A road right management method, device, electronic device and storage medium

Abstract

The present invention provides a road right management method, device, electronic device and storage medium, which relate to the technical field of automated guided vehicles. The road right management method can generate a first planned path through the starting point of the automated guided vehicle and the end point of the task, send the first planned path to the automated guided vehicle and make the automated guided vehicle travel along the first planned path, so as to realize the scheduling of the automated guided vehicle. The road authority of the automated guided vehicle is determined according to the positioning information of the automated guided vehicle and the preset constraint logic, and the stopping or driving of the automated guided vehicle is controlled based on the road authority, so as to avoid multiple automated guided vehicles competing for the occupied path resources and causing deadlock, thereby improving the operation efficiency of the automated guided vehicle.

Description

Technical Field

[0001] The present invention relates to the technical field of automated guided vehicles, and in particular to a road right management method, device, electronic equipment and storage medium. Background Art

[0002] An Automated Guided Vehicle (AGV) is a transport vehicle that can travel along a planned navigation path and has a carrying function. In the AGV transportation scenario, how to manage the right of way for the AGV so that there are as few path interference conflicts as possible between many AGVs is an important means to improve the transportation efficiency of the AGV.

[0003] The road right management method for automated guided vehicles is to manage the path and speed of the automated guided vehicles by planning waypoints and the time when the vehicle is at the planned waypoints. When a new task is added or an exception occurs, multiple automated guided vehicles will compete for the occupied path resources and cause deadlock (deadlock, for example, a two-way route, two vehicles occupy both ends of the route, and both need to reach the other end, causing deadlock). At present, by setting the priority of the automated guided vehicles, low-priority automated guided vehicles can solve deadlocks by avoiding or retreating.

[0004] However, the solution of letting low-priority automated guided vehicles give way to high-priority automated guided vehicles cannot meet the timeliness requirements of transportation. It will extend the operating time of low-priority automated guided vehicles, increase the difficulty of on-site scheduling, and reduce the operating efficiency of automated guided vehicles. Summary of the invention

[0005] In order to solve the above problems, the present invention provides a road right management method, device, electronic device and storage medium.

[0006] In a first aspect, the present invention provides a road right management method, comprising:

[0007] Acquire a starting point of the automatic guided vehicle and an end point of the task, and generate a first planned path based on the starting point and the end point; wherein the first planned path is a path consisting of a plurality of road right points from the starting point to the end point;

[0008] Sending the first planned path to an automatic guided vehicle so that the automatic guided vehicle sends its own positioning information;

[0009] Determine the road authority of one or more right-of-way points next to the right-of-way point corresponding to the positioning information of the automatic guided vehicle in the first planned path according to the positioning information and the preset constraint logic;

[0010] The road authority is sent to the automatic guided vehicle, so that the automatic guided vehicle stays at a current position or moves to the next one or more road authority points according to the road authority.

[0011] Optionally, after obtaining the starting point of the automatic guided vehicle and the end point of the task, the method further includes:

[0012] Sending the destination of the task to the automatic guided vehicle, so that the automatic guided vehicle generates a second planned path according to the current position of the automatic guided vehicle and the destination; wherein the second planned path is a path composed of a plurality of right-of-way points from the current position of the automatic guided vehicle to the destination;

[0013] Receiving a second planned path and positioning information of the automatic guided vehicle sent by the automatic guided vehicle;

[0014] The road authority of the automatic guided vehicle next to one or more right-of-way points corresponding to the positioning information in the second planned path is determined according to the positioning information and the preset constraint logic.

[0015] Optionally, after obtaining the starting point of the automatic guided vehicle and the end point of the task, the method further includes:

[0016] receiving an application request for road authority sent by the automatic guided vehicle, and approving or rejecting the application request according to a preset constraint logic;

[0017] The road authority application request is an application by the automatic guided vehicle for the road authority of the next one or more road authority points corresponding to the road authority point positioning information in the second planned path based on its own positioning information and constraint logic.

[0018] Optionally, it also includes:

[0019] After determining that the automatic guided vehicle has reached one or more right-of-way points next to the right-of-way point corresponding to the positioning information, the authority of the right-of-way point corresponding to the positioning information is released.

[0020] Optionally, after obtaining the starting point of the automatic guided vehicle and the end point of the task, the method further includes:

[0021] An automatic guided vehicle for executing the task is determined from a plurality of automatic guided vehicles according to an end point of the task.

[0022] Optionally, the sending of the road authority to the automatic guided vehicle so that the automatic guided vehicle stays at a current position or moves to the next one or more road authority points according to the road authority includes:

[0023] Determining that the road authority is in a permitted state, and sending the road authority to the automatic guided vehicle so that the automatic guided vehicle can exercise to the next one or more road authority points;

[0024] Determining that the road authority is in a prohibited state, and sending the road authority to the automatic guided vehicle so that the automatic guided vehicle stays at a current position;

[0025] The road authority includes: an allowed state and a prohibited state.

[0026] Optionally, the sending of the road authority to the automatic guided vehicle so that the automatic guided vehicle stays at a current position or moves to the next one or more road authority points according to the road authority further includes:

[0027] Determining that the road authority is in a prohibited state and the authority of the next one or more road authority points of the automatic guided vehicle is released, then changing the road authority to an allowed state;

[0028] The road authority is sent to the automatic guided vehicle so that the automatic guided vehicle moves to the next one or more road authority points.

[0029] In a second aspect, the present invention provides a road right management device, comprising:

[0030] A task module, used to obtain a starting point of the automatic guided vehicle and an end point of the task, and generate a first planned path based on the starting point and the end point; wherein the first planned path is a path composed of multiple road right points from the starting point to the end point;

[0031] A scheduling module, used for sending the first planned path to an automatic guided vehicle, so that the automatic guided vehicle sends its own positioning information;

[0032] A permission module, configured to determine the road permission of one or more right-of-way points next to the right-of-way point corresponding to the positioning information of the automatic guided vehicle in the first planned path according to the positioning information and a preset constraint logic;

[0033] The guidance module is used to send the road authority to the automatic guided vehicle, so that the automatic guided vehicle stays at the current position or moves to the next one or more road authority points according to the road authority.

[0034] In a third aspect, the present invention provides an electronic device, including a memory and a processor;

[0035] The memory is used to store computer programs;

[0036] The processor is used to implement the road right management method as described in the first aspect when executing the computer program.

[0037] In a fourth aspect, the present invention provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the road right management method as described in the first aspect is implemented.

[0038] The beneficial effect of the road right management method of the present invention is that a first planned path can be generated through the starting point of the automatic guided vehicle and the end point of the task, the first planned path is sent to the automatic guided vehicle and the automatic guided vehicle is driven along the first planned path, so as to realize the scheduling of the automatic guided vehicle. The road authority of the automatic guided vehicle is determined according to the positioning information of the automatic guided vehicle and the preset constraint logic, and the stopping or driving of the automatic guided vehicle is controlled based on the road authority, so as to avoid multiple automatic guided vehicles competing for the occupied path resources and causing deadlock, thereby improving the operation efficiency of the automatic guided vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 A flowchart of a road right management method provided in this embodiment.

[0040] Figure 2 A flowchart of a road right management method provided in this embodiment.

[0041] Figure 3 A schematic diagram of the structure of a road right management device provided in this embodiment.

[0042] Figure 4 A schematic diagram of the structure of an electronic device provided in this embodiment. DETAILED DESCRIPTION

[0043] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. Although certain embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be interpreted as being limited to the embodiments described herein. On the contrary, these embodiments are provided to provide a more thorough and complete understanding of the present invention. It should be understood that the drawings and embodiments of the present invention are only for exemplary purposes and are not intended to limit the scope of protection of the present invention.

[0044] It should be understood that the various steps described in the method embodiments of the present invention may be performed in different orders and / or in parallel. In addition, the method embodiments may include additional steps and / or omit the steps shown. The scope of the present invention is not limited in this respect.

[0045] The term "including" and its variations used herein are open inclusions, i.e., "including but not limited to"; the term "based on" means "based at least in part on"; the term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one other embodiment"; the term "some embodiments" means "at least some embodiments"; the term "optionally" means "optional embodiments". The relevant definitions of other terms will be given in the following description.

[0046] It should be noted that the modifications of "one" and "plurality" mentioned in the present invention are illustrative rather than restrictive, and those skilled in the art should understand that, unless otherwise clearly indicated in the context, it should be understood as "one or more".

[0047] The names of the messages or information exchanged between multiple devices in the embodiments of the present invention are only used for illustrative purposes, and are not used to limit the scope of these messages or information.

[0048] Before describing the solution of this embodiment in detail, the vocabulary involved in this embodiment is explained as follows:

[0049] 1. The server runs the vehicle scheduling program, manages the vehicle's tasks, and sends task instructions to the vehicle; the automatic guided vehicle can apply for the right of way at the right-of-way point from the server.

[0050] 2. The automatic guided vehicle runs on the map route, receives tasks sent by the server, runs according to the task instructions, and applies for the right of way of the right-of-way points on the route from the server according to the location it runs to.

[0051] 3. Right-of-way point: A point on the map where the automated guided vehicle can apply to the server for permission to occupy the right-of-way point.

[0052] 4. Road section: a directed line segment connecting right-of-way points.

[0053] 5. Right-of-way point group: A right-of-way point group is composed of multiple right-of-way points. When there is an automated guided vehicle X in a right-of-way point group, the application of other automated guided vehicles Y can be rejected or it can be determined whether the operation of automated guided vehicle Y will affect the subsequent operation of automated guided vehicle X. If there is no impact, it can be authorized to automated guided vehicle Y.

[0054] 6. Bidirectional single-line section: For a section AB, if there is a section BA, then both sections AB and BA are bidirectional single-line sections.

[0055] 7. Adjacent right-of-way points: For two right-of-way points A and B, there is a section from right-of-way point A to right-of-way point B, or there is a section from right-of-way point B to right-of-way point A.

[0056] 8. Adjacent road sections of a road right point. For a road right point A, if a road section is connected to the road right point A (such as AB section or BA section), the road section is called the adjacent road section of the road right point A.

[0057] 9. Mutual interference points: For two right-of-way points A and B, if the automatic guided vehicle X carries items and runs on the adjacent section of the right-of-way point A and is not the AB section or the BA section, and the automatic guided vehicle Y carries items and runs on the adjacent section of the right-of-way point B and is not the AB section or the BA section, the automatic guided vehicle X and the automatic guided vehicle Y and the items they carry can collide with each other, then the right-of-way point A and the right-of-way point B are mutual interference points; if the automatic guided vehicle X carries items and runs on the adjacent section of the right-of-way point A and is not the AB or BA section, and the automatic guided vehicle Y carries items and runs on the adjacent section of the right-of-way point C and is not the BC or CB section, the automatic guided vehicle X and the automatic guided vehicle Y and the items they carry can collide with each other, then the right-of-way point A and the right-of-way point C are also mutual interference points.

[0058] 10. Same-time right-of-way application: An automatic guided vehicle applies for a right of way from the server. A right-of-way application can include multiple right-of-way points.

[0059] 11. Number of independent points: For a route (consisting of multiple right-of-way points), the number of right-of-way groups contained in it plus the number of right-of-way points that do not belong to any right-of-way group is the number of independent points of the route; for example: in the path ABCDEFG, section AF does not belong to any right-of-way point group, then section BC belongs to right-of-way group A, then section BC is 1 independent right-of-way point, right-of-way point D belongs to right-of-way group B, then section D is 1 independent right-of-way point; right-of-way points E and G belong to right-of-way group C, then section EG is 1 independent right-of-way point, and the number of independent points of this section is 5.

[0060] 12. Loop. If a set of right-of-way points has more than three points, and there is a path starting from a certain point and passing through all other points in the set only once before returning to the starting point, then this path is called a loop.

[0061] 13. Minimum cycle: For a path A, if the set of all its right-of-way points does not have a true subset that can form a cycle, then the path is changed to a minimum cycle.

[0062] In view of the problems existing in the above-mentioned related technologies, this embodiment provides a road right management method, device, electronic device and storage medium.

[0063] like Figure 1 As shown, a road right management method provided by an embodiment of the present invention is applied on a server, the server can run an automatic guided vehicle scheduling program, manage the tasks of the automatic guided vehicle, and send task instructions to the automatic guided vehicle. The road right management method includes:

[0064] S100: Acquire a starting point of the automatic guided vehicle and an end point of the task, and generate a first planned path based on the starting point and the end point; wherein the first planned path is a path composed of multiple road right points and from the starting point to the end point.

[0065] In this step, the task refers to the task of the automated guided vehicle transporting the target object from the starting point to the end point. The task includes the starting point and the end point of the target object. The target object is the item that the automated guided vehicle needs to transport. The automated guided vehicle runs on the map route, receives the task instructions sent by the server, and runs according to the task instructions.

[0066] After the server obtains the task, it can know the starting point and end point corresponding to the task. The server uses a path search algorithm to generate a first planned path based on the end point of the task and the starting point uploaded by the received automatic guided vehicle, where the starting point uploaded by the automatic guided vehicle is the current location of the guided vehicle. It should be noted that the path search algorithm is an algorithm used to find the optimal path from one node to another. It can be any one of the breadth-first search (BFS), depth-first search (DFS), Dijkstra algorithm and A-star algorithm.

[0067] In this step, the planned path is a path from the starting point to the end point, which is composed of multiple right-of-way points. A right-of-way point is a point on the map, and the AGV can apply to the server for the permission to occupy the right-of-way point. The directed line segment connecting the right-of-way points is a road segment. A right-of-way point group composed of multiple right-of-way points, when there is an AGV X in a right-of-way point group, the application of other AGVs Y can be rejected or it can be determined whether the operation of AGV Y will affect the subsequent operation of AGV X. If it does not affect the subsequent operation of AGV X, AGV Y can be authorized.

[0068] S200: Sending the first planned path to an automatic guided vehicle, so that the automatic guided vehicle sends its own positioning information.

[0069] In this step, the first planned path generated by the server needs to be sent to the automatic guided vehicle. After the automatic guided vehicle receives the first planned path, it needs to move along the first planned path. The automatic guided vehicle moves along the first planned path. If the automatic guided vehicle has a transportation task, the automatic guided vehicle moves along the first planned path to the starting point of the task to load the items to be transported. After loading the items, continue to move along the first planned path and unload the transported items at the end of the first planned path. In addition, in this step, after the automatic guided vehicle receives the first planned path sent by the server, if the automatic guided vehicle does not stop at the starting point of the task, the automatic guided vehicle needs to travel along the first planned path to the starting point of the task, and then upload its own positioning information, so that the server can determine the road authority of subsequent road rights points in the first planned path based on the uploaded positioning information.

[0070] S300: Determine the road authority of one or more right-of-way points next to the right-of-way point corresponding to the positioning information of the automatic guided vehicle in the first planned path according to the positioning information and a preset constraint logic.

[0071] In this step, the server receives the positioning information uploaded by the automatic guided vehicle, and determines the right-of-way point corresponding to the positioning information of the automatic guided vehicle on the first planned path based on the positioning information. That is, the server can determine the right-of-way point where the automatic guided vehicle is currently located based on the positioning information. Based on this, the server needs to determine the road authority of one or more right-of-way points next to the right-of-way point where the automatic guided vehicle is currently located. Specifically, the next right-of-way point of the current right-of-way point is compared with each constraint condition in the constraint logic. Determine whether one or more right-of-way points next to the right-of-way point where the automatic guided vehicle is currently located can be authorized.

[0072] In this embodiment, the preset constraint logic includes at least one of the following constraint conditions:

[0073] 1. Any right-of-way point on the map needs to be able to reach other right-of-way points, otherwise the vehicle here will not be able to automatically move to other points.

[0074] 2. If right-of-way point A and right-of-way point B are mutually interfering points, and right-of-way point B and right-of-way point C are also mutually interfering points, then right-of-way point A, right-of-way point B and right-of-way point C must be assigned to one right-of-way point group.

[0075] 3. The BC section belongs to a right-of-way group A, and the DEF section belongs to the right-of-way group B. The movement route of the automatic guided vehicle X is ABCDKG. When the automatic guided vehicle applies for the right-of-way point B, it detects that it belongs to the right-of-way group A. The vehicle needs to continue to add the right-of-way point C to this application; when adding the right-of-way point C, it is found that the right-of-way point C also belongs to the right-of-way group A, and the right-of-way point D needs to be added to the application; when adding the right-of-way point D, it is found that the right-of-way point D belongs to the right-of-way group B, and the right-of-way point K needs to be added to the application. That is, the right-of-way points B, C, D, and K need to be applied to the server at the same time.

[0076] 4. If a CD section is a two-way single-track section, and a DE section is a two-way single-track section, and the movement route of the automatic guided vehicle X is ABCDEFKG, the automatic guided vehicle applies for the route of the right-of-way point C, and finds that the CD section is a two-way single-track section. The right-of-way points D and E need to be added to this application. When adding the right-of-way point D, it is found that the DE section is a two-way single-track section, and the right-of-way points E and F need to be added to this application. That is, the right-of-way points C, D, E and F need to be applied to the server at the same time.

[0077] 4. For the same right-of-way application, the server can only approve all or reject all right-of-way applications, and cannot approve some or reject some.

[0078] 5. For the same road right application, if any point in it cannot be authorized, the application cannot be authorized.

[0079] 6. If the right-of-way point A does not belong to the right-of-way group, when the right-of-way point A is not occupied by the automatic guided vehicle, the automatic guided vehicle X applies for the right-of-way point A, and the server can authorize it.

[0080] 7. If right-of-way points A, B, C and D are a right-of-way group, and AGV X has occupied the authorization of right-of-way points A and B, and AGV Y applies for the authority of right-of-way points C and F, and if right-of-way points C and A are not mutually interfering points, and right-of-way points C and B are not mutually interfering points, then the server can authorize AGV Y. If right-of-way points C and A are mutually interfering points, or if right-of-way points C and B are mutually interfering points, then the server cannot authorize AGV Y's application.

[0081] 8. When the automatic guided vehicle X carrying items applies for a right-of-way point A with a seedling bed support, and there is a seedling bed above the right-of-way point A, the server needs to reject the application.

[0082] 9. AGV X applies for a right-of-way point A on the smallest ring A. There is a smallest ring A that includes the right-of-way point A. The number of independent points of the smallest ring A is n, and the number of authorized AGVs on the smallest ring is m. If the AGV does not have the authority for any point on the ring, and n<=m+1, the application of AGV X cannot be authorized.

[0083] S400: Sending the road authority to the automatic guided vehicle, so that the automatic guided vehicle stays at the current position or moves to the next one or more road authority points according to the road authority.

[0084] In this step, the server sends the determined road authority to the automatic guided vehicle. Road authority includes two states: allowed and prohibited. After the automatic guided vehicle receives the road authority, it is determined that the received road authority is in a prohibited state, then the automatic guided vehicle does not have the authority of one or more road rights points next to the current road right point in the first planned path, and the automatic guided vehicle stops and waits at the current road right point until the authority of one or more road rights points next to the current road right point is released. The server re-determines the road authority of one or more road rights points next to the current road right point, that is, it is determined that the road authority is in a prohibited state and the authority of the next one or more road rights points of the automatic guided vehicle is released, then changes the road authority to an allowed state, and sends the changed road authority to the automatic guided vehicle so that the automatic guided vehicle can exercise to the next one or more road rights points. After the automatic guided vehicle receives the road authority, it is determined that the received road authority is in an allowed state, then the automatic guided vehicle has the authority of one or more road rights points next to the current road right point in the first planned path, and the automatic guided vehicle moves to the next one or more road rights points. Based on the above method until the automatic guided vehicle reaches the end of the first planned path.

[0085] In this embodiment, a first planned path can be generated through the starting point of the automatic guided vehicle and the end point of the task, and the first planned path is sent to the automatic guided vehicle and the automatic guided vehicle is caused to travel along the first planned path, thereby realizing the scheduling of the automatic guided vehicle. The road authority of the automatic guided vehicle is determined according to the positioning information of the automatic guided vehicle and the preset constraint logic, and the stopping or driving of the automatic guided vehicle is controlled based on the road authority to avoid multiple automatic guided vehicles competing for occupied path resources and causing deadlock. In the agricultural field with a large area, few vehicles and batch operations, the deadlock-free scheduling method is more efficient. The road right management method that avoids deadlock allows the automatic guided vehicles to transport in a queue in sequence, which is more efficient and reliable in agricultural scenarios.

[0086] In this optional embodiment, if Figure 2 As shown, after obtaining the starting point of the automatic guided vehicle and the end point of the task, the method further includes:

[0087] S500: Sending the destination of the task to the automatic guided vehicle so that the automatic guided vehicle generates a second planned path according to the current position of the automatic guided vehicle and the destination; wherein the second planned path is a path composed of multiple road rights points, from the current position of the automatic guided vehicle to the destination.

[0088] In this step, after receiving the task, the server sends the task to the automatic guided vehicle. After the automatic guided vehicle receives the task, the automatic guided vehicle can generate a second planned path according to the end point of the task at its current position. In other words, the second planned path is generated by the automatic guided vehicle.

[0089] It should be noted that the way in which the automatic guided vehicle generates the second planned path is the same as the way in which the server generates the first planned path. For specific details, please refer to the content of the server generating the first planned path in the above embodiment, which will not be repeated in this embodiment.

[0090] S600: Receive the second planned path sent by the automatic guided vehicle and its own positioning information.

[0091] In this step, the server needs to receive the second planned path generated by the AGV and determine whether to authorize the right-of-way points in the second planned path. After generating the second planned path, the AGV sends the second planned path and its own positioning information to the server.

[0092] S700: Determine the road authority of one or more right-of-way points next to the right-of-way point corresponding to the positioning information of the automatic guided vehicle in the second planned path according to the positioning information and preset constraint logic.

[0093] In this step, the server receives the positioning information uploaded by the automatic guided vehicle, and determines the right-of-way point corresponding to the positioning information of the automatic guided vehicle on the second planned path based on the positioning information. That is, the server can determine the right-of-way point where the automatic guided vehicle is currently located based on the positioning information. Based on this, the server needs to determine the road authority of one or more right-of-way points next to the right-of-way point where the automatic guided vehicle is currently located. Specifically, the next right-of-way point of the current right-of-way point is compared with each constraint condition in the constraint logic. Determine whether one or more right-of-way points next to the right-of-way point where the automatic guided vehicle is currently located can be authorized.

[0094] In this embodiment, the way of planning the path is stored in the automatic guided vehicle, which can reduce the amount of data processed by the server, improve the data processing efficiency of the server, and further improve the scheduling efficiency of the server.

[0095] In the above optional embodiment, after sending the end point of the task to the automatic guided vehicle, the method further includes:

[0096] receiving an application request for road authority sent by the automatic guided vehicle, and approving or rejecting the application request according to a preset constraint logic;

[0097] The road authority application request is an application by the automatic guided vehicle for the road authority of the next one or more road authority points corresponding to the road authority point positioning information in the second planned path based on its own positioning information and constraint logic.

[0098] In this step, the second path is generated by the automatic guided vehicle. The automatic guided vehicle sends a request for road authority to the server based on its current position and the preset constraint logic, that is, it applies to the server for the road authority of one or more road authority points next to the road authority point corresponding to the positioning information in the second planned path. In other words, the automatic guided vehicle determines the road authority of the road authority point and applies for road authority from the server. The server only needs to agree or reject the application request based on its own preset constraint logic, which can further reduce the amount of data processed by the server, improve the data processing efficiency of the server, and thus improve the scheduling efficiency of the server.

[0099] It should be noted that the constraint logic preset on the automatic guided vehicle is the same as the constraint logic stored in the server. For details, reference may be made to the constraint logic in the above embodiment. In this step, the constraint logic preset on the automatic guided vehicle will not be described in detail.

[0100] In this optional embodiment, after sending the road authority to the automatic guided vehicle, the method further includes:

[0101] After determining that the automatic guided vehicle has reached one or more right-of-way points next to the right-of-way point corresponding to the positioning information, the authority of the right-of-way point corresponding to the positioning information is released.

[0102] In this optional embodiment, after determining that the AGV has reached one or more right-of-way points next to the current right-of-way point, the authority of the current right-of-way point is released, so that other AGVs can obtain authorization at the current right-of-way point and then move to the current right-of-way point, thereby improving the dispatching efficiency of the AGV.

[0103] In this optional embodiment, after obtaining the starting point of the automatic guided vehicle and the end point of the task, the method further includes:

[0104] An automatic guided vehicle for executing the task is determined from a plurality of automatic guided vehicles according to an end point of the task.

[0105] In this optional embodiment, the server can search for an AGV without a task according to the starting point and the end point of the task, and determine an AGV for performing the task from a plurality of AGVs without a task. Specifically, among a plurality of AGVs without a task, the AGVs without a task can be sorted according to conditions such as the distance from the starting point or the end point of the task, the arrival time, and whether an appointment is made. The AGV for performing the task is selected according to the sorting order.

[0106] In this optional embodiment, the server may select an automated guided vehicle to improve the scheduling accuracy of the automated guided vehicle.

[0107] like Figure 3As shown, a road right management device 300 provided in an embodiment of the present invention includes:

[0108] The task module 310 is used to obtain the starting point of the automatic guided vehicle and the end point of the task, and generate a first planned path based on the starting point and the end point; wherein the first planned path is a path composed of multiple road right points from the starting point to the end point;

[0109] A scheduling module 320, configured to send the first planned path to an automatic guided vehicle, so that the automatic guided vehicle sends its own positioning information;

[0110] The authority module 330 is used to determine the road authority of one or more right-of-way points next to the right-of-way point corresponding to the positioning information of the automatic guided vehicle in the first planned path according to the positioning information and a preset constraint logic;

[0111] The guidance module 340 is used to send the road authority to the automatic guided vehicle, so that the automatic guided vehicle stays at the current position or moves to the next one or more road authority points according to the road authority.

[0112] Optionally, it also includes:

[0113] A sending module, used for sending the destination of the task to the automatic guided vehicle, so that the automatic guided vehicle generates a second planned path according to the current position of the automatic guided vehicle and the destination; wherein the second planned path is a path composed of a plurality of right-of-way points from the current position of the automatic guided vehicle to the destination;

[0114] A receiving module, used for receiving the second planned path and the positioning information of the automatic guided vehicle sent by the automatic guided vehicle;

[0115] A judgment module is used to determine the road authority of one or more right-of-way points next to the right-of-way point corresponding to the positioning information of the automatic guided vehicle in the second planned path according to the positioning information and a preset constraint logic.

[0116] Optionally, it also includes:

[0117] A request module, configured to receive an application request for road authority sent by the automatic guided vehicle, and approve or reject the application request according to a preset constraint logic;

[0118] The road authority application request is an application by the automatic guided vehicle for the road authority of the next one or more road authority points corresponding to the road authority point positioning information in the second planned path based on its own positioning information and constraint logic.

[0119] Optionally, it also includes:

[0120] The release module is used to release the authority of the right-of-way point corresponding to the positioning information after determining that the automatic guided vehicle reaches one or more right-of-way points next to the right-of-way point corresponding to the positioning information.

[0121] A selection module is used to determine an automatic guided vehicle for performing the transportation task from a plurality of automatic guided vehicles according to the end point of the task.

[0122] Optionally, the guidance module 340 includes:

[0123] A first judgment unit is used to determine that the road authority is in a permitted state, and send the road authority to the automatic guided vehicle so that the automatic guided vehicle can exercise to the next one or more road authority points;

[0124] A second judgment unit is used to determine that the road authority is in a prohibited state, and send the road authority to the automatic guided vehicle so that the automatic guided vehicle stays at a current position;

[0125] The road authority includes: an allowed state and a prohibited state.

[0126] Optionally, the guidance module 340 further includes:

[0127] A state updating unit, configured to determine that the road authority is in a prohibited state and the authority of the next one or more road authority points of the automatic guided vehicle is released, and then change the road authority to an allowed state;

[0128] The third judgment unit is used to send the road authority to the automatic guided vehicle so that the automatic guided vehicle can move to the next one or more road authority points.

[0129] The embodiment of the road right management device provided in this embodiment can be specifically used to execute the processing flow of the embodiment of the road right management method in the above embodiment. Its functions will not be repeated here, and reference can be made to the detailed description of the above method embodiment.

[0130] like Figure 4 As shown, an electronic device 400 provided in an embodiment of the present invention includes a memory 420 and a processor 410; the memory 420 is used to store a computer program; the processor 410 is used to implement the road right management method as described above when executing the computer program.

[0131] In other words, an electronic device 400 includes a memory 420 and a processor 410 coupled to the memory 420; the memory 420 is configured to store a computer program; and the processor 410 is configured to perform the following operations when executing the computer program:

[0132] Acquire a starting point of the automatic guided vehicle and an end point of the task, and generate a first planned path based on the starting point and the end point; wherein the first planned path is a path consisting of a plurality of road right points from the starting point to the end point;

[0133] Sending the first planned path to an automatic guided vehicle so that the automatic guided vehicle sends its own positioning information;

[0134] Determine the road authority of one or more right-of-way points next to the right-of-way point corresponding to the positioning information of the automatic guided vehicle in the first planned path according to the positioning information and the preset constraint logic;

[0135] The road authority is sent to the automatic guided vehicle, so that the automatic guided vehicle stays at a current position or moves to the next one or more road authority points according to the road authority.

[0136] An embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the road right management method as described above is implemented.

[0137] In other words, a non-volatile computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor performs the following operations:

[0138] Acquire a starting point of the automatic guided vehicle and an end point of the task, and generate a first planned path based on the starting point and the end point; wherein the first planned path is a path consisting of a plurality of road right points from the starting point to the end point;

[0139] Sending the first planned path to an automatic guided vehicle so that the automatic guided vehicle sends its own positioning information;

[0140] Determine the road authority of one or more right-of-way points next to the right-of-way point corresponding to the positioning information of the automatic guided vehicle in the first planned path according to the positioning information and the preset constraint logic;

[0141] The road authority is sent to the automatic guided vehicle, so that the automatic guided vehicle stays at a current position or moves to the next one or more road authority points according to the road authority.

[0142] An electronic device 400 that can be used as a server or client of the present invention will now be described, which is an example of a hardware device that can be applied to various aspects of the present invention. The electronic device 400 is intended to represent various forms of digital electronic computer equipment, such as laptop computers, desktop computers, workbenches, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device 400 can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples, and are not intended to limit the implementation of the present invention described and / or required herein.

[0143] The electronic device 400 includes a computing unit, which can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) or a computer program loaded from a storage unit into a random access memory (RAM). In the RAM, various programs and data required for the operation of the device can also be stored. The computing unit, ROM, and RAM are connected to each other via a bus. An input / output (I / O) interface is also connected to the bus.

[0144] A person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment method can be implemented by instructing the relevant hardware through a computer program, and the program can be stored in a computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, the storage medium can be a disk, an optical disk, a read-only memory (ROM) or a random access memory (RAM), etc. In the present application, the unit described as a separate component may or may not be physically separated, and the component displayed as a unit may or may not be a physical unit, that is, it may be located in one place, or it may be distributed on multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the embodiment of the present invention. In addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of a software functional unit.

[0145] Although the present invention is disclosed as above, the protection scope of the present invention is not limited thereto. Those skilled in the art may make various changes and modifications without departing from the spirit and scope of the present invention, and these changes and modifications will fall within the protection scope of the present invention.

Claims

1. A road right management method, characterized in that: include: Acquire a starting point of the automatic guided vehicle and an end point of the task, and generate a first planned path based on the starting point and the end point; wherein the first planned path is a path consisting of a plurality of road right points from the starting point to the end point; Sending the first planned path to an automatic guided vehicle so that the automatic guided vehicle sends its own positioning information; Determine the road authority of one or more right-of-way points next to the right-of-way point corresponding to the positioning information of the automatic guided vehicle in the first planned path according to the positioning information and the preset constraint logic; Sending the road authority to the automatic guided vehicle, so that the automatic guided vehicle stays at a current position or moves to the next one or more road authority points according to the road authority; The preset constraint logic includes at least one of the following constraints: Any right-of-way point on the map needs to be able to reach other right-of-way points, otherwise the vehicle will not be able to automatically move to other points here; If right-of-way points A and B are mutually interfering points, and right-of-way points B and C are also mutually interfering points, then right-of-way points A, B, and C must be assigned to one right-of-way point group; The BC section belongs to a road right group A, the DEF section belongs to a road right group B, the movement route of the automatic guided vehicle X is ABCDKG, and the road right points B, C, D and K need to be applied to the server at the same time; If a CD section is a two-way single-track section, and a DE section is a two-way single-track section, and the movement route of the automatic guided vehicle X is ABCDEFKG, the right-of-way points C, D, E, and F need to be applied to the server at the same time; For the same right-of-way application, the server can only approve all or reject all right-of-way applications, and cannot approve some and reject some. For the same right of way application, if any point cannot be authorized, the application cannot be authorized; If the right-of-way point A does not belong to the right-of-way group, when the right-of-way point A is not occupied by the AGV, the AGV X applies for the right-of-way point A, and the server can authorize it; If right-of-way points A, B, C and D are a right-of-way group, and AGV X has occupied the authorization of right-of-way points A and B, and AGV Y applies for the authority of right-of-way points C and F, and if right-of-way points C and A are not mutually interfering points, and right-of-way points C and B are not mutually interfering points, then the server can authorize AGV Y; if right-of-way points C and A are mutually interfering points, or if right-of-way points C and B are mutually interfering points, then the server cannot authorize AGV Y's application; When the AGV X carrying items applies for a right-of-way point A with a seedling bed support, and there is a seedling bed above the right-of-way point A, the server needs to reject the application; AGV X applies for a right-of-way point A on the smallest ring A. There is a smallest ring A that includes the right-of-way point A. The number of independent points of the smallest ring A is n, and the number of authorized AGVs on the smallest ring is m. If the AGV does not have the authority for any point on the ring, and n<=m+1, the application of AGV X cannot be authorized.

2. The road right management method according to claim 1, characterized in that: After obtaining the starting point of the automatic guided vehicle and the end point of the task, the method further includes: Sending the destination of the task to the automatic guided vehicle, so that the automatic guided vehicle generates a second planned path according to the current position of the automatic guided vehicle and the destination; wherein the second planned path is a path composed of a plurality of right-of-way points from the current position of the automatic guided vehicle to the destination; Receiving a second planned path and positioning information of the automatic guided vehicle sent by the automatic guided vehicle; The road authority of one or more right-of-way points next to the right-of-way point corresponding to the positioning information of the automatic guided vehicle in the second planned path is determined according to the positioning information and the preset constraint logic.

3. The road right management method according to claim 2, characterized in that: After sending the endpoint of the task to the automatic guided vehicle, the method further includes: receiving an application request for road authority sent by the automatic guided vehicle, and approving or rejecting the application request according to a preset constraint logic; The road authority application request is an application by the automatic guided vehicle for the road authority of the next one or more road authority points corresponding to the road authority point positioning information in the second planned path based on its own positioning information and constraint logic.

4. The road right management method according to claim 1 or 2, characterized in that: Also includes: After determining that the automatic guided vehicle has reached one or more right-of-way points next to the right-of-way point corresponding to the positioning information, the authority of the right-of-way point corresponding to the positioning information is released.

5. The road right management method according to claim 1 or 2, characterized in that: After obtaining the starting point of the automatic guided vehicle and the end point of the task, the method further includes: An automatic guided vehicle for executing the task is determined from a plurality of automatic guided vehicles according to an end point of the task.

6. The road right management method according to claim 1 or 2, characterized in that: The sending of the road authority to the automatic guided vehicle so that the automatic guided vehicle stays at a current position or moves to the next one or more road authority points according to the road authority includes: Determining that the road authority is in a permitted state, and sending the road authority to the automatic guided vehicle so that the automatic guided vehicle can exercise to the next one or more road authority points; Determining that the road authority is in a prohibited state, and sending the road authority to the automatic guided vehicle so that the automatic guided vehicle stays at a current position; The road authority includes: an allowed state and a prohibited state.

7. The road right management method according to claim 6, characterized in that: The sending of the road authority to the automatic guided vehicle so that the automatic guided vehicle stays at the current position or moves to the next one or more road authority points according to the road authority also includes: Determining that the road authority is in a prohibited state and the authority of the next one or more road authority points of the automatic guided vehicle is released, then changing the road authority to an allowed state; The road authority is sent to the automatic guided vehicle so that the automatic guided vehicle moves to the next one or more road authority points.

8. A road right management device, characterized in that: include: A task module, used to obtain a starting point of the automatic guided vehicle and an end point of the task, and generate a first planned path based on the starting point and the end point; wherein the first planned path is a path composed of multiple road right points from the starting point to the end point; A scheduling module, used for sending the first planned path to an automatic guided vehicle, so that the automatic guided vehicle sends its own positioning information; A permission module, configured to determine the road permission of one or more right-of-way points next to the right-of-way point corresponding to the positioning information of the automatic guided vehicle in the first planned path according to the positioning information and a preset constraint logic; The preset constraint logic includes at least one of the following constraints: Any right-of-way point on the map needs to be able to reach other right-of-way points, otherwise the vehicle will not be able to automatically move to other points here; If right-of-way points A and B are mutually interfering points, and right-of-way points B and C are also mutually interfering points, then right-of-way points A, B, and C must be assigned to one right-of-way point group; The BC section belongs to a road right group A, the DEF section belongs to a road right group B, the movement route of the automatic guided vehicle X is ABCDKG, and the road right points B, C, D and K need to be applied to the server at the same time; If a CD section is a two-way single-track section, and a DE section is a two-way single-track section, and the movement route of the automatic guided vehicle X is ABCDEFKG, the right-of-way points C, D, E, and F need to be applied to the server at the same time; For the same right-of-way application, the server can only approve all or reject all right-of-way applications, and cannot approve some and reject some. For the same right of way application, if any point cannot be authorized, the application cannot be authorized; If the right-of-way point A does not belong to the right-of-way group, when the right-of-way point A is not occupied by the AGV, the AGV X applies for the right-of-way point A, and the server can authorize it; If right-of-way points A, B, C and D are a right-of-way group, and AGV X has occupied the authorization of right-of-way points A and B, and AGV Y applies for the authority of right-of-way points C and F, and if right-of-way points C and A are not mutually interfering points, and right-of-way points C and B are not mutually interfering points, then the server can authorize AGV Y; if right-of-way points C and A are mutually interfering points, or if right-of-way points C and B are mutually interfering points, then the server cannot authorize AGV Y's application; When the AGV X carrying items applies for a right-of-way point A with a seedling bed support, and there is a seedling bed above the right-of-way point A, the server needs to reject the application; AGV X applies for a right-of-way point A on the smallest ring A. There is a smallest ring A that includes the right-of-way point A. The number of independent points of the smallest ring A is n, and the number of authorized AGVs on the smallest ring is m. If the AGV does not have the authority for any point on the ring, and n<=m+1, the application of AGV X cannot be authorized. The guidance module is used to send the road authority to the automatic guided vehicle, so that the automatic guided vehicle stays at the current position or moves to the next one or more road authority points according to the road authority.

9. An electronic device, characterized in that: including memory and processor; The memory is used to store computer programs; The processor is used to implement the road right management method as described in any one of claims 1 to 7 when executing the computer program.

10. A computer-readable storage medium, characterized in that: The storage medium stores a computer program, and when the computer program is executed by a processor, the road right management method as described in any one of claims 1 to 7 is implemented.

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