Control method, device, electronic equipment and storage medium for automatic guided vehicle

Abstract

The present application provides a control method, device, electronic device and storage medium for an automatic guided vehicle. By receiving a traffic scheduling request for a shared map section, and then determining a road right allocation instruction based on the traffic scheduling request and the current road right information of the shared map section, the road right allocation instruction is used to indicate the priority of the automatic guided vehicle, and finally the road right allocation instruction is sent. The method realizes setting different independently operated AGV lines into partially shared shared map section routes, and through the coordinated command of the dispatching end, the dispatching task issuance and the general management of shared map sections are solved, which solves the problem of the existing technology that the AGV operation occupies a large area, the interference of the operation line causes congestion, and the low AGV operation efficiency, which in turn causes the limited production capacity of the production line, and achieves the technical effect of enabling different equipment manufacturers and different forms of AGVs to be intelligently scheduled in the same operating site, reducing and avoiding driving interference, and improving the overall handling efficiency of the production line side warehouse area.

Description

Technical Field

[0001] The present application relates to the field of warehousing and logistics technology, and in particular to a control method, device, electronic equipment and storage medium for an automatic guided vehicle. Background Art

[0002] With the continuous development of the manufacturing industry, many production lines or warehousing and logistics centers have deployed AGV (Automated Guided Vehicle) systems to transport materials.

[0003] At present, many different forms of AGV have been developed, such as lurking AGV and traction AGV. When a large number of different forms of AGVs are transporting materials in the same operating site, the transport routes will inevitably interfere with each other, and the scheduling is not smooth, causing congestion and shortage of materials on the production line. When solving this problem, the existing technology usually adopts different independent operation routes for AGVs transporting different materials to avoid interference between the transport routes, or by dividing the interfering routes into time attributes, allowing only one type of AGV to pass within a certain unit time.

[0004] However, the existing independent operation routes or sites of different AGVs will occupy a large amount of production line area, and the staggered or time-sharing operation of different AGVs cannot meet the timeliness requirements of the production line, which will extend the operation time of a certain AGV, increase the difficulty of on-site scheduling, and reduce operating efficiency. Summary of the invention

[0005] The present application provides a control method, device, electronic device and storage medium for an automatic guided vehicle to solve the technical problems in the prior art that AGV operation occupies too large an area and the timeliness of staggered operation is low, resulting in low production efficiency.

[0006] In a first aspect, the present application provides a control method for an automatic guided vehicle, which is applied to a dispatching end, comprising:

[0007] receiving a traffic dispatch request for a common map section, wherein the common map section is a running lane route map commonly used by multiple automated guided vehicles;

[0008] Determine a road right allocation instruction according to the traffic scheduling request and the current road right information of the shared map section, wherein the road right allocation instruction is used to indicate the priority of the automated guided vehicle, and the current road right information is used to indicate the current usage of the shared map section;

[0009] Send the right-of-way allocation instruction.

[0010] In a possible design, determining the road right allocation instruction according to the traffic scheduling request and the current road right information of the shared map road segment includes:

[0011] Determining the work task of the automated guided vehicle according to the traffic scheduling request;

[0012] Determine the task priority according to the work task and the working condition information corresponding to the work task, wherein the working condition information is used to indicate the degree of material shortage of the production line or the degree of vehicle shortage of the storage area to which the automated guided vehicle belongs;

[0013] The right of way allocation instruction is determined according to the task priority and the current right of way information.

[0014] In a possible design, determining the road right allocation instruction according to the task priority and the current road right information includes:

[0015] If the task priority is a non-urgent task, determining the congestion level of the shared map section according to the current road right information;

[0016] If the congestion level is lower than a first preset congestion threshold, the road right allocation instruction is a normal driving instruction;

[0017] If the congestion level is greater than or equal to the first preset congestion threshold, the road right allocation instruction is an avoidance operation instruction.

[0018] In a possible design, if the congestion level is greater than or equal to the first preset congestion threshold, the road right allocation instruction is an avoidance operation instruction, including:

[0019] When the congestion level is greater than or equal to the first preset congestion threshold, if the automated guided vehicle has not entered the common map section, the avoidance operation instruction is to wait at the location.

[0020] Optionally, if the congestion level is greater than or equal to the first preset congestion threshold, the road right allocation instruction is an avoidance operation instruction, including:

[0021] When the congestion level is greater than or equal to the first preset congestion threshold, if the automated guided vehicle is in the shared map section, determining whether there is a temporary avoidance zone within a preset range of the automated guided vehicle operation route;

[0022] If the temporary avoidance zone exists, the avoidance operation instruction is determined to be entering the temporary avoidance zone and waiting until the automated guided vehicle receives an instruction to continue to complete the task.

[0023] In a possible design, before determining that the avoidance operation instruction is to enter the temporary avoidance area to wait, the method further includes:

[0024] Determine whether the temporary avoidance area is full, and if so, determine that the avoidance operation instruction is to change to another nearest temporary avoidance area and wait;

[0025] If not, it is determined that the avoidance operation instruction is to enter the temporary avoidance area and wait.

[0026] Optionally, determining the road right allocation instruction according to the task priority and the current road right information includes:

[0027] If the task priority is an emergency task, determining the congestion level of the shared map section according to the current road right information;

[0028] If the congestion level is less than a second preset congestion threshold, the right-of-way allocation instruction instructs the current automated guided vehicle to travel normally and all other automated guided vehicles ahead of the current automated guided vehicle take nearby avoidance measures.

[0029] In a possible design, after determining the congestion level of the shared map section according to the current road right information, the method further includes:

[0030] If the congestion level is greater than or equal to a second preset congestion threshold, the right of way allocation instruction is for the current automated guided vehicle to wait in place or slow down, and to stop other automated guided vehicles from entering the shared map section until the congestion level is less than the second preset congestion threshold.

[0031] Optionally, the automated guided vehicles are a fleet of automated guided vehicles consisting of multiple automated guided vehicles traveling in the same direction.

[0032] Optionally, the lane of the shared map section is a two-way lane, and only one automated guided vehicle is allowed to pass at the same time.

[0033] In a possible design, before receiving the traffic scheduling request for the shared map segment, the method further includes:

[0034] Determine the task to be issued according to the characteristic attributes of the task to be issued and the usage of the shared map section;

[0035] Send the dispatch task.

[0036] In a possible design, the characteristic attributes include a priority of the task to be sent and an identification of whether the task passes through the common map section, and the method of determining the task to be sent according to the characteristic attributes of the task to be sent and the usage of the common map section further includes:

[0037] If the mark indicates that the shared map section is not passed, the tasks to be sent are sent one by one according to the order of their priorities;

[0038] If the mark is passing through the shared map section, determining that the congestion level of the usage situation is greater than or equal to a second preset threshold;

[0039] The determining to issue the task is not to issue the to-be-issued task.

[0040] Optionally, the characteristic attribute includes a task destination, and the determining the task to be sent according to the characteristic attribute of the task to be sent and the usage of the shared map section further includes:

[0041] If there is no free buffer space at the task destination, the pending task will not be sent;

[0042] If the task destination has an idle buffer position, it is determined whether the buffer position threshold is greater than or equal to the preset buffer threshold, and the task to be issued is determined according to the task priority.

[0043] In a possible design, the traffic scheduling request is a road right allocation request that is repeatedly sent in a preset cycle when the automated guided vehicle drives to the application position for entering the common map section.

[0044] In a second aspect, the present application provides a control method for an automatic guided vehicle, which is applied to a WCS warehouse control terminal, comprising:

[0045] Sending a traffic dispatch request for a shared map section, wherein the traffic dispatch request is used to request a dispatch terminal to obtain a road right allocation instruction, and the shared map section is a running lane route map commonly used by multiple automated guided vehicles;

[0046] receiving the right-of-way allocation instruction, wherein the right-of-way allocation instruction is used to indicate the priority of the automated guided vehicle;

[0047] The automatic guided vehicle is controlled according to the right-of-way allocation instruction.

[0048] Optionally, before sending the traffic scheduling request for the shared map section, the method further includes:

[0049] receiving a task to be sent, where the task to be sent is determined by the dispatching end according to characteristic attributes of the task to be sent and usage of the shared map section;

[0050] Control the automatic guided vehicle to complete the dispatching task.

[0051] In a possible design, sending a traffic scheduling request about a shared map segment includes:

[0052] When it is monitored that the automated guided vehicle travels to the application position for entering the shared map section, the traffic scheduling request is repeatedly sent according to a preset period.

[0053] In a third aspect, the present application provides a control device for an automatic guided vehicle, comprising:

[0054] A receiving module, used to receive a traffic dispatch request for a common map section, where the common map section is a running lane route map commonly used by multiple automated guided vehicles;

[0055] a processing module, configured to determine a road right allocation instruction according to the traffic scheduling request and the current road right information of the shared map section, wherein the road right allocation instruction is used to indicate the priority of the automated guided vehicle, and the current road right information is used to indicate the current usage of the shared map section;

[0056] The sending module is used to send the right of way allocation instruction.

[0057] In a possible design, the processing module is used to determine the right of way allocation instruction according to the traffic scheduling request and the current right of way information of the common map section, including:

[0058] The processing module is used to determine the working task of the automatic guided vehicle according to the traffic scheduling request;

[0059] The processing module is further used to determine the task priority according to the work task and the working condition information corresponding to the work task, wherein the working condition information is used to indicate the degree of material shortage of the production line or the degree of vehicle shortage of the storage area to which the automated guided vehicle belongs;

[0060] The processing module is further configured to determine the right of way allocation instruction according to the task priority and the current right of way information.

[0061] In a possible design, the processing module is further used to determine the road right allocation instruction according to the task priority and the current road right information, including:

[0062] The processing module is further configured to determine the congestion level of the shared map section according to the current road right information if the task priority is a non-urgent task;

[0063] The processing module is further configured to, if the congestion level is lower than a first preset congestion threshold, allow the road right allocation instruction to be a normal driving instruction;

[0064] The processing module is further configured to, if the congestion level is greater than or equal to the first preset congestion threshold, determine that the road right allocation instruction is an avoidance operation instruction.

[0065] In a possible design, the processing module is further configured to, if the congestion level is greater than or equal to the first preset congestion threshold, the road right allocation instruction is an avoidance operation instruction, including:

[0066] The processing module is further configured to, when the congestion level is greater than or equal to the first preset congestion threshold, if the automated guided vehicle has not entered the shared map section, command the avoidance operation to wait on the spot.

[0067] Optionally, the processing module is further configured to, if the congestion level is greater than or equal to the first preset congestion threshold, the road right allocation instruction is an avoidance operation instruction, including:

[0068] The processing module is further configured to determine whether there is a temporary avoidance zone within a preset range of the running route of the automated guided vehicle if the automated guided vehicle is in the shared map section when the congestion level is greater than or equal to the first preset congestion threshold;

[0069] The processing module is further configured to determine, if the temporary avoidance zone exists, that the avoidance operation instruction is to enter the temporary avoidance zone and wait until the automated guided vehicle receives an instruction to continue to complete the task.

[0070] In a possible design, the processing module is further configured to determine that before the avoidance operation instruction is to enter the temporary avoidance area to wait, further comprising:

[0071] The processing module is further configured to determine whether the temporary avoidance area is full. If so, the avoidance operation instruction is determined to be to change to another temporary avoidance area nearest to wait; if not, the avoidance operation instruction is determined to be to enter the temporary avoidance area to wait.

[0072] Optionally, the processing module is further configured to determine the road right allocation instruction according to the task priority and the current road right information, including:

[0073] The processing module is further configured to determine the congestion level of the shared map section according to the current road right information if the task priority is an emergency task;

[0074] The processing module is further configured to, if the congestion level is less than a second preset congestion threshold, instruct the current automated guided vehicle to travel normally and all other automated guided vehicles ahead of the current automated guided vehicle to take nearby avoidance measures.

[0075] In a possible design, after the processing module is further configured to determine the congestion level of the shared map section according to the current road right information, the method further includes:

[0076] The processing module is further configured to, if the congestion level is greater than or equal to a second preset congestion threshold, instruct the current automated guided vehicle to wait in place or slow down, and to stop other automated guided vehicles from entering the shared map section until the congestion level is less than the second preset congestion threshold.

[0077] Optionally, the automated guided vehicles are a fleet of automated guided vehicles consisting of multiple automated guided vehicles traveling in the same direction.

[0078] Optionally, the lane of the shared map section is a two-way lane, and only one automated guided vehicle is allowed to pass at the same time.

[0079] In a possible design, before the receiving module is used to receive the traffic scheduling request for the shared map section, the method further includes:

[0080] The processing module is further used to determine the task to be sent according to the characteristic attributes of the task to be sent and the usage of the shared map section;

[0081] The sending module is also used to send the sending task.

[0082] In a possible design, the characteristic attributes include a priority of the task to be sent and an identification of whether the task passes through the common map section. The processing module is further used to determine the task to be sent according to the characteristic attributes of the task to be sent and the usage of the common map section, and further includes:

[0083] The processing module is further configured to send the pending tasks one by one according to the order of the pending priorities if the mark indicates that the pending tasks do not pass through the common map section;

[0084] The processing module is further configured to determine that the congestion level of the usage situation is greater than or equal to a second preset threshold if the mark indicates that the vehicle passes through the shared map section;

[0085] The processing module is further used to determine whether to issue the task or not to issue the to-be-issued task.

[0086] Optionally, the characteristic attribute includes a task destination, and the processing module is further used to determine the task to be sent according to the characteristic attribute of the task to be sent and the usage of the shared map section, and further includes:

[0087] The processing module is further configured to not send the to-be-sent task if there is no free buffer space at the task destination;

[0088] The processing module is further configured to determine if a buffer position threshold is greater than or equal to a preset buffer threshold if there is an idle buffer position at the task destination, and determine the task to be issued according to the task priority.

[0089] In a possible design, the traffic scheduling request is a road right allocation request that is repeatedly sent in a preset cycle when the automated guided vehicle drives to the application position for entering the common map section.

[0090] In a fourth aspect, the present application provides a control device for an automatic guided vehicle, comprising:

[0091] A sending module, used for sending a traffic dispatch request for a common map section, wherein the traffic dispatch request is used for requesting a dispatch terminal to obtain a road right allocation instruction, and the common map section is a running lane route map commonly used by multiple automated guided vehicles;

[0092] a receiving module, configured to receive the right-of-way allocation instruction, wherein the right-of-way allocation instruction is determined by the dispatching end according to the traffic dispatching request and the current right-of-way information of the shared map section, the right-of-way allocation instruction is used to indicate the priority of the automated guided vehicle, and the current right-of-way information is used to indicate the current usage of the shared map section;

[0093] A control module is used to control the automatic guided vehicle according to the road right allocation instruction.

[0094] Optionally, before the sending module is used to send the traffic scheduling request for the shared map section, it also includes:

[0095] The receiving module is further used to receive a task to be sent, where the task to be sent is determined by the dispatching end according to the characteristic attributes of the task to be sent and the usage of the shared map section;

[0096] The control module is also used to control the automatic guided vehicle to complete the dispatching task.

[0097] In a possible design, the sending module is used to send a traffic scheduling request for a shared map section, including:

[0098] The sending module is used to repeatedly send the traffic scheduling request according to a preset period when monitoring that the automated guided vehicle has traveled to the application position for entering the common map section.

[0099] In a fifth aspect, the present application provides an electronic device, including:

[0100] A memory for storing program instructions;

[0101] The processor is used to call and execute the program instructions in the memory to execute any possible control method of the automatic guided vehicle provided in the first aspect.

[0102] In a sixth aspect, the present application provides an electronic device, including:

[0103] A memory for storing program instructions;

[0104] The processor is used to call and execute the program instructions in the memory to execute any possible control method of the automatic guided vehicle provided in the second aspect.

[0105] In a seventh aspect, the present application provides a storage medium, wherein the readable storage medium stores a computer program, and the computer program is used to execute any possible control method for an automated guided vehicle provided in the first aspect.

[0106] In an eighth aspect, the present application provides a storage medium, wherein the readable storage medium stores a computer program, and the computer program is used to execute any possible control method for the automated guided vehicle provided in the second aspect.

[0107] The present application provides a control method, device, electronic device and storage medium for an automatic guided vehicle. By receiving a traffic scheduling request for a shared map section, and then determining a road right allocation instruction based on the traffic scheduling request and the current road right information of the shared map section, the road right allocation instruction is used to indicate the priority of the automatic guided vehicle, and finally the road right allocation instruction is sent. The method realizes setting different independently operated AGV lines into partially shared shared map section routes, and through the coordinated command of the dispatching end, the dispatching task issuance and the general management of shared map sections are solved, which solves the problem of the existing technology that the AGV operation occupies a large area, the interference of the operation line causes congestion, and the low AGV operation efficiency, which in turn causes the limited production capacity of the production line, and achieves the technical effect of enabling different equipment manufacturers and different forms of AGVs to be intelligently scheduled in the same operating site, reducing and avoiding driving interference, and improving the overall handling efficiency of the production line side warehouse area. BRIEF DESCRIPTION OF THE DRAWINGS

[0108] In order to more clearly illustrate the technical solutions in the present application or the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0109] Figure 1 The existing AGV operation route planning diagram provided for this application;

[0110] Figure 2 A schematic diagram of the structure of an automatic guided vehicle control system provided in this application;

[0111] Figure 3 A schematic flow chart of a control method for an automatic guided vehicle provided in the present application;

[0112] Figure 4 A schematic diagram of an application scenario of a control method for an automatic guided vehicle provided in an embodiment of the present application;

[0113] Figure 5 A schematic flow chart of another control method for an automatic guided vehicle provided in the present application;

[0114] Figure 6 A schematic diagram of an application scenario of another automatic guided vehicle control method provided in an embodiment of the present application;

[0115] Figure 7 A schematic flow chart of another control method of an automatic guided vehicle provided in an embodiment of the present application;

[0116] Figure 8 A schematic diagram of the structure of a control device for an automatic guided vehicle provided in the present application;

[0117] Fig. 9 A schematic diagram of the structure of a control device for an automatic guided vehicle provided in the present application;

[0118] Fig.10 A schematic diagram of the structure of an electronic device provided in this application;

[0119] Fig.11 A schematic diagram of the structure of an electronic device provided in this application. DETAILED DESCRIPTION

[0120] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work, including but not limited to the combination of multiple embodiments, belong to the scope of protection of this application.

[0121] The terms "first", "second", "third", "fourth", etc. (if any) in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein, for example. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0122] Figure 1 The schematic diagram of the existing AGV operation route planning provided for this application. Figure 1 As shown, the first operation route 101 and the second operation route 102 are two different operation routes of AGV automatic guided vehicles. Both AGVs provide materials to the production line 103 and transport them to different positions of the production line 103. Although the first operation route 101 and the second operation route 102 are designed to run independently in parallel, it is inevitable that the two operation routes will overlap or interfere with each other as shown in the interference area 104. This will cause the two AGVs to conflict in the interference area during operation, causing congestion, which will cause material shortages on the production line and lead to production stoppages.

[0123] The existing solution is to avoid the occurrence of interference area 104 as much as possible, but the more limited the operating space, the more interference area 104 appears, and sometimes it is even unavoidable, and there are multiple interferences between two or more AGV operation routes. The staggered operation, that is, setting a periodic staggered operation plan similar to a traffic light for the interference area 104, will make it so that when there is no AGV occupying the interference area, another AGV must wait because it is not at the time when it can pass through. If the production line urgently needs another AGV to transport materials, it cannot be quickly replenished, thereby affecting production efficiency and even causing production suspension.

[0124] In order to solve the above problems, the present application provides a control method for an automatic guided vehicle, which is described in detail below in conjunction with the accompanying drawings and corresponding embodiments.

[0125] Figure 2 This is a schematic diagram of the structure of an automatic guided vehicle control system provided in this application. Figure 2 As shown, the automated guided vehicle control system includes: a dispatching server 21, a WCS (Warehouse Control System) system 221-224 of the AGV automated guided vehicle, different types of AGV automated guided vehicles 231-234, and a common map section 24 used by different types of AGV automated guided vehicles. The dispatching server 21 is used to issue transport tasks to the WCS system 221-224, and to perform intelligent and comprehensive scheduling of the traffic operation conditions of the common map section 24, so as to realize the real-time joint operation of multiple AGVs in the common map section 24, avoid congestion, and improve the production efficiency of the production line. Figure 3 The specific steps of the method for controlling the automated guided vehicle by the dispatch-side server 21 are described.

[0126] Figure 3 The following is a flow chart of a control method for an automatic guided vehicle provided in this application. Figure 3 As shown, the control method of the automatic guided vehicle provided in the embodiment of the present application comprises the following specific steps:

[0127] S301. Send a traffic dispatch request for a shared map section.

[0128] In this step, the common map section is a route map of operating lanes commonly used by a variety of automated guided vehicles.

[0129] Specifically, when the WCS system corresponding to each of the various AGV automated guided vehicles detects that the controlled AGV automated guided vehicle is running to the application point of the shared map section, it sends a traffic scheduling request to the scheduling end server to obtain the right of way allocation instruction. The right of way allocation instruction is used to indicate the priority of the automated guided vehicle, that is, the automated guided vehicle drives normally or takes evasive action. Normal driving means that the automated guided vehicle obtains the right of way on the shared map section and can continue to drive forward to complete its transportation task. Avoidance measures include: waiting in place and driving into the nearest temporary avoidance area.

[0130] S302: Receive a traffic dispatch request for a shared map section.

[0131] In this embodiment, in order to reduce the occupation of the operating site by the operating routes of different AGV automatic guided vehicles, a route segment commonly used by different AGVs, namely, a shared map segment, is set up. The dispatching end coordinates the traffic conditions of the shared map segment according to the priority of the tasks performed by the AGV automatic guided vehicles to ensure that there is no shortage of materials on the production line, no shortage of vehicles in the AGV inventory area, and smooth and uncongested traffic on the shared map segment.

[0132] Figure 4 Schematic diagram of an application scenario of a control method for an automatic guided vehicle provided in an embodiment of the present application. Figure 4 As shown, there is an application trigger point 401 on the running route before entering the common map section 41 or on the running route leaving the common map section 41. When the AGV automatic guided vehicle 402 or the AGV automatic guided vehicle 403 travels to the application trigger point 401, it is detected by the WCS warehouse control system, and then a traffic dispatch request is sent to the dispatch end to confirm whether it can enter the common map section 41.

[0133] S303: Determine a road right allocation instruction according to the traffic scheduling request and the current road right information of the shared map section.

[0134] In this step, the right-of-way allocation instruction is used to indicate the priority of the automated guided vehicles, and the current right-of-way information is used to indicate the usage of the current shared map section.

[0135] Specifically, the dispatch server allocates road rights according to the task priority of the handling task performed by the AGV automatic guided transport vehicle that applies for road rights in the communication dispatch request, and gives priority to the task with higher priority. If the priorities are the same, the road rights are allocated in chronological order. In addition, when allocating road rights, it is also necessary to combine the current road right information of the shared map section, that is, whether the shared map section is currently congested, whether more AGV automatic guided transport vehicles can enter the shared map section without causing congestion, or without causing driving conflicts in the opposite direction.

[0136] It should be noted that whether there is congestion can be reflected based on indicators such as the total number of AGVs in the shared map section, whether there is a conflict between the driving routes of the AGV currently requesting the right of way and other AGVs that may cause congestion, etc.

[0137] For example, Figure 4As shown, if the AGV 403 sends a traffic dispatch application to the dispatch server when passing the application point 401, and the dispatch server detects that the AGV 403 is performing a higher priority transport task, and the driving direction of the AGV 404 currently on the same driving section of the shared map section 41 conflicts with that of the AGV 403, and the AGV 403 has a higher level of task priority, then the AGV 403 obtains the right of way and can proceed normally, while the AGV 404 loses the right of way and needs to wait at the nearest temporary avoidance area 411. Therefore, after forming such a decision measurement, the dispatch server generates a right of way allocation instruction and sends it to the WCS system that controls the AGV 403 and the AGV 404 respectively.

[0138] S304: Send a road right allocation instruction.

[0139] In this step, after the dispatching server generates the road right allocation instruction, it sends the road right allocation instruction to the WCS system that controls the AGV automatic guided vehicle that needs to adjust the driving status.

[0140] S305: Control the automatic guided vehicle according to the right-of-way allocation instruction.

[0141] In this step, the WCS system of the AGV automatic guided vehicle that needs to adjust its driving status controls the AGV automatic guided vehicle to travel to the intermediate destination according to the arrangement of the intermediate destination for the AGV automatic guided vehicle in the road right allocation instruction, so as to wait or drive normally to perform the transportation task.

[0142] The embodiment of the present application provides a control method for an automatic guided vehicle, which receives a traffic scheduling request for a shared map section, and then determines a road right allocation instruction based on the traffic scheduling request and the current road right information of the shared map section. The road right allocation instruction is used to indicate the priority of the automatic guided vehicle, and finally sends the road right allocation instruction. It realizes setting different independently operated AGV lines into partially shared shared map section routes, and through the dispatching end, coordinates and directs the issuance of handling tasks and the general management of shared map sections, which solves the problem of the existing technology that the AGV operation occupies a large area, the interference of the operation line causes congestion, and leads to low AGV operation efficiency, which in turn causes limited production line capacity. It achieves the technical effect of intelligent scheduling of AGVs of different equipment manufacturers and different forms in the same operating site, reducing and avoiding driving interference, and improving the overall handling efficiency of the production line side warehouse area.

[0143] Figure 5 A flow chart of another control method of an automatic guided vehicle provided in this application. Figure 5 As shown, the specific steps of the control method of the automatic guided vehicle include:

[0144] S501: Send a traffic dispatch request for a shared map section.

[0145] S502: Receive a traffic dispatch request for a shared map section.

[0146] The specific implementation of steps S501-S502 in this embodiment refers to Figure 3 The description of steps S301 - S302 in the illustrated embodiment will not be repeated here.

[0147] S503: Determine the work task of the automatic guided vehicle according to the traffic scheduling request.

[0148] In this embodiment, the work tasks include: material delivery tasks and warehouse return tasks. The material delivery task is that the AGV automatically guided vehicle transports the materials from the warehouse to the corresponding material point beside the production line, and the warehouse return task is that the automatic guided vehicle transports the empty material racks back to the warehouse to recover the material racks in preparation for the next round of material distribution.

[0149] S504: Determine the task priority according to the work task and the working condition information corresponding to the work task.

[0150] In this step, the operating condition information is used to indicate the degree of material shortage in the production line or the degree of vehicle shortage in the storage area to which the automated guided vehicles belong.

[0151] Specifically, in this embodiment, when the inventory of a certain material in the production line at the line storage point is lower than the preset inventory threshold, the line monitoring device or the line worker will issue a material delivery request, and the corresponding material shortage degree can be obtained according to the inventory. Similarly, for the warehouse management WCS system to which the automatic guided vehicle belongs, when it is detected that the number of standby racks or standby AGV automatic guided vehicles in the warehouse is lower than the preset remaining threshold, an early warning reminder will be sent to the scheduling end server, and the scheduling end server determines the degree of vehicle shortage according to the number of remaining racks or AGV automatic guided vehicles.

[0152] If the work task corresponds to a material delivery task, and the material shortage level of the corresponding production line reaches the preset material shortage threshold, then the AVG task priority of the corresponding automatic guided vehicle is set to the task priority corresponding to the emergency task, and the right of way will be allocated first.

[0153] If the work task corresponds to a return-to-warehouse task, and the shortage of vehicles in the corresponding warehouse area reaches the preset shortage threshold, then the task priority of the corresponding AVG automatic guided vehicle is set to the task priority corresponding to the emergency task, and the right of way will be allocated first.

[0154] S505: Determine a right of way allocation instruction according to the task priority and current right of way information.

[0155] In this embodiment, if the task priority is a non-urgent task, the specific steps include:

[0156] (1) Determine the congestion level of the shared map section based on the current road right information;

[0157] In this step, the congestion level can be obtained based on the number of automated guided vehicles in the shared map section or the road occupancy rate. In a possible design, the congestion level can also be determined based on the use planning of key sections or key intersections in the shared map section. For example, for a certain intersection, the number of automated guided vehicles that apply to pass through the intersection during a preset use period is the congestion level value of the intersection.

[0158] (2) If the congestion level is lower than the first preset congestion threshold, the road right allocation instruction is a normal driving instruction;

[0159] In this step, the congestion level is lower than the first preset congestion threshold, indicating that the shared map section is not currently congested and can accommodate more AGV automatic guided vehicles. Therefore, the AGV automatic guided vehicle that applies for the right of way is directly allocated the right of way to perform the transportation task normally.

[0160] (3) If the congestion level is greater than or equal to the first congestion threshold, the right-of-way allocation instruction is an avoidance operation instruction.

[0161] In this embodiment, this step specifically includes:

[0162] When the congestion level is greater than or equal to the congestion threshold, if the automated guided vehicle has not entered the shared map section, the avoidance operation instruction is to wait in place;

[0163] If the automated guided vehicle is in a shared map section, it is determined whether there is a temporary avoidance area within a preset range of the automated guided vehicle's operating route; if there is a temporary avoidance area, the avoidance operation instruction is determined to enter the temporary avoidance area and wait until the automated guided vehicle receives an instruction to continue completing the task.

[0164] For example, a shared map section has two lanes. Generally, an AGV automatically guided vehicle only occupies one lane. However, some large AGVs, i.e. large trucks, need to occupy two lanes to travel, or a towing AGV automatically guided vehicle is towing a large material rack that needs to occupy two lanes.

[0165] Figure 6 A schematic diagram of an application scenario of another control method for an automatic guided vehicle provided in an embodiment of the present application. Figure 6 As shown, the automated guided vehicle 601 needs to occupy two lanes for driving. At this time, the other automated guided vehicles in the opposite lanes will receive the avoidance command sent by the dispatching server to the WCS system. Those that have not entered the shared map section will wait where they are, and those that have entered the shared map section will drive to the nearest temporary avoidance area 602 to wait. After the automated guided vehicle 601 passes, the dispatching server will actively send a recovery command, directing the other automated guided vehicles waiting in the temporary avoidance area 602 to return to the original route and continue to complete the transportation task.

[0166] In one possible design, before determining that the avoidance operation instruction is to enter a temporary avoidance area and wait, it is first determined whether the temporary avoidance area is full. If so, the avoidance operation instruction is determined to change to another nearest temporary avoidance area and wait. If not, the avoidance operation instruction is determined to enter a temporary avoidance area and wait.

[0167] like Figure 6 As shown, if before the automated guided vehicle enters the temporary avoidance area 602, the monitoring device of the temporary avoidance area sends a signal that the temporary avoidance area is full, or the dispatching server has already commanded the automated guided vehicles with a preset upper limit of capacity to enter the temporary avoidance area 602, when another automated guided vehicle needs to avoid and stop, it will be directed to wait in another temporary avoidance area that is not occupied.

[0168] If the task priority is urgent, the specific steps include:

[0169] (1) Determine the congestion level of the shared map section based on the current road right information;

[0170] (2) If the congestion level is less than a second preset congestion threshold, the right-of-way allocation instruction is to instruct the current automated guided vehicle to travel normally, and all other automated guided vehicles ahead of the current automated guided vehicle take nearby avoidance measures;

[0171] In this step, the second preset congestion threshold is an evaluation indicator used to indicate whether the automated guided vehicles in the current shared map section can avoid in time when an emergency task occurs. It can be generated based on empirical model predictions and can be dynamically changed according to the current production line and warehouse conditions to adapt to various complex scheduling situations.

[0172] (3) If the congestion level is greater than or equal to the second preset congestion threshold, the right-of-way allocation instruction is to have the current automated guided vehicle wait in place or slow down, and to stop other automated guided vehicles from entering the shared map section until the congestion level is less than the second preset congestion threshold.

[0173] S506: Send a road right allocation instruction.

[0174] S507: Control the automatic guided vehicle according to the right-of-way allocation instruction.

[0175] The implementation principle and terminology of steps S506-S507 Figure 3 The steps S304-S305 shown are similar and will not be described again here.

[0176] The embodiment of the present application provides a control method for an automatic guided vehicle, which receives a traffic scheduling request for a shared map section, and then determines a road right allocation instruction based on the traffic scheduling request and the current road right information of the shared map section. The road right allocation instruction is used to indicate the priority of the automatic guided vehicle, and finally sends the road right allocation instruction. It realizes setting different independently operated AGV lines into partially shared shared map section routes, and through the dispatching end, coordinates and directs the issuance of handling tasks and the general management of shared map sections, which solves the problem of the existing technology that the AGV operation occupies a large area, the interference of the operation line causes congestion, and leads to low AGV operation efficiency, which in turn causes limited production line capacity. It achieves the technical effect of intelligent scheduling of AGVs of different equipment manufacturers and different forms in the same operating site, reducing and avoiding driving interference, and improving the overall handling efficiency of the production line side warehouse area.

[0177] Figure 7 A flow chart of another control method of an automatic guided vehicle provided in an embodiment of the present application. Figure 7 As shown, the specific steps of the control method of the automatic guided vehicle include:

[0178] S701. Determine the task to be sent according to the characteristic attributes of the task to be sent and the usage of the shared map section.

[0179] In a possible design, the characteristic attributes include a priority level to be sent and an indication of whether the vehicle passes through a common map segment.

[0180] If it is marked as not passing through the shared map section, the pending tasks will be sent one by one according to the order of their pending priorities.

[0181] Specifically, if the AGV in the pending task only needs to travel on an independently operated route without passing through the area of ​​the shared map section, then the pending tasks will be sent to each WCS system one by one according to the urgency of the pending tasks, that is, the order of the pending priority.

[0182] If it is marked as passing through a shared map section, it is determined that the congestion level of the usage is greater than or equal to a second preset threshold; and it is determined that the task to be issued is not to be issued. The second preset threshold is used to indicate whether the congestion level has reached a level that causes a scheduling conflict on the shared map section or whether the probability of traffic arrangement on the shared map section being unable to be resolved through automatic scheduling has reached a high level.

[0183] Specifically, if the AGV in the pending task needs to pass through the area of ​​the shared map section to complete the task, the congestion level of the shared map section is first determined. If the temporary avoidance area in the shared map section is full and the conditions for avoiding the emergency task can no longer be met, the pending task will not be issued to avoid congestion in the shared map section. It is understandable that if the congestion level of the usage is less than the second preset threshold, the dispatch server will issue the tasks one by one according to the task priority of the pending task.

[0184] In another possible design, the feature attributes include the task destination, then:

[0185] If there is no free buffer space at the task destination, the pending task will not be sent;

[0186] If there is an idle buffer position at the task destination, it is determined whether the buffer position threshold is greater than or equal to the preset buffer threshold, and the task is issued according to the task priority.

[0187] Buffer positions include: temporary stacking positions for materials next to the production line, parking positions for automated guided vehicles on standby in the warehouse area, parking positions for material racks, vacant positions in temporary avoidance areas, etc.

[0188] S702: Send and issue tasks.

[0189] In this step, the dispatch server sends the generated dispatch tasks to the control systems of different AGV automatic guided vehicles, namely, each WCS system.

[0190] S703, receiving the assigned task and controlling the automatic guided vehicle to complete the assigned task.

[0191] In this step, each WCS system controls the standby AGV automatic guided vehicle in its own warehouse area to complete the material transportation task according to the received issued task and its own control strategy, or controls the AGV automatic guided vehicle that has completed the material transportation task to return to the warehouse area to standby.

[0192] S704: When the automated guided vehicle is detected to have reached the requested position for entering the shared map section, a traffic dispatch request is repeatedly sent in a preset cycle.

[0193] S705: Receive a traffic dispatch request for a shared map section.

[0194] S706: Determine the work task of the automated guided vehicle according to the traffic scheduling request.

[0195] S707: Determine the task priority according to the work task and the working condition information corresponding to the work task.

[0196] S708: Determine a right of way allocation instruction according to the task priority and current right of way information.

[0197] S709: Send a road right allocation instruction.

[0198] S710: Control the automatic guided vehicle according to the right-of-way allocation instruction.

[0199] It should be noted that, in this embodiment, steps S704-S710 and Figure 5 The implementation principles and terminology of steps S501-S507 are similar and will not be repeated here.

[0200] It should also be noted that, in a possible implementation, the AGV is a fleet of multiple AGVs traveling in the same direction. This allows the AGVs traveling in the same direction to pass through the shared map section as quickly as possible, thereby reducing avoidance, avoiding congestion, and improving the production efficiency of the production line.

[0201] The embodiment of the present application provides a control method for an automatic guided vehicle, which receives a traffic scheduling request for a shared map section, and then determines a road right allocation instruction based on the traffic scheduling request and the current road right information of the shared map section. The road right allocation instruction is used to indicate the priority of the automatic guided vehicle, and finally sends the road right allocation instruction. It realizes setting different independently operated AGV lines into partially shared shared map section routes, and through the dispatching end, coordinates and directs the issuance of handling tasks and the general management of shared map sections, which solves the problem of the existing technology that the AGV operation occupies a large area, the interference of the operation line causes congestion, and leads to low AGV operation efficiency, which in turn causes limited production line capacity. It achieves the technical effect of intelligent scheduling of AGVs of different equipment manufacturers and different forms in the same operating site, reducing and avoiding driving interference, and improving the overall handling efficiency of the production line side warehouse area.

[0202] Figure 8 The schematic diagram of the structure of a control device of an automated guided vehicle provided in the present application is shown in FIG. The control device 800 of the automated guided vehicle can be implemented by software, hardware or a combination of both.

[0203] like Figure 8As shown, the control device 800 of the automatic guided vehicle includes:

[0204] A receiving module 801 is used to receive a traffic dispatch request for a common map section, where the common map section is a running lane route map commonly used by multiple automated guided vehicles;

[0205] A processing module 802 is used to determine a road right allocation instruction according to the traffic scheduling request and the current road right information of the shared map section, wherein the road right allocation instruction is used to indicate the priority of the automated guided vehicle, and the current road right information is used to indicate the current usage of the shared map section;

[0206] The sending module 803 is used to send the road right allocation instruction.

[0207] In a possible design, the processing module 802 is used to determine the right of way allocation instruction according to the traffic scheduling request and the current right of way information of the shared map section, including:

[0208] The processing module 802 is used to determine the working task of the automatic guided vehicle according to the traffic scheduling request;

[0209] The processing module 802 is further used to determine the task priority according to the work task and the working condition information corresponding to the work task, wherein the working condition information is used to indicate the degree of material shortage of the production line or the degree of vehicle shortage of the storage area to which the automated guided vehicle belongs;

[0210] The processing module 802 is further configured to determine the right of way allocation instruction according to the task priority and the current right of way information.

[0211] In a possible design, the processing module 802 is further configured to determine the right of way allocation instruction according to the task priority and the current right of way information, including:

[0212] The processing module 802 is further configured to determine the congestion level of the shared map section according to the current road right information if the task priority is a non-urgent task;

[0213] The processing module 802 is further configured to: if the congestion level is lower than a first preset congestion threshold, the road right allocation instruction is a normal driving instruction;

[0214] The processing module 802 is further configured to: if the congestion level is greater than or equal to the first preset congestion threshold, the road right allocation instruction is an avoidance operation instruction.

[0215] In a possible design, the processing module 802 is further configured to, if the congestion level is greater than or equal to the first preset congestion threshold, configure the road right allocation instruction as an avoidance operation instruction, including:

[0216] The processing module 802 is further configured to, when the congestion level is greater than or equal to the first preset congestion threshold, if the automated guided vehicle has not entered the shared map section, command the avoidance operation to wait on the spot.

[0217] Optionally, the processing module 802 is further configured to, if the congestion level is greater than or equal to the first preset congestion threshold, use the road right allocation instruction as an avoidance operation instruction, including:

[0218] The processing module 802 is further configured to determine whether there is a temporary avoidance zone within a preset range of the running route of the automated guided vehicle if the automated guided vehicle is in the shared map section when the congestion level is greater than or equal to the first preset congestion threshold;

[0219] The processing module 802 is further configured to determine, if the temporary avoidance zone exists, that the avoidance operation instruction is to enter the temporary avoidance zone and wait until the automated guided vehicle receives an instruction to continue to complete the task.

[0220] In a possible design, the processing module 802 is further configured to determine that before the avoidance operation instruction is to enter the temporary avoidance area to wait, further comprising:

[0221] The processing module 802 is further configured to determine whether the temporary avoidance area is full. If so, the avoidance operation instruction is determined to be to change to another temporary avoidance area nearest to wait; if not, the avoidance operation instruction is determined to be to enter the temporary avoidance area to wait.

[0222] Optionally, the processing module 802 is further configured to determine the road right allocation instruction according to the task priority and the current road right information, including:

[0223] The processing module 802 is further configured to determine the congestion level of the shared map section according to the current road right information if the task priority is an emergency task;

[0224] The processing module 802 is further configured to, if the congestion level is less than a second preset congestion threshold, instruct the current automated guided vehicle to travel normally and all other automated guided vehicles ahead of the current automated guided vehicle to take nearby avoidance measures.

[0225] In a possible design, after the processing module 802 is further configured to determine the congestion level of the shared map section according to the current road right information, the process further includes:

[0226] The processing module 802 is also used to, if the congestion level is greater than or equal to a second preset congestion threshold, instruct the current automated guided vehicle to wait in place or slow down, and to stop other automated guided vehicles from entering the shared map section until the congestion level is less than the second preset congestion threshold.

[0227] Optionally, the automated guided vehicles are a fleet of automated guided vehicles consisting of multiple automated guided vehicles traveling in the same direction.

[0228] Optionally, the lane of the shared map section is a two-way lane, and only one automated guided vehicle is allowed to pass at the same time.

[0229] In a possible design, before the receiving module 801 is configured to receive a traffic scheduling request for a shared map section, the method further includes:

[0230] The processing module 802 is further used to determine the task to be sent according to the characteristic attributes of the task to be sent and the usage of the shared map section;

[0231] The sending module 803 is further used to send the sending task.

[0232] In a possible design, the characteristic attributes include a priority of the task to be sent and an identification of whether the task passes through the common map section. The processing module 802 is further used to determine the task to be sent according to the characteristic attributes of the task to be sent and the usage of the common map section, and further includes:

[0233] The processing module 802 is further configured to send the pending tasks one by one according to the order of the pending priorities if the identification indicates that the task does not pass through the common map section;

[0234] The processing module 802 is further configured to determine that the congestion level of the usage situation is greater than or equal to a second preset threshold if the mark indicates that the vehicle passes through the shared map section;

[0235] The processing module 802 is further configured to determine whether to issue a task or not to issue the to-be-issued task.

[0236] Optionally, the characteristic attribute includes a task destination, and the processing module 802 is further configured to determine the task to be sent according to the characteristic attribute of the task to be sent and the usage of the shared map section, and further includes:

[0237] The processing module 802 is further configured to not send the to-be-sent task if there is no free buffer space at the task destination;

[0238] The processing module 802 is further configured to determine if a buffer position threshold is greater than or equal to a preset buffer threshold if there is an idle buffer position at the task destination, and determine the task to be issued according to the task priority.

[0239] In a possible design, the traffic scheduling request is a road right allocation request that is repeatedly sent in a preset cycle when the automated guided vehicle drives to the application position for entering the common map section.

[0240] It is worth mentioning that Figure 8 The Internet of Things firmware dynamic detection device provided in the illustrated embodiment can execute the control method of the scheduling end provided in any of the above-mentioned method embodiments. Its specific implementation principles, technical features, professional terminology explanations and technical effects are similar and will not be repeated here.

[0241] Fig. 9 The schematic diagram of the structure of a control device of an automated guided vehicle provided in the present application is shown in FIG. The control device 900 of the automated guided vehicle can be implemented by software, hardware or a combination of both.

[0242] like Fig. 9 As shown, the control device 900 of the automatic guided vehicle includes:

[0243] The sending module 901 is used to send a traffic dispatch request for a common map section, wherein the traffic dispatch request is used to request a dispatch terminal to obtain a road right allocation instruction, and the common map section is a running lane route map commonly used by multiple automated guided vehicles;

[0244] A receiving module 902 is used to receive the right-of-way allocation instruction, where the right-of-way allocation instruction is determined by the dispatching end according to the traffic dispatching request and the current right-of-way information of the shared map section, where the right-of-way allocation instruction is used to indicate the priority of the automated guided vehicle, and the current right-of-way information is used to indicate the current usage of the shared map section;

[0245] The control module 903 is used to control the automatic guided vehicle according to the right of way allocation instruction.

[0246] Optionally, before the sending module 901 is used to send the traffic scheduling request for the shared map section, it also includes:

[0247] The receiving module 902 is further used to receive a task to be sent, where the task to be sent is determined by the dispatching end according to the characteristic attributes of the task to be sent and the usage of the shared map section;

[0248] The control module 903 is further used to control the automatic guided vehicle to complete the dispatching task.

[0249] In a possible design, the sending module 901 is used to send a traffic scheduling request for a shared map section, including:

[0250] The sending module 901 is used to repeatedly send the traffic scheduling request in a preset cycle when monitoring that the automated guided vehicle has traveled to the application position for entering the shared map section.

[0251] It is worth mentioning that Fig. 9 The Internet of Things firmware dynamic detection device provided in the illustrated embodiment can execute the control method of the WCS warehouse control system provided in any of the above method embodiments. Its specific implementation principles, technical features, professional terminology explanations and technical effects are similar and will not be repeated here.

[0252] Fig.10 This is a schematic diagram of the structure of an electronic device provided in this application. Fig.10 As shown, the electronic device 1000 may include: at least one processor 1001 and a memory 1002 . Fig.10 An electronic device is shown using a processor as an example.

[0253] The memory 1002 is used to store programs. Specifically, the programs may include program codes, and the program codes include computer operation instructions.

[0254] The memory 1002 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0255] The processor 1001 is used to execute the computer execution instructions stored in the memory 1002 to implement the control method of the scheduling end described in the above method embodiments.

[0256] The processor 1001 may be a central processing unit (CPU), an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application.

[0257] Optionally, the memory 1002 may be independent or integrated with the processor 1001. When the memory 1002 is a device independent of the processor 1001, the electronic device 1000 may further include:

[0258] The bus 1003 is used to connect the processor 1001 and the memory 1002. The bus may be an industry standard architecture (ISA) bus, a peripheral component interconnect (PCI) bus, or an extended industry standard architecture (EISA) bus. The bus may be divided into an address bus, a data bus, a control bus, etc., but it does not mean that there is only one bus or one type of bus.

[0259] Optionally, in a specific implementation, if the memory 1002 and the processor 1001 are integrated on a chip, the memory 1002 and the processor 1001 can communicate through an internal interface.

[0260] Fig.11 This is a schematic diagram of the structure of an electronic device provided in this application. Fig.11 As shown, the electronic device 1100 may include: at least one processor 1101 and a memory 1102 . Fig.11 An electronic device is shown using a processor as an example.

[0261] The memory 1102 is used to store programs. Specifically, the programs may include program codes, and the program codes include computer operation instructions.

[0262] The memory 1102 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0263] The processor 1101 is used to execute the computer execution instructions stored in the memory 1102 to implement the control method of the WCS warehouse control system end described in the above method embodiments.

[0264] The processor 1101 may be a central processing unit (CPU), an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application.

[0265] Optionally, the memory 1102 may be independent or integrated with the processor 1101. When the memory 1102 is a device independent of the processor 1101, the electronic device 1100 may further include:

[0266] The bus 1103 is used to connect the processor 1101 and the memory 1102. The bus may be an industry standard architecture (ISA) bus, a peripheral component interconnect (PCI) bus, or an extended industry standard architecture (EISA) bus. The bus may be divided into an address bus, a data bus, a control bus, etc., but it does not mean that there is only one bus or one type of bus.

[0267] Optionally, in a specific implementation, if the memory 1102 and the processor 1101 are integrated on a chip, the memory 1102 and the processor 1101 can communicate through an internal interface.

[0268] The present application also provides a computer-readable storage medium, which may include: a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a disk or an optical disk, and other media that can store program codes. Specifically, the computer-readable storage medium stores program instructions, and the program instructions are used for the scheduling end methods in the above-mentioned method embodiments.

[0269] The present application also provides a computer-readable storage medium, which may include: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a disk or an optical disk, and other media that can store program codes. Specifically, the computer-readable storage medium stores program instructions, and the program instructions are used in the methods of the WCS warehouse control system end in the above-mentioned method embodiments.

[0270] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A control method for an automatic guided vehicle, characterized in that: Applied to the dispatching end, including: receiving a traffic dispatch request for a common map section, wherein the common map section is a running lane route map commonly used by multiple automated guided vehicles; Determine a road right allocation instruction according to the traffic scheduling request and the current road right information of the shared map section, wherein the road right allocation instruction is used to indicate the priority of the automated guided vehicle, wherein the priority includes normal driving and avoidance operation, wherein the avoidance operation at least includes driving into a temporary avoidance zone, wherein the avoidance zone is set within the range of the shared map section, and the current road right information is used to indicate the current usage of the shared map section; Sending the right-of-way allocation instruction; The determining of the road right allocation instruction according to the traffic scheduling request and the current road right information of the shared map road section includes: Determining the work task of the automated guided vehicle according to the traffic scheduling request; Determine the task priority according to the work task and the working condition information corresponding to the work task, wherein the working condition information is used to indicate the degree of material shortage of the production line or the degree of vehicle shortage of the storage area to which the automated guided vehicle belongs; Determining the right of way allocation instruction according to the task priority and the current right of way information; Before receiving the traffic scheduling request for the shared map road segment, the method further includes: Determine the task to be issued according to the characteristic attributes of the task to be issued and the usage of the shared map section; The characteristic attributes include a priority of the task to be sent and an identification of whether the task passes through a common map section. The step of determining the task to be sent according to the characteristic attributes of the task to be sent and the usage of the common map section includes: If the mark indicates that the shared map section is not passed, the tasks to be sent are sent one by one according to the order of their priorities; If the mark is passing through the shared map section, determining that the congestion level of the usage situation is greater than or equal to a second preset threshold; The determining to issue the task is not to issue the to-be-issued task.

2. The control method of the automated guided vehicle according to claim 1, characterized in that: The determining the road right allocation instruction according to the task priority and the current road right information includes: If the task priority is a non-urgent task, determining the congestion level of the shared map section according to the current road right information; If the congestion level is lower than a first preset congestion threshold, the road right allocation instruction is a normal driving instruction; If the congestion level is greater than or equal to the first preset congestion threshold, the road right allocation instruction is an avoidance operation instruction.

3. The control method of the automated guided vehicle according to claim 2, characterized in that: If the congestion level is greater than or equal to the first preset congestion threshold, the road right allocation instruction is an avoidance operation instruction, including: When the congestion level is greater than or equal to the first preset congestion threshold, if the automated guided vehicle has not entered the common map section, the avoidance operation instruction is to wait at the location.

4. The control method of the automated guided vehicle according to claim 2, characterized in that: If the congestion level is greater than or equal to the congestion threshold, the road right allocation instruction is an avoidance operation instruction, including: When the congestion level is greater than or equal to the first preset congestion threshold, if the automated guided vehicle is in the shared map section, determining whether there is a temporary avoidance zone within a preset range of the automated guided vehicle operation route; If the temporary avoidance zone exists, the avoidance operation instruction is determined to be entering the temporary avoidance zone and waiting until the automated guided vehicle receives an instruction to continue to complete the task.

5. The control method of the automated guided vehicle according to claim 4, characterized in that: Before determining that the avoidance operation instruction is to enter the temporary avoidance area to wait, the method further includes: Determine whether the temporary avoidance area is full, and if so, determine that the avoidance operation instruction is to change to another nearest temporary avoidance area and wait; If not, it is determined that the avoidance operation instruction is to enter the temporary avoidance area and wait.

6. The control method of the automated guided vehicle according to claim 1, characterized in that: The determining the road right allocation instruction according to the task priority and the current road right information includes: If the task priority is an emergency task, determining the congestion level of the shared map section according to the current road right information; If the congestion level is less than a second preset congestion threshold, the right-of-way allocation instruction instructs the current automated guided vehicle to travel normally and all other automated guided vehicles ahead of the current automated guided vehicle to take nearby avoidance measures.

7. The control method of the automated guided vehicle according to claim 6, characterized in that: After determining the congestion level of the shared map road section according to the current road right information, the method further includes: If the congestion level is greater than or equal to a second preset congestion threshold, the right of way allocation instruction is for the current automated guided vehicle to wait in place or slow down, and to stop other automated guided vehicles from entering the shared map section until the congestion level is less than the second preset congestion threshold.

8. The control method of the automated guided vehicle according to any one of claims 2 to 5, characterized in that: The automated guided vehicles include a plurality of automated guided vehicles traveling in the same direction.

9. The control method of the automated guided vehicle according to any one of claims 6 or 7, characterized in that: The lane of the shared map section is a two-way traffic lane, and only one automated guided vehicle is allowed to pass at the same time.

10. The control method of the automated guided vehicle according to claim 1, characterized in that: The characteristic attribute includes a task destination, and the step of determining the task to be sent according to the characteristic attribute of the task to be sent and the usage of the shared map section further includes: If there is no free buffer space at the task destination, the pending task will not be sent; If the task destination has an idle buffer position, it is determined whether the buffer position threshold is greater than or equal to the preset buffer threshold, and the task to be issued is determined according to the task priority.

11. The control method of the automated guided vehicle according to claim 10, characterized in that: The traffic dispatch request is a road right allocation request that is repeatedly sent in a preset cycle when the automated guided vehicle reaches the application position for entering the shared map section.

12. A control method for an automatic guided vehicle, characterized in that: Applied to WCS warehouse control terminal, including: Sending a traffic dispatch request for a shared map section, wherein the traffic dispatch request is used to request a dispatch terminal to obtain a road right allocation instruction, and the shared map section is a running lane route map commonly used by multiple automated guided vehicles; Receive the right-of-way allocation instruction, the right-of-way allocation instruction is determined according to the task priority and the current right-of-way information, the right-of-way allocation instruction is used to indicate the priority of the automated guided vehicle, the task priority is determined according to the work task of the automated guided vehicle and the working condition information corresponding to the work task, the working condition information is used to indicate the degree of material shortage of the production line or the degree of vehicle shortage of the storage area to which the automated guided vehicle belongs, the current right-of-way information is used to indicate the current usage of the common map section, the priority includes normal driving and avoidance operation, the avoidance operation at least includes driving into a temporary avoidance zone, and the avoidance zone is set within the range of the common map section; Controlling the automated guided vehicle according to the road right allocation instruction before sending the traffic scheduling request for the shared map section also includes: receiving a task to be issued, wherein the task to be issued is determined by the dispatching end according to characteristic attributes of the task to be issued and the usage of the common map section, wherein the characteristic attributes include a priority of the task to be issued and an identification of whether the task passes through the common map section, and the task to be issued is a task that is identified as not passing through the common map section, or the task to be issued is a task that is identified as passing through the common map section and the congestion level of the usage is less than a second preset threshold; Control the automatic guided vehicle to complete the dispatching task.

13. The control method of the automated guided vehicle according to claim 12, characterized in that: The sending of the traffic dispatch request for the shared map road segment includes: When it is monitored that the automated guided vehicle travels to the application position for entering the shared map section, the traffic scheduling request is repeatedly sent according to a preset period.

14. A control device for an automatic guided vehicle, characterized in that: include: A receiving module, used to receive a traffic dispatch request for a common map section, where the common map section is a running lane route map commonly used by multiple automated guided vehicles; a processing module, configured to determine a road right allocation instruction according to the traffic scheduling request and the current road right information of the shared map section, wherein the road right allocation instruction is used to indicate the priority of the automated guided vehicle, wherein the priority includes normal driving and avoidance operation, wherein the avoidance operation at least includes driving into a temporary avoidance zone, wherein the avoidance zone is set within the range of the shared map section, and the current road right information is used to indicate the current usage of the shared map section; A sending module, used for sending the right of way allocation instruction; The processing module is further used to: determine the working task of the automatic guided vehicle according to the traffic scheduling request; Determine the task priority according to the work task and the working condition information corresponding to the work task, wherein the working condition information is used to indicate the degree of material shortage of the production line or the degree of vehicle shortage of the storage area to which the automated guided vehicle belongs; Determining the right of way allocation instruction according to the task priority and the current right of way information; The processing module is also used to determine the task to be sent according to the characteristic attributes of the task to be sent and the usage of the shared map section; The characteristic attributes include the priority of the vehicle to be dispatched and whether it passes through a shared map section. The processing module is also used for: if the mark indicates that the route does not pass through the common map section, then issuing the tasks one by one according to the order of their pending priorities; if the mark indicates that the route passes through the common map section, then determining that the congestion level of the usage situation is greater than or equal to a second preset threshold; and determining that the task to be issued is not to issue the task to be issued.

15. A control device for an automatic guided vehicle, characterized in that: include: A sending module, used for sending a traffic dispatch request for a common map section, wherein the traffic dispatch request is used for requesting a dispatch terminal to obtain a road right allocation instruction, and the common map section is a running lane route map commonly used by multiple automated guided vehicles; a receiving module, for receiving the right-of-way allocation instruction, the right-of-way allocation instruction is determined by the dispatching end according to the task priority and the current right-of-way information of the common map section, the right-of-way allocation instruction is used to indicate the priority of the automatic guided vehicle, the task priority is determined according to the work task of the automatic guided vehicle and the working condition information corresponding to the work task, the working condition information is used to indicate the degree of material shortage of the production line or the degree of vehicle shortage of the storage area to which the automatic guided vehicle belongs, the current right-of-way information is used to indicate the current usage of the common map section, the priority includes normal driving and avoidance operation, the avoidance operation at least includes driving into a temporary avoidance area, and the avoidance area is set within the range of the common map section; A control module, used for controlling the automatic guided vehicle according to the right-of-way allocation instruction; The receiving module is further used to receive a dispatched task, wherein the dispatched task is determined by the dispatching end according to characteristic attributes of the task to be dispatched and the usage of the common map section, wherein the characteristic attributes include a priority of the task to be dispatched and an identification of whether the task passes through the common map section, and the dispatched task is a task that is identified as not passing through the common map section, or the dispatched task is a task that is identified as passing through the common map section and the congestion level of the usage is less than a second preset threshold; The control module is also used to control the automatic guided vehicle to complete the dispatching task.

16. An electronic device, characterized in that: include: processor; as well as, A memory, configured to store executable instructions of the processor; The processor is configured to execute the control method of the automated guided vehicle according to any one of claims 1 to 11 by executing the executable instructions.

17. An electronic device, characterized in that: include: processor; as well as, A memory, configured to store executable instructions of the processor; The processor is configured to execute the control method of the automated guided vehicle according to any one of claims 12 to 13 by executing the executable instructions.

18. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the control method of the automated guided vehicle according to any one of claims 1 to 11 is implemented.

19. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the control method of the automated guided vehicle according to any one of claims 12 to 13 is implemented.

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