Automatic transfer scheduling system and method for heavy-load equipment in limited space

Abstract

The invention relates to the technical field of mechanical control, in particular to an automatic transfer scheduling system and method for heavy-load equipment in a limited space, the scheduling system comprises AGV cluster equipment, site equipment arranged in a path, a manufacturing execution system, service customization network communication equipment, a server, display equipment and VR equipment, the AGV cluster equipment comprises a plurality of AGVs, and the AGV cluster equipment comprises a plurality of AGVs. A scheduling operation module and a digital sand table connected to the scheduling operation module are arranged in the server, the service customized network communication equipment performs signal transmission on AGV state information transmission by adopting a first QoS service mechanism, and the service customized network communication equipment performs signal transmission on audio and video service mass data transmission by adopting a second QoS service mechanism. According to the invention, rapid planning of a simple path and global optimal planning of a complex scene are realized, and the technical problem of unreasonable path planning of an AGV cluster in a limited space in the prior art is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical control, and particularly to an automatic transfer scheduling system and method for heavy-duty equipment in a restricted space. Background Art

[0002] During the process of underground space material transportation by heavy-duty AGVs (Automated Guided Vehicles), most areas are restricted by the tunnel space, and the AGVs cannot travel side by side, resulting in difficulties in passing and overtaking. If the scheduling system cannot globally optimize the AGV operation path, it is very easy to cause congestion in local areas during the AGV transfer process. The virtual simulation operation mode of the AGV scheduling system can realize the virtual operation of the AGV transfer process, and early detect unreasonable routes and congested parts during the AGV operation process. The staff can perform local optimization on this part to improve the operation efficiency.

[0003] In addition, due to the harsh environment of the underground transfer space, relevant staff cannot work in it for a long time, resulting in the staff's inability to have an intuitive perception of the on-site situation. Using virtual reality technology based on a digital sand table to monitor the operation of the underground space can provide a relatively mild working environment for relevant staff and provide an intuitive perception of the real operation environment.

[0004] Currently, there are few heavy-duty AGV scheduling systems for underground spaces. Common AGVs are often used in relatively mild scenarios such as assembly lines and cargo warehouses. The AGV scheduling system is mainly applied to automated material transfer systems with a large number of AGVs and complex route scenarios. The AGV scheduling system can realize AGV cluster allocation, task scheduling, path planning, and status monitoring, enabling multiple AGVs to cooperate and work together, effectively improving the overall efficiency of logistics transfer. However, due to the large number of AGVs, complex paths, and randomly changing tasks, it is difficult for manual task planning and allocation of the AGV cluster, with a large workload, low efficiency, and difficult to achieve path optimization.

[0005] As the number of AGV clusters increases, the task complexity increases, the transfer routes change, and the environmental constraints are strict, resulting in the real-time planning of AGV clusters becoming an N-P hard problem and unable to solve the globally optimal path. As a compromise, after the scheduling system completes the local optimal planning, it usually abstracts and simplifies the operation route in the scheduling system for simulation to verify the planning effect. Chinese patents CN117055511A, CN116994449A, and CN116911540A all have the above functions, but there are still unreasonable local path planning problems, which are prone to causing AGV traffic jams and congestion.

[0006] In summary, there is an urgent need for a scheduling method that can reasonably plan paths to solve the problems existing in the prior art. Summary of the Invention

[0007] The object of the present invention is to provide an automatic transfer and scheduling system and method for heavy-duty equipment in a restricted space, so as to solve the technical problem of unreasonable path planning of an AGV cluster in a restricted space in the prior art. The specific technical solutions are as follows:

[0008] The present invention provides an automatic transfer and scheduling system for heavy-duty equipment in a restricted space, including an AGV cluster equipment, site equipment arranged in the path, a manufacturing execution system, a service customization network communication device, a server, a display device, and a VR device. The AGV cluster equipment includes multiple AGVs. The server is provided with a scheduling operation module and a digital sand table connected to the scheduling operation module. The service customization network communication device is connected to the scheduling operation module, the digital sand table, the AGV cluster equipment, the site equipment arranged in the path, the manufacturing execution system, and the VR device. The VR device and the digital sand table are respectively connected to the display device. The service customization network communication device uses a first QoS service mechanism for signal transmission of AGV status information, and uses a second QoS service mechanism for signal transmission of massive audio and video service data.

[0009] A further improvement of the automatic transfer and scheduling system for heavy-duty equipment in a restricted space of the present invention is that the service customization network communication device is a service customization network switch. The AGV cluster equipment, the site equipment, and the manufacturing execution system are connected to the service customization network switch through an aggregation switch. The server and the VR device are connected to the service customization network switch through network cards.

[0010] A further improvement of the automatic transfer and scheduling system for heavy-duty equipment in a restricted space of the present invention is that the server projects the digital sand table onto the display device through a graphics card.

[0011] A further improvement of the automatic transfer and scheduling system for heavy-duty equipment in a restricted space of the present invention is that the VR device performs data interaction with the server through the service customization network, and projects the first-person perspective display content onto the display device through a screen mirroring device.

[0012] The present invention also provides a scheduling method using the automatic transfer and scheduling system for heavy-duty equipment in a restricted space as described above, including the following steps:

[0013] Configure tasks, and directly output or customize the list of materials and equipment required for tasks through the automatic transfer and scheduling system for heavy-duty equipment in a restricted space;

[0014] Task planning: Collect information data through the automatic transfer and scheduling system of heavy-duty equipment in a restricted space. Select the station with the lowest task load saturation to complete the task based on the required materials, equipment list, and information data. Select the feeding warehouse with the shortest distance and the highest material inventory for feeding. Select the nearest idle AGV to complete the material transportation task;

[0015] Path planning: Plan the path for the idle AGV to reach the feeding warehouse, plan the path for the AGV to reach the operation station, and plan the path for the AGV to travel to the parking area after feeding;

[0016] Simulation operation: Through the automatic transfer and scheduling system of heavy-duty equipment in a restricted space, resolve the AGV pose information in the information data into AGV pose information in the digital sand table coordinate system and the VR device coordinate system respectively, and synchronously share the AGV operation status information in the information data to the digital sand table and the VR device. The digital sand table and the VR device perform simulation operation and confirm the path planning scheme based on the AGV pose information and the AGV operation status information.

[0017] A further improvement of the automatic transfer and scheduling method of heavy-duty equipment in a restricted space according to the present invention is that it further includes the step: task execution, specifically, issuing the path planning scheme to the AGV to execute the task, and the automatic transfer and scheduling system of heavy-duty equipment in a restricted space synchronously shares the status information of the AGV to the digital sand table and the VR device for display and monitoring in real time.

[0018] A further improvement of the automatic transfer and scheduling method of heavy-duty equipment in a restricted space according to the present invention is that the information data includes station information, information of the manufacturing execution system, AGV information, AGV operation status information, and underground space path information, and the AGV information includes AGV pose information and AGV operation status information.

[0019] A further improvement of the automatic transfer and scheduling method of heavy-duty equipment in a restricted space according to the present invention is that during task planning, any one of the A* algorithm, Dijkstra algorithm, RRT algorithm, or path planning algorithm based on deep reinforcement learning is used for path planning.

[0020] A further improvement of the automatic transfer and scheduling method of heavy-duty equipment in a restricted space according to the present invention is that after the digital sand table receives the AGV pose information, it displays the scene of the virtual underground space and the scene of the interaction between the AGV and the environment in the current coordinates, and synchronously displays the AGV operation status information; after the VR device receives the AGV pose information, according to the attitude of the AGV device, the VR device displays the scene of the virtual underground space and the scene of the interaction between the AGV and the environment in the first-person perspective of the AGV device in the current attitude, and synchronously displays the AGV operation status information.

[0021] A further improvement of the automatic transfer and scheduling method of the heavy-duty equipment of the present invention in a restricted space lies in that during task planning, when selecting sites, feeding warehouses, and idle AGVs, the smoothness of the AGV transfer path is considered comprehensively to generate a list of operation sites, a list of feeding warehouses, and a list of transfer AGVs.

[0022] Applying the technical solution of the present invention has the following beneficial effects:

[0023] (1) Aiming at the problem that it is difficult for heavy-duty AGVs to change lanes and pass each other in the complex underground restricted space, the scheduling system is used to realize the optimized scheduling and control of the unmanned automatic operation of the heavy-duty AGV cluster in the underground environment, avoiding traffic congestion and improving the transfer efficiency of the AGV cluster;

[0024] (2) Aiming at the problems that the path search algorithm cannot achieve global optimality and the global path planning has a large amount of computation, the adaptive matching fast planning and global path planning methods are adopted to realize the fast planning of simple paths and the global optimal planning of complex scenarios;

[0025] (3) Aiming at the harsh and dangerous working environment of the underground space, the virtual reality technology is used to simulate and reconstruct the underground space scene, enabling the staff to immerse themselves in monitoring the operation status of on-site equipment and the on-site environment in a mild environment, enhancing the staff's intuitive perception of the on-site situation;

[0026] (4) Aiming at the different requirements for network service performance in the AGV cluster communication and environmental audio and video monitoring in the underground space of this patent, the service customization network technology is adopted to realize the isolation of AGV control signals and monitoring signals such as on-site audio and video in the same link, so that the two do not interfere with each other and can meet their respective different network transmission performance requirements.

[0027] In addition to the purposes, features, and advantages described above, the present invention has other purposes, features, and advantages. The present invention will be further described in detail below with reference to the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The drawings constituting a part of this application are used to provide a further understanding of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0029] Figure 1 is a schematic structural diagram of the automatic transfer and scheduling system of the heavy-duty equipment of the present invention in a restricted space;

[0030] Figure 2 is a flowchart of the automatic transfer and scheduling method of the heavy-duty equipment of the present invention in a restricted space;

[0031] Figure 3It is a flowchart of the task planning step of the automatic transfer and scheduling method for the heavy-duty equipment of the present invention in a restricted space. Detailed implementation manners

[0032] The embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0033] In the prior art, a computer-based scheduling system can solve the above pain points and thus has been widely deployed. Its main function is to receive transportation tasks issued by the production management system, and automatically allocate tasks, design routes, and manage traffic for AGVs according to the working status and operating conditions of AGVs by using a task planning optimization algorithm. At the same time, the operating status and task information of AGVs are uploaded to the scheduling system through a communication network, and the traveling routes and position information of AGVs are displayed through a graphical interface. However, it is still difficult to solve the congestion problem caused by a large number of AGV clusters in a restricted space.

[0034] The simulation operation based on the digital twin model adopted in the prior art can only achieve the progress from abstract simplified simulation to three-dimensional simulation, and it is difficult to meet the immersive experience requirements of operators and cannot intuitively feel the operating conditions. In addition, in a large-area operating environment, the status feedback signals of AGVs and the uploaded signals of on-site environment detection devices are often uploaded to the scheduling center through the same network link. The on-site environment monitoring devices often include audio and video signals collected by a large number of cameras. The two have different requirements for network performance. The characteristics of AGV feedback signals are small bandwidth demand, high real-time demand, and strong stability demand; while the characteristics of audio and video signals are large bandwidth demand, low real-time demand, and weak stability demand. The general network architecture design often does not differentiate between the two, resulting in a large amount of bandwidth occupied by audio and video signals, causing network congestion collapse and data packet delay, resulting in packet loss and delay of AGV feedback signals, making it difficult to ensure monitoring real-time performance and affecting the monitoring effect of three-dimensional simulation operation at the same time.

[0035] See Figure 1 As shown, an automatic transfer and scheduling system for heavy-duty equipment in a restricted space includes an AGV cluster equipment, station devices arranged in the path, a manufacturing execution system, a service customization network communication device, a server, a display device, and a VR device. The AGV cluster equipment includes multiple AGVs. The server is provided with a scheduling operation module and a digital sand table connected to the scheduling operation module. The service customization network communication device is connected to the scheduling operation module, the digital sand table, the AGV cluster equipment, the station devices arranged in the path, the manufacturing execution system, and the VR device. The VR device and the digital sand table are respectively connected to the display device. The service customization network communication device uses a first QoS service mechanism for signal transmission of AGV status information, and uses a second QoS service mechanism for signal transmission of massive audio and video service data.

[0036] Specifically, as Figure 1 shown, the AGV cluster equipment includes AGV-1, AGV-2... AGV-N, and each AGV is connected to the service customization network communication device. The service customization network communication device isolates the AGV information transmission service and the audio-video service for environmental monitoring, and provides different QoS (Quality of Service, a technology to solve network latency and congestion problems) services for the two. The first QoS service mechanism adopts the time-sensitive network technology for the transmission of AGV operation status information, ensuring low latency, deterministic jitter, and low packet loss rate of signal transmission. The second QoS service mechanism adopts the QoS mechanism with high bandwidth, low latency, and low jitter for the transmission of massive audio-video data, ensuring the speed and stability of audio-video transmission. The two are network sliced through software-defined network technology and transmitted in the same network link without affecting each other, which not only reduces the communication network deployment cost but also ensures the network service quality. A high-bandwidth local area network means that the bandwidth of the local area network reaches more than 1 GMbs.

[0037] Preferably, the service customization network communication device is a service customization network switch. The AGV cluster equipment, site equipment, and manufacturing execution system are connected to the service customization network switch through the aggregation switch, and the server and VR equipment are connected to the service customization network switch through the network card.

[0038] Preferably, the server projects the digital sand table onto the display device through the graphics card, so as to vividly display the environment where the AGV is located, facilitating the path planning.

[0039] Preferably, the VR equipment performs data interaction with the server through the service customization network, and projects the first-person perspective display content onto the display device through the screen projector, so as to immerse the display of the environment where the AGV is located.

[0040] As Figure 2 and Figure 3 shown, the present invention also provides a scheduling method for an automatic transfer and scheduling system of a heavy-duty equipment in a restricted space as described above, including the following steps:

[0041] Configure tasks, directly output or customize the list of materials and equipment required for tasks through the automatic transfer and scheduling system of the heavy-duty equipment in the restricted space. Specifically, the staff configures the operation tasks through the relevant interface of the scheduling system. For general operation tasks such as goods outbound, destination site cleaning, goods transfer, etc. (referring to tasks where the required materials and equipment are saved in the database in advance), directly output the list of materials and equipment required for the tasks. For special tasks such as customized goods transfer, AGV emergency repair, etc., the list of materials required for the operation and the list of equipment required for the tasks can be customized.

[0042] Task planning: Collect information data through the automatic transfer and scheduling system of heavy-duty equipment in a restricted space. Based on the required materials, equipment list, and information data, select a site with a low task load saturation to complete the task. After selecting the site, preferentially select a warehouse that is the nearest and has a relatively high material inventory for material supply. After selecting the supply warehouse, preferentially select an idle AGV that is closer to the supply warehouse to complete the material transportation task.

[0043] Path planning: The scheduling system completes the overall path planning task through three-step path planning. The first step is to plan the path for the idle AGV to reach the supply warehouse. The second step is to plan the path for the AGV to reach the operation site. The third step is to plan the path for the AGV to travel to the parking area after the material delivery is completed.

[0044] Simulation operation: Through the automatic transfer and scheduling system of heavy-duty equipment in a restricted space, the AGV pose information in the information data is respectively resolved into the AGV pose information in the digital sand table coordinate system and the VR device coordinate system, and the AGV operation status information in the information data is synchronously shared to the digital sand table and the VR device. The digital sand table and the VR device perform simulation operations through the AGV pose information and the AGV operation status information and confirm the path planning scheme.

[0045] Task execution: Send the path planning scheme to the AGV to execute the task, and the automatic transfer and scheduling system of heavy-duty equipment in a restricted space synchronously shares the status information of the AGV to the digital sand table and the VR device for display and monitoring in real time. During the process of the AGV executing the task, the AGV status information is fed back to the scheduling system in real time through the communication network, and the scheduling system synchronously shares the AGV status information to the digital sand table and the VR device for display and monitoring in real time.

[0046] Preferably, the information data includes site information, information of the manufacturing execution system, AGV information, AGV operation status information, and underground space path information. The AGV information includes AGV pose information and AGV operation status information.

[0047] Preferably, during the simple path planning process, the scheduling system uses path search algorithms such as, but not limited to, the A* algorithm, Dijkstra algorithm, and RRT (Rapidly-exploring Random Trees) algorithm for path planning. During the complex scenario and task planning process, a path planning algorithm based on deep reinforcement learning is used to achieve the optimal global planning effect. The system can adaptively match the path planning method according to the complexity of the planned path nodes, and the staff can also configure the planning algorithm according to actual needs, comprehensively using the fast planning of common algorithms and the global optimality of deep learning.

[0048] Preferably, after the digital sand table receives the AGV pose information, it displays the scene of the virtual underground space and the scene of the interaction between the AGV and the environment under the current coordinates, and synchronously displays the AGV operation status information; after the VR device receives the AGV pose information, according to the pose of the AGV device, the VR device displays the scene of the virtual underground space and the scene of the interaction between the AGV and the environment in the first-person view under the current pose of the AGV device, and synchronously displays the AGV operation status information. The staff can control the display device to switch between the monitoring interface, the digital sand table interface, and the VR device display interface through the dispatching system. And the deduction speed of the simulation operation can be controlled to shorten the simulation operation time.

[0049] Preferably, during task planning, when selecting stations, feeding warehouses, and idle AGVs, the smoothness of the AGV transfer path is considered as a trade-off to generate a list of operation stations, a list of feeding warehouses, and a list of transfer AGVs.

[0050] Figure 2 It is a flowchart of the scheduling method for the automatic transfer scheduling system of heavy-duty equipment in a restricted space. The specific process is to configure tasks, then perform task planning on the station information, MES information, AGV information, and path information obtained through the dispatching system, then perform path planning, and then perform simulation operation. The path planning scheme obtained after the simulation operation is sent to the AGV, then the AGV executes the task, and at the same time the VR device runs synchronously, and the digital sand table also runs synchronously to continuously optimize the path.

[0051] Figure 3 It is a flowchart of task planning. The specific process is to start, obtain the type, quantity of transported materials, the required AGV type, and the functional stations that meet the requirements, then screen the stations with low task load saturation, then screen the nearest supply warehouse that meets the inventory requirements, and then screen the nearest idle AGV that meets the functional requirements to obtain the shortest-time optimized path, and finally obtain the AGV pick-up and delivery task list to end the process.

[0052] The present invention obtains an immersive experience of a three-dimensional simulation path planning environment through the data sharing and synchronous display technology of the digital sand table and the dispatching system. The dispatching system performs network slicing and isolation on services with different network requirements such as the AGV device status transmission and on-site environment audio and video monitoring, and provides customized network services for different requirements, so that different services in the same network link do not interfere with each other and each meet specific service requirements. In the AGV task planning, an adaptive matching fast planning and global path planning method is adopted. In the global path planning, the present invention adopts a global path planning method based on deep reinforcement learning to achieve global path optimization.

[0053] The present invention adopts a scheduling algorithm based on deep reinforcement learning. By interacting the agent with the global scenario and estimating the value function of the decision-making, it executes high-return actions and avoids executing low-return or penalty actions, so as to achieve the global optimal effect of path planning and realize the global optimization of scheduling control. The service customization network is used as the network base of the scheduling system to connect the on-site AGV cluster equipment, the scheduling system, and the monitoring system, realizing the real-time and stable transmission of AGV information. A three-dimensional simulation model is developed based on the actual on-site scenario, and the operation monitoring and immersive experience of the simulated site are realized by using a flat display device and a virtual reality (VR) device. The monitoring system and the virtual reality monitoring system are abstracted and simplified to share data, realizing synchronous control and display.

[0054] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. An automatic transport and dispatching system for heavy-load equipment in a confined space, characterized in that: It includes AGV cluster equipment, site equipment arranged in the path, manufacturing execution system, service customized network communication equipment, server, display equipment, and VR equipment. The AGV cluster equipment includes multiple AGVs. The server is provided with a scheduling operation module and a digital sandbox connected to the scheduling operation module. The service customized network communication equipment is connected to the scheduling operation module, the digital sandbox, AGV cluster equipment, site equipment arranged in the path, the manufacturing execution system and the VR equipment. The VR equipment and the digital sandbox are respectively connected to the display device. The service customized network communication equipment adopts the first QoS service mechanism to perform signal transmission for AGV status information transmission, and the service customized network communication equipment adopts the second QoS service mechanism to perform signal transmission for massive data transmission of audio and video services.

2. The automatic transport and dispatching system for heavy-load equipment in confined space according to claim 1 is characterized in that: The service customized network communication equipment is a service customized network switch. AGV cluster equipment, site equipment, and manufacturing execution system access the service customized network switch through the aggregation switch, and the server and VR equipment access the service customized network switch through the network card.

3. The automatic transport and dispatching system for heavy-load equipment in confined space according to claim 1 is characterized in that: The server projects the digital sandbox to the display device through the graphics card.

4. The automatic transport and dispatching system for heavy-load equipment in confined space according to claim 1 is characterized in that: VR devices exchange data with servers through a service-customized network, and project first-person perspective display content to a display device through a screen projector.

5. A dispatching method using the automatic transfer dispatching system for heavy-load equipment in a confined space as claimed in claim 1, characterized in that: The steps include: Configure tasks, and directly output or customize the list of materials and equipment required for the task through the automatic transfer scheduling system of heavy-duty equipment in confined spaces; Task planning: collect information data through the automatic transfer scheduling system of heavy-duty equipment in confined spaces, select the station with the lowest task load saturation to complete the task based on the required materials, equipment list and information data, select the nearest supply warehouse with the highest material inventory for supply, and select the idle AGV closest to the supply warehouse to complete the material transportation task; Path planning: planning the path for idle AGVs to reach the material supply warehouse, planning the path for AGVs to reach the work site, and planning the path for AGVs to walk to the parking area after the material delivery is completed; During simulation operation, the automatic transfer and dispatching system of heavy-duty equipment in confined space solves the AGV posture information in the information data into the AGV posture information in the digital sandbox coordinate system and the VR device coordinate system respectively, and synchronously shares the AGV operation status information in the information data to the digital sandbox and VR device. The digital sandbox and VR device perform simulation operation through the AGV posture information and AGV operation status information and confirm the path planning plan.

6. The automatic transfer and dispatching method of heavy-load equipment in a confined space according to claim 2 is characterized in that: It also includes the steps of: task execution, specifically sending the path planning plan to the AGV to execute the task, and the automatic transfer scheduling system of heavy-duty equipment in a confined space will share the status information of the AGV in real time and synchronously to the digital sandbox and VR equipment for display and monitoring.

7. The automatic transport and dispatching method of heavy-load equipment in a confined space according to claim 2 is characterized in that: The information data includes site information, manufacturing execution system information, AGV information, AGV operation status information and underground space path information. The AGV information includes AGV position information and AGV operation status information.

8. The automatic transport and dispatching method for heavy-load equipment in a confined space according to claim 2 is characterized in that: When planning a task, use the A* algorithm, Dijkstra algorithm, RRT algorithm or any one of the path planning algorithms based on deep reinforcement learning for path planning.

9. The automatic transport and dispatching method for heavy-load equipment in a confined space according to claim 2 is characterized in that: After the digital sandbox receives the AGV posture information, it displays the scene of the virtual underground space and the scene of the interaction between the AGV and the environment at the current coordinates, and synchronously displays the AGV operation status information; after the VR device receives the AGV posture information, according to the posture of the AGV device, the VR device displays the scene of the virtual underground space and the scene of the interaction between the AGV and the environment in the first-person perspective of the AGV device in the current posture, and synchronously displays the AGV operation status information.

10. The automatic transfer and dispatching method of heavy-load equipment in a confined space according to claim 2, characterized in that: During task planning, when selecting sites, supply warehouses, and idle AGVs, the smoothness of the AGV transfer path is taken into consideration to generate a list of work sites, a list of supply warehouses, and a list of transfer AGVs.

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