control area of the target RCS is described in detail below by way of a specific embodiment:

For example, suppose the first object to be transported is A, the position of the junction point is N, the position of the first dump point is O, and the position of the first target storage location is P;

3 is a schematic diagram of the source plant, the source AGV receives the first transport information sent by the source RCS, and the source AGV transports the first object to be transported A to the position N of the handover point until the first object to be transported A is transported to the handover. Point position N;

As shown in Fig. 4(A), the schematic diagram of the target building is shown in Fig. 4(A). The circled circle 1 is the dumping area of the target building, the circled circle 2 is the target factory's buffer zone, and the buffer zone is the storage location. In Figure 4 (A), the source AGV is located at the location N of the handover point, at this time, its own control right is switched from the source RCS to the target RCS, and receives the position O of the first transfer point sent by the target RCS;

As shown in FIG. 4(B), the source AGV transports the first object to be transported A from the position N of the handover point to the position O of the first transfer point;

As shown in FIG. 4(C), the source AGV transports the first object to be transported A to the position O of the first transfer point, and transmits a message of successful transport to the target RCS through the communication link between itself and the target RCS;

As shown in FIG. 4(D), after receiving the message of successful transport, the target RCS moves the control target AGV to the position O of the first transfer point;

As shown in FIG. 4(E), the target AGV moves to the position O of the first transfer point;

As shown in FIG. 4(F), the target AGV carries the first object to be transported A to move from the position O of the first transfer point to the first target storage point P;

As shown in FIG. 4(G), the target AGV carries the first object to be transported A to the position P of the first target storage location.

On the basis of the embodiment shown in FIG. 2, before the step S1021, the cross-warehousing and handling control method provided by the embodiment of the present application may further include:

The source AGV receives the location of the target handover point sent by the source RCS.

Since the space of each factory building is relatively large, the space between the source factory and the target building area is also large. Therefore, the overlapping area may include a plurality of intersection points, and generally the position of each intersection point and the first dump The distance between the positions of the points is different.

Since the first transfer point is located in the transfer area of the target building, and the source RCS knows the location of the transfer area of the target building in advance, that is, the source RCS knows the position of the first transfer point in advance, therefore, in order to reduce the transportation time, To improve the handling efficiency, the source RCS can determine the handover point closest to the first transfer point as the target handover point, and send the determined location of the target handover point to the source AGV, and the source AGV receives the target handover point sent by the source RCS. position.

Correspondingly, step S1021 may include: the source AGV transports the first object to be transported to a position of the target handover point.

After receiving the location of the target handover point sent by the source RCS, the source AGV can transport the first object to be transported to the location of the target handover point.

Thus, by selecting the closest intersection point to the first transfer point, the efficiency of handling and storage is improved.

As an implementation of the present application, as shown in FIG. 5, the source AGV switches its control right from the source RCS to the target RCS, and receives the location of the first transfer point sent by the target RCS (S1022), which may include:

S10221: The source AGV sends a suspension request to the source RCS.

The source AGV sends a suspend request to the source RCS to cause the source RCS to cancel control of the source AGV.

S10222: The source AGV sends a takeover request to the target RCS.

After the source AGV sends a suspend request to the source RCS, it sends a takeover request to the target RCS to cause the target RCS to take over the source AGV.

S10223: The source AGV receives the success message of the takeover sent by the target RCS and the location of the first transfer point.

After receiving the takeover request, the target RCS takes over the source AGV and returns the takeover success message to the source AGV. The source AGV receives the successful takeover message sent by the target RCS, and can determine that its control right is switched from the source RCS to the target RCS.

Since the source AGV does not know the situation of the transfer point in the target building, the source AGV may send a request for obtaining the location of the transfer point to the target RCS after receiving the success message of the takeover sent by the target RCS, and the target RCS is receiving. After the request sent by the source AGV to obtain the location of the transfer point, the location of the first transfer point is determined and the location of the first transfer point is sent to the source AGV; in addition, the target RCS may also be directly determined after taking over the source AGV. The location of the first transfer point and the location of the first transfer point to the source AGV, at which time the source AGV does not need to send a request to obtain the location of the transfer point.

Thus, by transmitting the suspend and takeover request, the purpose of switching the control right of the source AGV can be achieved.

On the basis of the embodiment shown in FIG. 5, before the step S10222, the cross-warehouse handling control method provided by the embodiment of the present application may further include:

The source AGV receives the first address sent by the source RCS.

The source RCS may send the first address of the corresponding target RCS to the source AGV after receiving the suspension request sent by the source AGV. The corresponding step S10222 may include: the source AGV is first. The target RCS corresponding to the address sends a takeover request. When there is only one target plant, the source AGV can send a takeover request directly to the target RCS.

After receiving the first address, the source AGV may send a takeover request to the target RCS corresponding to the first address, so that the target RCS corresponding to the first address takes over the source AGV.

Thus, when there are multiple target factories, the takeover request can be sent to the target RCS corresponding to the first address sent by the source RCS.

In the case where the above-mentioned transfer area is the overlap area of the control area of the source RCS and the control area of the target RCS, after step S103, as shown in FIG. 6, the cross-warehousing handling control method provided by the embodiment of the present application is further Can include:

S104: The source AGV receives the second transport information sent by the target RCS, where the second transport information includes information of the second object to be transported at the second transfer point, and the second transfer point is located in the transfer area.

After the source AGV sends a message of successful delivery to the target RCS through the source RCS, the target RCS knows the situation.

In order to improve the utilization rate of the source AGV, before the source AGV moves back to the source plant, the target RCS determines whether there is a second object to be transported in the dump area of the target building, and if yes, the target RCS sends the second handling information to The source AGV, the second transport information includes information of the second object to be transported at the second transfer point, and the second transfer point is located in the dump area.

It should be noted that when the source factory is the factory where the production line is located and the target factory is the factory for storing the finished product, the second object to be transported is generally an empty container.

When the source plant is a factory for storing finished products and the target factory is a factory building where the production line is located, the second object to be transported is generally a container containing the finished product.

S105: The source AGV receives the location of the second target storage location sent by the source RCS.

Since the source AGV does not know the storage location in the source plant and where the second object to be transported needs to be transported, the source AGV may send the message to the source RCS after receiving the message of the second transport information sent by the target RCS. A second request to get the location of the target storage location. In order to distinguish the description, the "request to acquire the location of the transfer point" sent by the source AGV to the target RCS is referred to as "location request", and the "request to acquire the location of the target storage location" sent by the source AGV to the source RCS is referred to as " Second request". After receiving the second request sent by the source AGV, the source RCS determines the location of the second target storage location and transmits the determined location of the second target storage location to the source AGV. The source AGV receives the location of the second target storage location sent by the source RCS.

In addition, since the cross-storage handling control system may further include a task scheduling system TPS, the target RCS may send a request for acquiring the location of the target storage location to the TPS while transmitting the second transportation information to the source AGV, and the TPS receives the target. After the RCS sends a request for acquiring the location of the target storage location, the source RCS sends a request for obtaining the location of the target storage location, and the source RCS determines the second target storage location after receiving the request for obtaining the location of the target storage location sent by the TPS. The location and the determined location of the second target storage location is sent to the source AGV. The source AGV receives the location of the second target storage location sent by the source RCS.

S106: The source AGV transports the second object to be transported from the position of the second transfer point to the position of the second target storage place.

After receiving the position of the second target storage location sent by the source RCS, the source AGV transfers the second object to be transported from the position of the second transfer point to the position of the second target storage location.

The handling and storage is completed thereby, wherein the library in the storage is the source factory.

Therefore, after the source AGV transports the first object to be transported to the position of the first transfer point, the source AGV can also transport the second object to be transported to the position of the second target storage location of the source plant, thereby improving the source AGV. Utilization.

In the case that the above-mentioned storage area is the area other than the overlapping area in the control area of the target RCS, after the step S103, as shown in FIG. 7, the cross-warehousing handling control method provided by the embodiment of the present application may further include :

S107: The source AGV receives the second transport information sent by the target RCS, where the second transport information includes information of the second object to be transported at the second transfer point, and the second transfer point is located in the transfer area.

After the source AGV sends a message indicating successful delivery to the target RCS, the target RCS knows the situation.

S108: The source AGV transports the second object to be transported from the position of the second transfer point to the position of the transfer point.

After receiving the second transport information sent by the target RCS, the source AGV transports the second object to be transported from the position of the second transfer point to the position of the handover point.

S109: The source AGV switches its control right from the target RCS to the source RCS, and receives the location of the second target storage location sent by the source RCS.

After the source AGV carries the second object to be transported to the position of the junction point, the control right of itself is switched from the target RCS to the source RCS. At this time, the source RCS takes over the source AGV, determines the location of the second target storage location, and The determined location of the second target storage location is sent to the source AGV, which receives the location of the second target storage location sent by the source RCS.

As an implementation of the embodiment of the present application, the source AGV switches its control right from the target RCS to the source RCS, and receives the location of the second target storage location sent by the source RCS, which may include:

The source AGV sends a suspend request to the target RCS, sends a takeover request to the source RCS, receives the success of the takeover sent by the source RCS, and the location of the second target storage location.

The source AGV sends a suspend request to the target RCS, so that the target RCS cancels the control of the source AGV, and after sending a suspend request to the target RCS, sends a takeover request to the source RCS, so that the source RCS takes over the source AGV, and the source RCS receives After the takeover request, the source AGV is taken over, and the takeover success message is returned to the source AGV. The source AGV receives the success message sent by the source RCS, and can determine that its control right is switched from the target RCS to the source RCS.

Since the source AGV does not know the storage location in the source plant and where the second object to be transported needs to be transported, after receiving the success message of the source RCS, the target storage location can be sent to the source RCS. The second request of the location, after receiving the second request sent by the source AGV, the source RCS determines the location of the second target storage location and transmits the determined location of the second target storage location to the source AGV. In addition, the source RCS may directly determine the location of the second target storage location after the takeover source AGV, and send the location of the second target storage location to the source AGV. At this time, the source AGV does not need to send the second location of the target storage location. The request, source AGV receives the location of the second target storage location sent by the source RCS.

As another implementation manner of the embodiment of the present application, the source AGV switches its control right from the target RCS to the source RCS, and receives the location of the second target storage location sent by the source RCS, which may include:

The source AGV sends a suspend request to the target RCS, receives the second address sent by the target RCS, and sends a takeover request to the source RCS corresponding to the second address, receiving the success message of the takeover sent by the source RCS and the location of the second target storage location.

The source AGV sends a suspend request to the target RCS, so that the target RCS cancels the control of the source AGV. Since there may be multiple source factories, the target RCS may receive the corresponding source RCS after receiving the suspend request sent by the source AGV. The second address is sent to the source AGV; when there is only one source plant, the source AGV can send a takeover request directly to the source RCS. After receiving the second address, the source AGV may send a takeover request to the source RCS corresponding to the second address, so that the source RCS corresponding to the second address takes over the source AGV, after receiving the success message sent by the source RCS. , it can be determined that the source AGV switches its control right from the target RCS to the source RCS.

Since the source AGV does not know the storage location in the source plant and where the second object to be transported needs to be transported, the source AGV may send the acquisition target to the source RCS after receiving the success message of the takeover sent by the source RCS. a second request of the location of the storage location, after receiving the second request sent by the source AGV, the source RCS determines the location of the second target storage location, and sends the determined location of the second target storage location to the source AGV; The source RCS may also directly determine the location of the second target storage location after receiving the source AGV, and send the location of the second target storage location to the source AGV. At this time, the source AGV does not need to send a second request for obtaining the location of the target storage location. The source AGV receives the location of the second target storage location sent by the source RCS.

S110: The source AGV transports the second object to be transported from the position of the handover point to the position of the second target storage location.

After receiving the location of the second target storage location, the source AGV transports the second object to be transported from the position of the handover point to the location of the second target storage location, thereby completing the transportation into the warehouse, wherein the library in the storage It is the source plant.

After the source AGV carries the second object to be transported to the second target storage location, the method for controlling the cross-storage handling provided by the embodiment of the present application may further include:

The source AGV sends a message of successful delivery to the source RCS.

After the source AGV carries the second object to be transported to the location of the second target storage location, the loading and storage is completed. At this time, a message of successful delivery is sent to the source RCS, so that the source RCS knows the situation, so that the source RCS Control the source AGV to perform other tasks.

In the case where the above-mentioned transfer area is the overlap area of the control area of the source RCS and the control area of the target RCS, after step S103, as shown in FIG. 8, the cross-warehousing handling control method provided by the embodiment of the present application is further Can include:

S111: The source AGV receives the backhaul information sent by the target RCS.

In order to improve the utilization rate of the source AGV, before the source AGV moves back to the source plant, the target RCS determines whether there is a second object to be transported in the dump area of the target plant, and if not, the target RCS sends the backhaul information to the source AGV. The source AGV receives the backhaul information sent by the target RCS, and after receiving the backhaul information sent by the target RCS, the source AGV can know that it is not necessary to carry the object to be transported back to the source factory, and can return to the source factory by itself.

S112: The source AGV receives the target location sent by the source RCS.

Since the source AGV is not aware of the situation in the source plant and where it needs to be moved to the source plant, the source AGV may send a third request to the source RCS to obtain the backhaul location after receiving the backhaul information sent by the target RCS. In order to distinguish the description, the "request to acquire the location of the transfer point" sent by the source AGV to the target RCS is referred to as "location request", and the "request to acquire the location of the target storage location" sent by the source AGV to the source RCS is referred to as " The second request", the "request to obtain a backhaul location" sent by the source AGV to the source RCS is referred to as a "third request." After receiving the third request sent by the source AGV, the source RCS determines the target location of the backhaul and sends the determined target location to the source AGV. The source AGV receives the target location transmitted by the source RCS.

In addition, since the cross-storage handling control system further includes a task scheduling system TPS, the target RCS may send a request for obtaining a backhaul location to the TPS while transmitting the backhaul information to the source AGV, and the TPS receives the acquisition backhaul position sent by the target RCS. After the request, the source RCS is sent a request for obtaining a backhaul location, and after receiving the request for acquiring the backhaul location sent by the TPS, the source RCS determines the target location of the backhaul and sends the determined target location to the source AGV. The source AGV receives the target location sent by the source RCS.

S113: The source AGV moves to the target position.

The source AGV moves to the target location after receiving the target location transmitted by the source RCS. This completes the source AGV backhaul.

Therefore, after the source AGV receives the backhaul information sent by the target RCS and the target position sent by the source RCS, the source AGV automatic backhaul is realized by moving to the target position, thereby effectively preventing the source caused by the source AGV moving across the plant. The occurrence of a reduction in the source AGV of the plant.

In the case that the above-mentioned storage area is the area other than the overlapping area in the control area of the target RCS, after the step S103, as shown in FIG. 9, the cross-warehousing handling control method provided by the embodiment of the present application may further include :

S114: The source AGV receives the backhaul information sent by the target RCS.

S115: The source AGV moves to the position of the junction point.

After receiving the backhaul information sent by the target RCS, the source AGV moves to the location of the handover point.

S116: The source AGV switches its control right from the target RCS to the source RCS, and receives the target location sent by the source RCS.

After moving to the position of the junction point, the source AGV switches its control right from the target RCS to the source RCS. At this time, the source RCS takes over the source AGV, determines the target position, and sends the determined target position to the source AGV, source AGV. Receive the destination location sent by the source RCS.

As an implementation of the present application, the source AGV switches its control right from the target RCS to the source RCS, and receives the target location sent by the source RCS, which may include:

The source AGV sends a suspend request to the target RCS, sends a takeover request to the source RCS, receives the success message of the takeover sent by the source RCS, and the target location.

Since the source AGV is not aware of the situation in the source plant and where it needs to be moved to the source plant, the source AGV may send a third request to the source RCS to obtain the backhaul position after receiving the success message of the takeover sent by the source RCS. After receiving the third request sent by the source AGV, the source RCS determines the target location of the backhaul and sends the determined target location to the source AGV. In addition, the source RCS can directly determine the target location of the backhaul after the takeover source AGV, and send the target location to the source AGV. At this time, the source AGV does not need to send a third request for acquiring the backhaul location, and the source AGV receives the target location sent by the source RCS. .

As another implementation manner of the embodiment of the present application, the source AGV switches its control right from the target RCS to the source RCS, and receives the target location sent by the source RCS, which may include:

The source AGV sends a suspend request to the target RCS, receives the third address sent by the target RCS, sends a takeover request to the source RCS corresponding to the third address, and receives the message of success of the takeover sent by the source RCS and the target location.

The source AGV sends a suspend request to the target RCS, so that the target RCS cancels the control of the source AGV. Since there may be multiple source factories, the target RCS may receive the corresponding source RCS after receiving the suspend request sent by the source AGV. The third address is sent to the source AGV; when there is only one source plant, the source AGV can send a takeover request directly to the source RCS. After receiving the third address, the source AGV may send a takeover request to the source RCS corresponding to the third address, so that the source RCS corresponding to the third address takes over the source AGV, after receiving the success message sent by the source RCS. , it can be determined that the source AGV switches its control right from the target RCS to the source RCS.

S117: The source AGV moves from the position of the handover point to the target position.

After receiving the target position transmitted by the source RCS, the source AGV moves from the position of the handover point to the target location, thereby completing the source AGV backhaul.

Thus, after the source AGV receives the backhaul information transmitted by the target RCS and moves to the position of the handover point, the source RCS takes over the source AGV by switching its own control right from the target RCS to the source RCS mode, and the control source AGV moves to The target position, thereby realizing the automatic return of the source AGV, effectively prevents the occurrence of a decrease in the source AGV of the source plant caused by the movement of the source AGV across the plant.

After the source AGV is moved to the target location, the cross-warehouse handling control method provided by the embodiment of the present application may further include:

The source AGV sends a message of successful backhaul to the source RCS.

After the source AGV moves to the target location, the backhaul is completed. At this time, a message of successful backhaul is sent to the source RCS to let the source RCS know the situation, so that the source RCS controls the source AGV to perform other tasks.

Compared with the above method embodiment, as shown in FIG. 10, the embodiment of the present application further provides an inter-storage handling control device, which is applied to a source auto-navigation trolley AGV in a cross-warehousing handling control system, and the cross-warehousing handling control system Also included is: a source RCS, a target RCS, and a target autopilot car AGV, the device may include:

The first transport information receiving module 201 is configured to receive first transport information sent by the source RCS, where the first transport information includes information about a first object to be transported;

a first object to be transported module 202 for transporting the first object to be transported to a position of the first transfer point;

The delivery success message sending module 203 is configured to send a message of successful delivery to the target RCS, so that the target RCS controls the target AGV to move the first object to be transported after receiving the message of successful delivery. Moving from the position of the first transfer point to the position of the first target storage location.

In an implementation manner of the present application, the first transfer point is located in a dump area, where the transfer area is an overlap area of a control area of the source RCS and a control area of the target RCS, and the handling The success message sending module 203 can be specifically configured to:

A message of successful delivery is sent to the target RCS by the source RCS.

In an implementation manner of the present application, the first transfer point is located in a transfer area, where the transfer area is an area other than the overlap area in the control area of the target RCS, wherein the overlap area is An overlapping area of the control area of the target RCS and the control area of the source RCS;

The first object to be transported module 202 may include:

The delivery success message sending module 203 can be specifically configured to:

In an implementation manner of the application, the switching unit may include:

In an implementation manner of the application, the device may further include:

a first target position moving module for moving to the target position.

In an implementation manner of the application, the device may further include:

The embodiment of the present application further provides an automatic navigation trolley, comprising: a vehicle body, a wheel, a controller and a memory, wherein the memory is used for storing a computer program; the controller is configured to execute the storage on the memory The method for implementing the cross-warehousing handling control method described above, the method being applied to a source auto-navigation trolley AGV in a cross-warehousing handling control system, the cross-warehousing handling control system further comprising: a source RCS, a target RCS, and a target automatic navigation trolley AGV, the method can include:

In an implementation manner of the present application, the first transfer point is located in a dump area, where the transfer area is an overlap area of a control area of the source RCS and a control area of the target RCS, where the direction The step of the target RCS sending a message of successful delivery may include:

A message of successful delivery is sent to the target RCS by the source RCS.

The step of transporting the first object to be transported to a position of the first transfer point may include:

In an implementation manner of the present application, the step of switching control of the control unit from the source RCS to the target RCS may include:

Sending a suspend request to the source RCS;

Sending a takeover request to the target RCS;

Receiving a message of success of the takeover sent by the target RCS.

In an implementation manner of the present application, before the step of receiving the location of the first transfer point sent by the target RCS, the method may further include:

In an implementation manner of the present application, after the step of sending a message of successful delivery to the target RCS by using the source RCS, the method may further include:

In an implementation manner of the present application, after the step of sending a message of successful delivery to the target RCS by using a communication link between the user and the target RCS, the method may further include:

Receiving backhaul information sent by the target RCS;

Receiving a target location sent by the source RCS;

Move to the target location.

Receiving backhaul information sent by the target RCS;

Moving to the location of the junction;

Moving from the position of the junction to the target location.

The embodiment of the present application further provides a computer readable storage medium, wherein the storage medium stores a computer program, and when the computer program is executed by the controller, the cross-warehousing handling control method step is implemented, and the method is applied to cross-warehousing and transportation control The source auto-navigation trolley AGV in the system further includes: a source RCS, a target RCS, and a target autopilot car AGV, the method may include:

A message of successful delivery is sent to the target RCS by the source RCS.

Sending a suspend request to the source RCS;

Sending a takeover request to the target RCS;

Receiving a message of success of the takeover sent by the target RCS.

Receiving backhaul information sent by the target RCS;

Receiving a target location sent by the source RCS;

Move to the target location.

Receiving backhaul information sent by the target RCS;

Moving to the location of the junction;

Moving from the position of the junction to the target location.

The embodiment of the present application further provides an executable program code for being used to execute the cross-warehousing handling control of the source auto-navigation trolley AGV in the cross-warehousing handling control system described above. Method steps.

A cross-warehouse handling control method and apparatus provided by the embodiments of the present application will be described below from the perspective of the target RCS.

As shown in FIG. 11, a cross-warehousing handling control method is applied to a target RCS in a cross-warehousing handling control system, and the cross-warehousing handling control system further includes: a source automatic navigation trolley AGV, a source RCS, and a target automatic navigation trolley AGV. Methods can include:

S301: Receive a takeover request sent by the source AGV, and control the source AGV.

After receiving the first transport information sent by the source RCS, the source AGV can transport the object to be transported indicated in the first transport information from the position of the object to be transported to the position of the handover point, wherein the handover point is located at the control of the source RCS. The overlap area between the area and the control area of the target RCS.

In addition, when the source plant is the factory where the production line is located and the target factory is the factory for storing finished products, and the objects to be transported include finished products and containers, in order to ensure that the end of the line of the production line always has a container to hold the finished product, the object to be transported is After transporting, the source RCS can control the position of other source AGVs to transport empty containers to the end of the production line.

Therefore, after the source AGV transports the first object to be transported to the location of the handover point, it sends a suspend request to the source RCS, and the source RCS cancels the control of the source AGV after receiving the suspend request sent by the source AGV, the source AGV. A takeover request is sent to the target RCS, and after receiving the takeover request, the target RCS takes over the AGV, that is, the control source AGV.

S302: Send the position of the first transfer point to the source AGV, and the control source AGV transports the first object to be transported from the position of the transfer point to the position of the first transfer point, where the transfer point is located in the control area and target of the source RCS The overlapping area of the control area of the RCS, the first transfer point is located in the dump area, and the dump area is an area other than the overlap area in the control area of the target RCS.

After receiving the takeover request, the target RCS determines the location of the first transfer point, wherein the first transfer point is located in the transfer area, and the transfer area is an area other than the overlap area in the control area of the target RCS.

Sending the determined position of the first transfer point to the source AGV, and after receiving the position of the first transfer point sent by the target RCS, the control source AGV transfers the first object to be transported from the position of the transfer point to the first turn The location of the storage point, wherein the handover point is located in an overlapping area of the control area of the source RCS and the control area of the target RCS, thereby completing the first segment of the segmented transportation. After the first object to be transported is transported to the first transfer point position, in order for the target RCS to know the situation, the source AGV sends a message of successful transport to the target RCS through the communication link between itself and the target RCS, that is, directly The target RCS sends a message that the handling was successful.

S303: Receive a message that the transport is successfully sent by the source AGV, and the control target AGV transports the first object to be transported from the position of the first transfer point to the position of the first target storage location.

After receiving the message of successful delivery by the source AGV, the target RCS can control the target AGV in the target building to transport the first object to be transported from the position of the first transfer point to the position of the first target storage location. This completes the handling of the warehouse.

In the present application, after receiving the takeover request sent by the source AGV, the source AGV is controlled, and the location of the first transfer point is determined, and the determined position of the first transfer point is sent to the source AGV, and the control source AGV will be the first The object to be transported is transported from the position of the transfer point to the position of the first transfer point, and after receiving the message of successful transport of the source AGV, the control target AGV transports the first object to be transported from the position of the first transfer point to The position of the first target storage location, thereby realizing the full automation of the segmented handling and storage, and improving the efficiency of handling and storage compared to the manual handling mode.

For the embodiment from the target RCS angle, it is substantially similar to the embodiment from the source AGV angle, but the angles are different, so the description is relatively simple, and the relevant points can be referred to the partial description of the embodiment from the source AGV angle.

With respect to the above method embodiment, as shown in FIG. 12, the present application further provides an inter-storage handling control device for a target RCS in a cross-warehousing handling control system, the cross-warehousing handling control system further comprising: source automatic The navigation vehicle AGV, the source RCS, and the target automatic navigation car AGV, the device may include:

The takeover request receiving module 401 is configured to receive a takeover request sent by the source AGV, and control the source AGV;

The first transfer point location sending module 402 is configured to send the location of the first transfer point to the source AGV, and control the source AGV to transport the first object to be transported from the location of the handover point to the first dump a location of the point, wherein the handover point is located in an overlapping area of a control area of the source RCS and a control area of the target RCS, the first transfer point is located in a dump area, and the transfer area is An area other than the overlapping area in the control area of the target RCS;

The delivery success message receiving module 403 is configured to receive a message that the source AGV sends the delivery success, and control the target AGV to carry the first object to be transported from the location of the first transfer point to the first target storage The location of the bit.

The embodiment of the present application further provides an electronic device, as shown in FIG. 13, comprising: a processor 1301 and a memory 1302, wherein the memory 1302 is configured to store a computer program; the processor 1301 is configured to execute The program stored on the memory 1302 implements any of the above-described cross-warehousing handling control method steps, which are applied to a target RCS in a cross-warehousing handling control system, the cross-warehousing handling control system further comprising: a source automatic navigation trolley AGV The source RCS and the target autopilot car AGV, the method may include:

It should be noted that the memory mentioned in the above electronic device may include a random access memory (RAM), and may also include a non-volatile memory (NVM), such as at least one disk storage. Optionally, the memory may also be at least one storage device located away from the aforementioned processor.

The above processor may be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; or may be a digital signal processing (DSP), dedicated integration. Application Specific Integrated Circuit (ASIC), Field-Programmable Gate Array (FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware component.

The embodiment of the present application further provides a computer readable storage medium, where the storage medium stores a computer program, and when the computer program is executed by the processor, implements any of the above-mentioned cross-warehousing handling control method steps, and the method is applied to The cross-storage handling control system further includes: a source auto-navigation trolley AGV, a source RCS, and a target auto-navigation trolley AGV, the method may include:

The embodiment of the present application also provides an executable program code for a cross-warehousing handling control method step that is executed to perform the above-described target RCS in a cross-warehousing handling control system.

Correspondingly, as shown in FIG. 14, an embodiment of the present application provides a cross-warehousing handling control system, which includes: a source RCS 501, a target RCS 502, a source auto-navigation trolley AGV 503, and a target auto-navigation trolley AGV 504;

The source RCS 501 is configured to send first transport information to the source AGV 503, where the first transport information includes information of a first object to be transported;

The source AGV 503 is configured to receive the first transport information sent by the source RCS 501, transport the first object to be transported to a location of the first transfer point, and send a message indicating that the transport is successful to the target RCS 502;

The target RCS 502 is configured to receive a message of successful delivery sent by the source AGV 503, and send a location of the first transfer point and a location of the first target storage location to the target AGV 504;

The target AGV 504 is configured to receive a location of the first transfer point sent by the target RCS 502 and a location of the first target storage location, and move the first object to be transported from the location of the first transfer point to The location of the first target storage location.

After the source AGV 503 transports the first object to be transported to the position of the first transfer point, the first stage of the segment transfer is completed, and at this time, a message of successful transport is sent to the target RCS 502.

The target RCS 502 carries the first object to be transported in order to control the target AGV 504. After receiving the message of successful transport sent by the source AGV 503, the target RCS 502 determines the location of the first transfer point and the location of the first target storage location, and determines the The position of a transfer point and the location of the first target storage are sent to the target AGV 504 to let the target AGV 504 know where to transport the first object to be transported from.

After receiving the location of the first transfer point and the location of the first target storage location sent by the target RCS 502, the target AGV 504 can transport the first object to be transported from the position of the first transfer point to the first target storage location. The position, thus, completed the handling of the warehouse.

The process of implementing the segmented handling into the warehouse through the above-mentioned cross-warehousing handling control system includes:

1. The source RCS 501 sends the first transport information to the source AGV 503, where the first transport information includes information of the first object to be transported;

2. The source AGV 503 receives the first transport information sent by the source RCS 501, and transports the first object to be transported to the location of the first transfer point, and sends a message indicating that the transport is successful to the target RCS 502;

3. The target RCS 502 receives the message of successful delivery sent by the source AGV 503, and sends the location of the first transfer point and the location of the first target storage location to the target AGV 504;

4. The target AGV 504 receives the position of the first transfer point sent by the target RCS 502 and the position of the first target storage place, and transports the first object to be transported from the position of the first transfer point to the position of the first target storage place.

In the embodiment of the present application, the source AGV 503 first transports the first object to be transported to the position of the first transfer point, and then the target RCS 502 re-controls the target AGV 504 to transport the first object to be transported from the position of the first transfer point to the first The location of the target storage location. Thereby, the full automation of the segment handling and storage is realized, and the efficiency of handling and storage is improved compared to the manual transportation method.

In an embodiment of the present application, the first transfer point is located in a dump area, and the transfer area is an overlap area of a control area of the source RCS 501 and a control area of the target RCS 502;

The source AGV 503 is specifically configured to send a message that the transport succeeds to the source RCS 501;

The source RCS 501 is specifically configured to receive a message of successful delivery sent by the source AGV 503, and send a message of successful delivery to the target RCS 502;

The target RCS 502 is specifically configured to receive a message that the delivery is successfully sent by the source RCS 501.

Since the dump area is an overlap area of the control area of the source RCS 501 and the control area of the target RCS 502, after the source AGV 503 transports the first object to be transported to the position of the first transfer point, the source AGV 503 sends the transport to the source RCS 501 successfully. The message, after receiving the message of successful delivery sent by the source AGV 503, the source RCS 501 sends a message of successful delivery to the target RCS 502, and the target RCS 502 receives the message of successful delivery sent by the source RCS 501.

In order to facilitate the control of the source RCS 501 and the target RCS 502, the cross-warehousing handling control system may further include a TPS (Transaction Processing Systems). Illustratively, the source RCS 501 sends a message of successful delivery to the target RCS 502 as: source RCS 501 The message indicating that the transport is successful is fed back to the TPS. After receiving the message of successful transport sent by the source RCS 501, the TPS sends a message indicating that the transport is successful to the target RCS 502.

In another implementation manner of the present application, the first transfer point is located in the transfer area, and the transfer area may be an area other than the overlap area in the control area of the target RCS 502, wherein the overlap area is the control area of the target RCS 502 and The overlapping area of the control area of the source RCS 501;

The source AGV 503 is specifically configured to transport the first object to be transported to a location of a handover point, where the handover point is located in an overlapping area of a control area of the source RCS 501 and a control area of the target RCS 502, and Sending a first handover request to the source RCS 501;

The source RCS 501 is further configured to receive a first handover request sent by the source AGV 503, and cancel control of the source AGV 503.

The source AGV 503 is further configured to send a second handover request to the target RCS 502.

The target RCS 502 is configured to receive the second handover request sent by the source AGV 503, control the source AGV 503, and send the location of the first transfer point to the source AGV 503;

The source AGV 503 is further configured to receive a location of the first transfer point sent by the target RCS 502, and transport the first object to be transported from a location of the handover point to a location of the first transfer point;

The source AGV 503 is specifically configured to send a message of successful delivery to the target RCS 502 by using a communication link between the source and the target RCS 502;

The target RCS 502 is specifically configured to receive, by using the communication link, a message that the delivery is successfully sent by the source AGV 503.

Since the dump area is an area other than the overlap area in the control area of the target RCS 502, in order to transport the first object to be transported to the first dumped point position, the first object to be transported needs to be firstly transported from the object to be transported. The position is moved to the position of the junction.

Since the overlapping area belongs to both the control area of the source RCS 501 and the control area of the target RCS 502, the AGV located in the overlapping area can implement the function of switching control rights, and since the handover point is located in the overlapping area, the AGV at the handover point can be implemented. The function of switching control rights.

Therefore, after the source AGV 503 carries the first object to be transported to the position of the handover point, the first control request is sent to the source RCS 501, and the second handover request is sent to the target RCS 502, and the control right of itself is switched from the source RCS 501 to the source RCS 501. Target RCS 502, at this time, target RCS 502 takes over source AGV 503 and positions the first dump point to source AGV 503. The source AGV 503 can transport the first object to be transported from the position of the transfer point to the position of the first transfer point.

Since the source AGV 503 has switched its control right from the source RCS 501 to the target RCS 502, after the first object to be transported is transported from the position of the handover point to the position of the first transfer point, it can pass between itself and the target RCS 502. The communication link sends a message of successful delivery to the target RCS 502, that is, a message of successful delivery is directly sent to the target RCS 502. Correspondingly, the target RCS 502 receives the message of successful delivery sent by the source AGV 503 through the communication link.

As an implementation of the present application, the source RCS 501 is further configured to send the first transport information to the source AGV 503, and send the location of the target handover point to the source AGV 503;

The source AGV 503 is specifically configured to receive the first transport information sent by the source RCS 501 and the location of the target handover point, and transport the first object to be transported to a location of the target handover point.

As an implementation of the present application, the source RCS 501 is further configured to send a first address to the source AGV 503 after canceling the control of the source AGV 503;

The source AGV 503 is specifically configured to receive a first address sent by the source RCS 501, and send a second handover request to the target RCS 502 corresponding to the first address.

As an implementation of the present application, the source AGV 503 is further configured to send, to the target RCS 502, a location request for acquiring a location of the transfer point before receiving the location of the first transfer point sent by the target RCS 502;

The target RCS 502 is specifically configured to receive the second handover request and the location request sent by the source AGV 503, and send the location of the first transfer point to the source AGV 503.

Since the source AGV 503 does not know the situation of the transfer point in the target building, the source AGV 503 may send the acquisition to the target RCS 502 while transmitting the second handover request to the target RCS 502 or after transmitting the second handover request to the target RCS 502. After the position request of the location of the transfer point, the target RCS 502 sends the location of the first transfer point to the source AGV 503 after receiving the location request, and the source AGV 503 receives the location of the first transfer point transmitted by the target RCS 502.

In the case where the transfer area is an overlap area of the control area of the source RCS 501 and the control area of the target RCS 502, as an embodiment of the present application, the target RCS 502 is further configured to receive the transport sent by the source RCS 501. After the successful message, the second transport information is sent to the source AGV 503, the second transport information includes information of the second object to be transported at the second transfer point, and the second transfer point is located at the transfer Area;

The source AGV 503 is further configured to receive second mobility information sent by the target RCS 502.

The source RCS 501 is further configured to send a location of the second target storage location to the source AGV 503;

The source AGV 503 is further configured to receive a location of the second target storage location sent by the source RCS 501, and transport the second to-be-transported object from the location of the second storage point to the second target storage location s position.

As an embodiment of the present application, the source AGV 503 is further configured to: after the second object to be transported is transported from a position of the second transfer point to a position of the second target storage location, The source RCS 501 sends a message that the transport is successful;

The source RCS 501 is further configured to receive a message that the delivery is successfully sent by the source AGV 503.

In the case that the above-mentioned transfer area is an area other than the overlap area in the control area of the target RCS 502, the target RCS 502 is also used to receive the transport successfully sent by the source AGV 503 as an embodiment of the present application. After the message, the second transport information is sent to the source AGV 503, the second transport information includes information of the second object to be transported at the second transfer point, wherein the second transfer point is located at the transfer Area;

The source AGV 503 is further configured to receive the second transport information sent by the target RCS 502, and transport the second object to be transported from the location of the second transfer point to the location of the handover point, and The target RCS 502 sends a fourth handover request;

The target RCS 502 is further configured to receive a fourth handover request sent by the source AGV 503, and cancel control of the source AGV 503.

The source AGV 503 is further configured to send a third handover request to the source RCS 501.

The source RCS 501 is further configured to receive a third handover request sent by the source AGV 503, control the source AGV 503, and send a location of the second target storage location to the source AGV 503;

The source AGV 503 is further configured to receive a location of the second target storage location sent by the source RCS 501, and transport the second to-be-transported object from a location of the handover point to a location of the second target storage location.

In the case where the transfer area is an overlap area of the control area of the source RCS 501 and the control area of the target RCS 502, as an embodiment of the present application, the target RCS 502 is further configured to receive the transport sent by the source RCS 501. After the successful message, sending backhaul information to the source AGV 503;

The source AGV 503 is further configured to receive backhaul information sent by the target RCS 502.

The source RCS 501 is further configured to send a target location to the source AGV 503;

The source AGV 503 is further configured to receive a target location sent by the source RCS 501 and move to the target location.

As an implementation manner of the present application, the source AGV 503 is further configured to send a message that the backhaul is successful to the source RCS 501 after moving to the target location;

The source RCS 501 is further configured to receive a message that the backhaul sent by the source AGV 503 is successful.

In the case that the above-mentioned transfer area is an area other than the overlap area in the control area of the target RCS 502, the target RCS 502 is also used to receive the transport successfully sent by the source AGV 503 as an embodiment of the present application. After the message, sending backhaul information to the source AGV 503;

The source AGV 503 is further configured to receive backhaul information sent by the target RCS 502, move to a location of the handover point, and send a sixth handover request to the target RCS 502.

The target RCS 502 is further configured to receive a sixth handover request sent by the source AGV 503, and cancel control of the source AGV 503.

The source AGV 503 is further configured to send a fifth handover request to the source RCS 501.

The source RCS 501 is further configured to receive a fifth handover request sent by the source AGV 503, control the source AGV 503, and send a target location to the source AGV 503;

The source AGV 503 is further configured to receive a target location sent by the source RCS 501, and move from a location of the handover point to the target location.

It should be noted that, in this context, relational terms such as first and second are used merely to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply such entities or operations. There is any such actual relationship or order between them. Furthermore, the term "comprises" or "comprises" or "comprises" or any other variations thereof is intended to encompass a non-exclusive inclusion, such that a process, method, article, or device that comprises a plurality of elements includes not only those elements but also Other elements, or elements that are inherent to such a process, method, item, or device. An element that is defined by the phrase "comprising a ..." does not exclude the presence of additional equivalent elements in the process, method, item, or device that comprises the element.

The various embodiments in the present specification are described in a related manner, and the same or similar parts between the various embodiments may be referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, the embodiment of the cross-warehousing handling control device shown in FIG. 10, the cross-warehousing handling control system embodiment shown in FIG. 14, the computer readable storage medium embodiment, and the executable program code embodiment are substantially similar In the embodiment of the cross-warehousing handling control method shown in FIG. 1, the description is relatively simple, and the relevant parts can be referred to the description of the embodiment of the cross-warehousing handling control method shown in FIG.

For the cross-warehousing handling control device embodiment shown in FIG. 12, the electronic device embodiment shown in FIG. 13, the computer readable storage medium embodiment, and the executable program code embodiment, since it is substantially similar to that shown in FIG. The cross-warehousing handling control method embodiment is so simple to describe, and the relevant parts can be referred to the partial description of the embodiment of the cross-warehousing handling control method shown in FIG.

The above is only the preferred embodiment of the present application, and is not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc., which are made within the spirit and principles of the present application, should be included in the present application. Within the scope of protection.

Claims

An inter-storage handling control method is applied to a source auto-navigation trolley AGV in an inter-storage handling control system, the cross-storage handling control system further comprising: a source RCS, a target RCS and a target auto-navigation trolley AGV, the method comprising:

Receiving first transport information sent by the source RCS, where the first transport information includes information of a first object to be transported;

Carrying the first object to be transported to a position of the first transfer point;

Sending a message of successful delivery to the target RCS, so that after the receiving the message of successful delivery, the target RCS controls the target AGV to move the first object to be transported from the first transfer point The position is moved to the location of the first target storage location.
The method according to claim 1, wherein the first transfer point is located in a dump area, and the transfer area is an overlap area of a control area of the source RCS and a control area of the target RCS, The step of sending a message of successful delivery to the target RCS includes:

A message of successful delivery is sent to the target RCS by the source RCS.
The method according to claim 1, wherein the first transfer point is located in a dump area, and the transfer area is an area other than the overlap area in a control area of the target RCS, wherein the overlap area An overlap region of a control region of the target RCS and a control region of the source RCS;

The step of transporting the first object to be transported to a position of the first transfer point includes:

Carrying the first object to be transported to a position of a handover point, wherein the handover point is located at an overlapping area of a control area of the source RCS and a control area of the target RCS;

Switching its own control right from the source RCS to the target RCS, and receiving the location of the first transfer point sent by the target RCS;

Carrying the first object to be transported from a position of the handover point to a position of the first transfer point;

The step of sending a message of successful delivery to the target RCS includes:

A message of successful delivery is sent to the target RCS via a communication link between itself and the target RCS.
The method of claim 3, wherein the step of switching its own control right from the source RCS to the target RCS comprises:

Sending a suspend request to the source RCS;

Sending a takeover request to the target RCS;

Receiving a message of success of the takeover sent by the target RCS.
The method of claim 3, wherein before the step of receiving the location of the first transfer point sent by the target RCS, the method further comprises:

A location request to obtain a location of the transfer point is sent to the target RCS.
The method of claim 2, wherein after the step of transmitting a message of successful delivery to the target RCS by the source RCS, the method further comprises:

Receiving second transport information sent by the target RCS, the second transport information includes information of a second object to be transported at a second transfer point, and the second transfer point is located in the transfer area;

Receiving a location of the second target storage location sent by the source RCS;

The second object to be transported is transported from the position of the second transfer point to the position of the second target storage location.
The method of claim 3, wherein after the step of transmitting a message of successful delivery to the target RCS by a communication link between itself and the target RCS, the method further comprises:

Receiving second transport information sent by the target RCS, the second transport information includes information of a second object to be transported at a second transfer point, and the second transfer point is located in the transfer area;

Transporting the second object to be transported from a position of the second transfer point to a position of the transfer point;

Switching its own control right from the target RCS to the source RCS, and receiving the location of the second target storage location sent by the source RCS;

The second object to be transported is transported from the position of the junction to the location of the second target storage.
The method of claim 2, wherein after the step of transmitting a message of successful delivery to the target RCS by the source RCS, the method further comprises:

Receiving backhaul information sent by the target RCS;

Receiving a target location sent by the source RCS;

Move to the target location.
The method of claim 3, wherein after the step of transmitting a message of successful delivery to the target RCS by a communication link between itself and the target RCS, the method further comprises:

Receiving backhaul information sent by the target RCS;

Moving to the location of the junction;

Switching its own control right from the target RCS to the source RCS, and receiving a target location sent by the source RCS;

Moving from the position of the junction to the target location.
A cross-warehousing handling control device is applied to a source auto-navigation trolley AGV in a cross-warehousing handling control system, the cross-warehousing handling control system further comprising: a source RCS, a target RCS and a target automatic navigation trolley AGV, the device comprising:

a first transport information receiving module, configured to receive first transport information sent by the source RCS, where the first transport information includes information of a first object to be transported;

a first object to be transported module for transporting the first object to be transported to a position of the first transfer point;

a delivery success message sending module, configured to send a message of successful delivery to the target RCS, so that after receiving the message that the handling is successful, the target RCS controls the target AGV to move the first object to be transported from The position of the first transfer point is transported to a location of the first target storage location.
The apparatus according to claim 10, wherein said first transfer point is located in a dump area, said transfer area being an overlap area of a control area of said source RCS and a control area of said target RCS, said Handling success message sending module, specifically for:

A message of successful delivery is sent to the target RCS by the source RCS.
The apparatus according to claim 10, wherein said first transfer point is located in a dump area, said transfer area being an area other than the overlap area in a control area of said target RCS, wherein said overlap area An overlap region of a control region of the target RCS and a control region of the source RCS;

The first object to be transported module to be transported includes:

a transfer point location handling unit, configured to transport the first object to be transported to a location of a handover point, wherein the handover point is located at an overlap region of a control region of the source RCS and a control region of the target RCS;

a switching unit, configured to switch its own control right from the source RCS to the target RCS, and receive a location of the first transfer point sent by the target RCS;

a first transfer point location handling unit, configured to transport the first object to be transported from a position of the handover point to a position of the first transfer point;

The transport success message sending module is specifically configured to:

A message of successful delivery is sent to the target RCS through a communication link between itself and the target RCS.
The device according to claim 12, wherein the switching unit comprises:

Suspending a request sending subunit for sending a suspend request to the source RCS;

Receiving a request sending subunit, configured to send a takeover request to the target RCS;

The takeover success message receiving subunit is configured to receive a message of successful takeover sent by the target RCS.
The device of claim 12, wherein the device further comprises:

And a location request sending module, configured to send, to the target RCS, a location request for acquiring a location of the transfer point before receiving the location of the first transfer point sent by the target RCS.
The apparatus of claim 11 wherein said apparatus further comprises:

a first receiving module, configured to receive second transport information sent by the target RCS after sending a message that the transport succeeds to the target RCS by using the source RCS, where the second transport information includes the second transfer information Information of the second object to be transported, wherein the second transfer point is located in the transfer area;

a second target storage location receiving module, configured to receive a location of the second target storage location sent by the source RCS;

The second object to be transported module is configured to transport the second object to be transported from a position of the second transfer point to a position of the second target storage location.
The device of claim 12, wherein the device further comprises:

a second receiving module, configured to receive second handling information sent by the target RCS after sending a message of successful delivery to the target RCS by using a communication link between the user and the target RCS, the second handling The information includes information of the second object to be transported at the second transfer point, and the second transfer point is located in the transfer area;

a transfer point position handling module, configured to transport the second object to be transported from a position of the second transfer point to a position of the transfer point;

a switching module, configured to switch its control right from the target RCS to the source RCS, and receive a location of a second target storage location sent by the source RCS;

And a second target storage location handling module, configured to transport the second object to be transported from a position of the handover point to a location of the second target storage location.
The apparatus of claim 11 wherein said apparatus further comprises:

a first backhaul information receiving module, configured to receive backhaul information sent by the target RCS after sending a message of successful delivery to the target RCS through the source RCS;

a first target location receiving module, configured to receive a target location sent by the source RCS;

a first target position moving module for moving to the target position.
The device of claim 12, wherein the device further comprises:

a second backhaul information receiving module, configured to receive backhaul information sent by the target RCS after the step of sending a message of successful delivery to the target RCS through a communication link between itself and the target RCS;

a junction point location moving module for moving to a location of the junction point;

a second target location receiving module, configured to switch its control right from the target RCS to the source RCS, and receive a target location sent by the source RCS;

a second target position moving module for moving from the position of the junction point to the target position.
An inter-storage handling control method is applied to a target RCS in a cross-warehousing handling control system, the cross-warehousing handling control system further comprising: a source auto-navigation trolley AGV, a source RCS and a target auto-navigation trolley AGV, the method comprising:

Receiving a takeover request sent by the source AGV, and controlling the source AGV;

Sending a position of the first transfer point to the source AGV, and controlling the source AGV to carry the first object to be transported from a position of the transfer point to a position of the first transfer point, wherein the transfer point is located at the location An overlapping area of a control area of the source RCS and a control area of the target RCS, where the first storage point is located in a dump area, and the dump area is a control area of the target RCS except the overlap area Area;

Receiving a message of successful delivery of the source AGV, and controlling the target AGV to transport the first object to be transported from a position of the first transfer point to a position of the first target storage location.
A cross-warehousing handling control device is applied to a target RCS in a cross-warehousing handling control system, the cross-warehousing handling control system further comprising: a source automatic navigation trolley AGV, a source RCS and a target automatic navigation trolley AGV, the device comprising:

Receiving a request receiving module, configured to receive a takeover request sent by the source AGV, and control the source AGV;

a first transfer point location sending module, configured to send a location of the first transfer point to the source AGV, and control the source AGV to transport the first object to be transported from the location of the handover point to the first transfer point a location, wherein the handover point is located in an overlapping area of a control area of the source RCS and a control area of the target RCS, the first transfer point is located in a dump area, and the transfer area is the target An area other than the overlapping area in the control area of the RCS;

a transport success message receiving module, configured to receive a message of successful delivery by the source AGV, and control the target AGV to move the first object to be transported from the location of the first transfer point to the first target storage location s position.
An automatic navigation trolley comprising: a vehicle body, a wheel, a controller and a memory, wherein the memory is for storing a computer program; the controller is configured to execute a program stored on the memory, implementing the claim 1 -9 any of the method steps described.
An electronic device comprising: a processor and a memory, wherein the memory is for storing a computer program; the processor is configured to execute a program stored on the memory, and implement the method step of claim 19. .
A computer readable storage medium having stored therein a computer program, the computer program being executed by a controller to implement the method steps of any of claims 1-9, and/or to implement the method of claim 19. Method steps described.
An inter-storage handling control system, the system comprising: a source RCS, a target RCS and a source auto-navigation trolley AGV and a target auto-navigation trolley AGV;

The source RCS is configured to send first transport information to the source AGV, where the first transport information includes information of a first object to be transported;

The source AGV is configured to receive the first transport information sent by the source RCS, transport the first object to be transported to a location of the first transfer point, and send a message indicating that the transport is successful to the target RCS;

The target RCS is configured to receive a message of successful delivery of the source AGV, and send the location of the first transfer point and the location of the first target storage location to the target AGV;

The target AGV is configured to receive a location of the first transfer point sent by the target RCS and a location of the first target storage location, and move the first object to be transported from the location of the first transfer point to The location of the first target storage location.
The system according to claim 24, wherein said first transfer point is located in a dump area, said swap area being an overlap area of a control area of said source RCS and a control area of said target RCS;

The source AGV is specifically configured to send a message that the transport succeeds to the source RCS;

The source RCS is specifically configured to receive a message that the source AGV sends a successful delivery, and send a message of successful delivery to the target RCS;

The target RCS is specifically configured to receive a message that the transport is successfully sent by the source RCS.
The system according to claim 24, wherein said first transfer point is located in a dump area, said transfer area being an area other than the overlap area in a control area of said target RCS, wherein said overlap area An overlap region of a control region of the target RCS and a control region of the source RCS;

The source AGV is specifically configured to transport the first object to be transported to a location of a handover point, where the handover point is located in an overlapping area of a control area of the source RCS and a control area of the target RCS, and Sending a first handover request to the source RCS;

The source RCS is further configured to receive a first handover request sent by the source AGV, and cancel control on the source AGV;

The source AGV is further configured to send a second handover request to the target RCS.

The target RCS is configured to receive a second handover request sent by the source AGV, control the source AGV, and send a location of the first transfer point to the source AGV;

The source AGV is further configured to receive a location of the first transfer point sent by the target RCS, and transport the first object to be transported from a location of the handover point to a location of the first transfer point;

The source AGV is specifically configured to send a message of successful delivery to the target RCS by using a communication link between itself and the target RCS;

The target RCS is specifically configured to receive, by using the communication link, a message that the source AGV sends a successful transport.
The system according to claim 26, wherein said source AGV is further configured to transmit a location of the location at which the transfer point is acquired to the target RCS before receiving the location of the first transfer point transmitted by the target RCS request;

The target RCS is specifically configured to receive a second handover request and a location request sent by the source AGV, and send a location of the first transfer point to the source AGV.
The system of claim 25, wherein the target RCS is further configured to send second transport information to the source AGV after receiving the message of successful transport sent by the source RCS, the second transport information And including information of the second object to be transported at the second transfer point, where the second transfer point is located in the transfer area;

The source AGV is further configured to receive second handling information sent by the target RCS;

The source RCS is further configured to send a location of the second target storage location to the source AGV;

The source AGV is further configured to receive a location of the second target storage location sent by the source RCS, and transport the second to-be-transported object from the location of the second storage point to the second target storage location s position.
The system of claim 26, wherein the target RCS is further configured to send second transport information to the source AGV after receiving the message of successful delivery by the source AGV, the second transport information And including information of the second object to be transported at the second transfer point, wherein the second transfer point is located in the transfer area;

The source AGV is further configured to receive second transport information sent by the target RCS, and transport the second object to be transported from a position of the second transfer point to a position of the handover point, and The target RCS sends a fourth handover request;

The target RCS is further configured to receive a fourth handover request sent by the source AGV, and cancel control on the source AGV.

The source AGV is further configured to send a third handover request to the source RCS.

The source RCS is further configured to receive a third handover request sent by the source AGV, control the source AGV, and send a location of the second target storage location to the source AGV;

The source AGV is further configured to receive a location of the second target storage location sent by the source RCS, and transport the second to-be-transported object from a location of the handover point to a location of the second target storage location.
The system of claim 25, wherein the target RCS is further configured to send backhaul information to the source AGV after receiving a message of successful delivery sent by the source RCS;

The source AGV is further configured to receive backhaul information sent by the target RCS;

The source RCS is further configured to send a target location to the source AGV;

The source AGV is further configured to receive a target location sent by the source RCS and move to the target location.
The system of claim 26, wherein the target RCS is further configured to send backhaul information to the source AGV after receiving the message of successful delivery of the source AGV transmission;

The source AGV is further configured to receive backhaul information sent by the target RCS, move to a location of the handover point, and send a sixth handover request to the target RCS;

The target RCS is further configured to receive a sixth handover request sent by the source AGV, and cancel control on the source AGV.

The source AGV is further configured to send a fifth handover request to the source RCS.

The source RCS is further configured to receive a fifth handover request sent by the source AGV, control the source AGV, and send a target location to the source AGV;

The source AGV is further configured to receive a target location sent by the source RCS, and move from a location of the handover point to the target location.
An executable program code for being executed to perform the method steps of any of claims 1-9, and/or to implement the method steps of claim 19.