Execution Method and System for Automatic Guided Vehicle Scheduling Tasks

Abstract

The present invention provides a method and system for executing a scheduling task of an automatic guided vehicle, belonging to the technical field of scheduling control. The method includes: determining a task instruction specified by a task issuing system, where the task instruction includes the content address of a task information file, and the content address is obtained after the task issuing system writes the task information file into a content addressable storage system; querying the content address, obtaining the task information file from the content addressable storage system, and determining a bidding rule file; based on the task information file, determining that the status information in the status log file of the transport vehicle reaches the bidding threshold in the bidding rule file; and executing a scheduling task corresponding to the task information file. The present invention is used for the autonomous completion of scheduling of an AGV.

Description

Technical Field

[0001] The present invention relates to the technical field of scheduling control, and particularly to an execution method for an automatic guided vehicle scheduling task, an execution method for a scheduling task, a transport vehicle system, an electronic device, an automatic guided vehicle, and a computer-readable storage medium. Background Art

[0002] Currently, the scheduling system for automatic guided vehicles (AGVs) is a centralized scheduling system or a distributed scheduling system.

[0003] The centralized scheduling system completes the scheduling of transport vehicles in a centralized control manner. The centralized scheduling system has a unique total control system, and each AGV is communicatively connected to the total control system. AGVs do not communicate with each other. It is very difficult for the total control system to avoid problems such as system operation failures, data loss (such as damage to storage media), external malicious attacks (such as exhaustion attacks), and network connection failures. It will be very difficult for AGVs to continue to be controlled, posing a risk of system paralysis, and it is also very difficult to meet the basic requirements for the actual operation of a highly secure and reliable system.

[0004] The distributed scheduling system is a scheduling system in which wireless connections are established between multiple AGVs within a partitioned local area to achieve data sharing. The global master controller or the partition master controller issues scheduling tasks to the AGV cluster, and information transmission is carried out pairwise between AGVs within each partition to complete task allocation and path planning. In this scheduling system, the master controller is actually closely communicatively coupled with multiple AGVs. In essence, the master controller is still a central control of AGVs within the partition. The normal operation of the scheduling system requires the reliability and stability of the master controller. At the same time, the execution of scheduling tasks highly depends on the communication between the master controller and AGVs as well as the communication between AGVs. More time-frequency / bandwidth resources are required for the communication transmission of task-related files. It takes a long time to send task-related file data to AGVs within the partition, and each AGV has a long response delay. The system deployment is difficult and requires frequent maintenance. Summary of the Invention

[0005] The object of the present invention is to provide an execution method and system for an automatic guided vehicle scheduling task, which avoid the technical problem of occupying communication time-frequency / bandwidth resources caused by transmitting task-related file data between transport vehicles, thereby realizing autonomous scheduling of transport vehicles, improving the efficiency and stability of the transport vehicle scheduling system, and reducing communication delay, deployment use, and maintenance costs.

[0006] To achieve the above object, an embodiment of the present invention provides an execution method for an automatic guided vehicle scheduling task, and the execution method includes:

[0007] Determine the task instruction specified by the task distribution system, where the task instruction includes the content address of the task information file, and the content address is obtained after the task distribution system writes the task information file into the content-addressable storage system;

[0008] Query the content address, obtain the task information file from the content-addressable storage system, and determine the bidding rule file;

[0009] Based on the task information file, determine that the status information in the status log file of the transport vehicle reaches the bidding threshold in the bidding rule file;

[0010] Execute the scheduling task corresponding to the task information file.

[0011] Specifically, the determination of the task instruction specified by the task distribution system includes one or more of the following:

[0012] Query the data record of the smart contract instance deployed in the blockchain system to obtain the task instruction, and the task instruction is recorded in the smart contract instance after obtaining the content address;

[0013] Receive the task instruction broadcast by the transport vehicle.

[0014] Specifically, after determining the task instruction specified by the task distribution system, the execution method further includes:

[0015] Execute the broadcast of the task instruction and / or execute the broadcast of the status information of the transport vehicle.

[0016] Specifically, the determination of the bidding rule file includes:

[0017] Based on the specified content address or the pre-configured content address, obtain the bidding rule file from the content-addressable storage system, where the task instruction further includes the specified content address.

[0018] Specifically, the determination that the status information in the status log file of the transport vehicle reaches the bidding threshold in the bidding rule file based on the task information file includes:

[0019] Based on the task information file, determine the transportation level of the transport vehicle, where the transportation level includes the scheduling distance, the endurance level, and the load level;

[0020] Determine that the transportation level of the transport vehicle reaches the bidding threshold in the bidding rule file.

[0021] Specifically, after determining that the status information in the status log file of the transport vehicle reaches the bidding threshold in the bidding rule file based on the task information file, and before executing the scheduling task corresponding to the task information file, the execution method further includes:

[0022] Based on the bidding information in the bidding rule file, determine the scheduling priority level of the transport vehicle that reaches the bidding threshold, where the bidding information includes any at least one of idle time, maximum endurance level, and shortest scheduling distance;

[0023] Based on the scheduling priority level, specify the transport vehicle for task execution.

[0024] Specifically, the execution method further includes:

[0025] Determine the path planning rule file, where the path planning rule file is stored in the content-addressable storage system;

[0026] Based on the path planning rule file and the task information file, determine the traveling path of the specified transport vehicle.

[0027] Specifically, the execution method further includes:

[0028] Determine the path optimization rule file, where the path optimization rule file is stored in the content-addressable storage system;

[0029] Based on the path optimization rule file, determine the passing priority level of the specified transport vehicle;

[0030] Based on the passing priority level, optionally adjust the traveling path.

[0031] Specifically, the execution method further includes at least one of the following:

[0032] Write the task identifier of the scheduling task and the identifier of the transport vehicle executing the scheduling task into the blockchain system;

[0033] Write the content address of the status log file of the transport vehicle into the blockchain system, where the content address is obtained after writing the status log file of the transport vehicle into the content-addressable storage system;

[0034] After the scheduling task is completed, send a task value to a specified account address through the account address of the transport vehicle that has executed the scheduling task.

[0035] An embodiment of the present invention provides an execution method for a scheduling task, and the execution method includes:

[0036] Record the status log file sent by the transport vehicle through the content-addressable storage system;

[0037] Through the task distribution system, the content address of the task information file is written into the blockchain system, where the content address is obtained after the task distribution system writes the task information file into the content-addressable storage system.

[0038] Specifically, the execution method further includes:

[0039] Through the smart contract instance deployed in the blockchain system, after the scheduling task is completed, a task value is sent to the account address of the transport vehicle that has executed the scheduling task.

[0040] An embodiment of the present invention provides a transport vehicle system, which includes:

[0041] A determination module, configured to determine a task instruction specified by the task distribution system, where the task instruction includes the content address of the task information file, and the content address is obtained after the task distribution system writes the task information file into the content-addressable storage system;

[0042] A query module, configured to query the content address, obtain the task information file from the content-addressable storage system, and determine the bidding rule file;

[0043] A bidding module, configured to determine, based on the task information file, that the status information in the status log file of the transport vehicle reaches the bidding threshold in the bidding rule file;

[0044] An execution module, configured to execute the scheduling task corresponding to the task information file.

[0045] On the other hand, an embodiment of the present invention provides an electronic device, which includes:

[0046] At least one processor;

[0047] A memory, connected to the at least one processor;

[0048] Wherein, the memory stores instructions executable by the at least one processor, and the at least one processor realizes the foregoing method by executing the instructions stored in the memory.

[0049] On the other hand, an embodiment of the present invention provides an automated guided vehicle, which has the foregoing electronic device.

[0050] On the other hand, an embodiment of the present invention provides a computer-readable storage medium, storing computer instructions, and when the computer instructions run on a computer, the computer executes the foregoing method.

[0051] The transport vehicle of the present invention communicates with the content-addressable storage system, obtains task-related files from the content-addressable storage system through the transport vehicle, and conducts autonomous bidding of the transport vehicle to complete task allocation and scheduling of task execution. It does not require the transmission of data of task-related files between the task distribution system and / or the transport vehicle, improving the coordination among transport vehicles. Relatively speaking, generally, the central control ( / sub-zone central control) scheduling system is responsible for scheduling a large number of transport vehicles. Usually, the status of the transport vehicles recorded in the central control scheduling system is reported by each transport vehicle, and the task information is sent down through the central control scheduling system. It is difficult to avoid problems such as untimely reporting and / or communication network failures, resulting in the situation that the status of the transport vehicle does not meet the scheduling conditions for the task but is still scheduled to execute, which is likely to cause transport interruptions, scheduling failures, and transport vehicle downtime. Different from the way the central control scheduling system schedules transport vehicles to execute tasks, in the present invention, the transport vehicle not only finds the task information file through autonomous query of the content address, but also obtains an autonomous measurement of the availability relative to the current task information through its own status information and bidding rule file (the transport vehicle can judge its own status information according to the specified calculation / estimation method in the bidding rule file, and whether it meets the bidding threshold relative to the task information in the task information file). The present invention can prevent transport vehicles whose status actually does not meet the basic availability requirements of the task from participating in task execution, avoid repeated scheduling of the same task, does not require reporting the status to the central control scheduling system and is not subject to the assignment of the central control scheduling system. The present invention realizes the self-assignment of the scheduling task that is completely autonomous, self-determines whether it meets the bidding threshold, and self-execution of the task.

[0052] In the present invention, the task instructions specified by the task distribution system are stored in the blockchain system. The transport vehicle can use the smart contract instance to query and obtain new task instructions, and further determine the task instructions / task identifiers that have been executed or bound to other transport vehicles from the block records (this is not limited. The block records only need to associate and record any specified data / files related to the current task with the transport vehicle). In contrast, the central control and dispatching system assigns tasks to the transport vehicles largely depending on the reported status of each transport vehicle and the task information to be assigned. At the same time, the central control and dispatching system also stores the task instructions that have not been assigned or have been bound to the transport vehicles. It is difficult for the transport vehicles to know the assignment status of tasks (assigned or unassigned) among them, which inevitably leads to scheduling conflicts and repeated execution of tasks for multiple transport vehicles. In the present invention, the transport vehicle control system can query and obtain the assignment status of each task instruction from the block records in the blockchain system through the smart contract instance, avoiding the conflict scheduling of transport vehicles and the repeated execution of tasks. Even if the task distribution system breaks down or malfunctions, it will not cause chaos in the assignment of task instructions. The blockchain system in the present invention enables the transport vehicle to independently pay attention to the assignment status of task instructions, and avoids the task distribution system from restricting the assignment of task instructions to the transport vehicle, breaking through the scheduling task volume of the transport vehicle assignment within the same time range. The task distribution system only needs to arrange the time distribution of each task instruction through the smart contract instance, without the need to dispatch the transport vehicle, improving the reliability of the dispatching system and the task completion rate. In addition, the broadcast among the transport vehicles can improve the full diffusion of task assignment information on the site and realize the scheduling interaction among the transport vehicles.

[0053] Other features and advantages of the embodiments of the present invention will be described in detail in the subsequent specific implementation part. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] The accompanying drawings are used to provide a further understanding of the embodiments of the present invention, and constitute a part of the specification. Together with the following specific implementation, they are used to explain the embodiments of the present invention, but do not constitute a limitation to the embodiments of the present invention. In the accompanying drawings:

[0055] Figure 1 It is a schematic diagram of the main method steps of the embodiments of the present invention;

[0056] Figure 2 It is a schematic diagram of an exemplary distributed communication architecture among transport vehicles of the embodiments of the present invention;

[0057] Figure 3 It is a schematic diagram of an exemplary communication architecture of the dispatching system of the embodiments of the present invention;

[0058] Figure 4 It is a schematic diagram of an exemplary hierarchical architecture of the dispatching system of the embodiments of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0059] The following will describe in detail the specific implementation manners of the embodiments of the present invention with reference to the accompanying drawings. It should be understood that the specific implementation manners described herein are only used to illustrate and explain the embodiments of the present invention, and are not used to limit the embodiments of the present invention.

[0060] Embodiment 1

[0061] The embodiments of the present invention provide a method for executing an automatic guided vehicle scheduling task, which can be applied to an automatic guided vehicle (abbreviated as a transport vehicle), such as Figure 1 , and the execution method may include:

[0062] S1) Determine a task instruction specified by a task issuing system, where the task instruction includes the content address of a task information file, and the content address is obtained after the task issuing system writes the task information file into a content-addressable storage system;

[0063] S2) Query the content address, obtain the task information file from the content-addressable storage system, and determine a bidding rule file;

[0064] S3) Based on the task information file, determine that the status information in the status log file of the transport vehicle reaches the bidding threshold in the bidding rule file;

[0065] S4) Execute a scheduling task corresponding to the task information file.

[0066] In the embodiments of the present invention, an automatic guided vehicle (i.e., an AGV) may include a transport vehicle control system and multiple sensors, and the transport vehicle control system may include an electronic device. The electronic device may include at least one processor; a memory connected to the at least one processor; wherein, the memory stores instructions executable by the at least one processor, and the at least one processor realizes the foregoing execution method by executing the instructions stored in the memory. Such as Figure 2 , there may be a communication connection between each transport vehicle among transport vehicles AGV1 - AGV8 (the number is not limited, only for example here), and the communication network of the transport vehicle may be a distributed communication architecture network. The electronic device may be configured to / have a communication module, and the communication module may include a 4G LTE / 5G radio frequency communication module and / or a Wi-Fi communication module, etc.

[0067] Multiple sensors can all be connected to the electronic device, for example, through a sensor bus. In some examples disclosed in the embodiments of the present invention, the multiple sensors may include a lidar ranging sensor, an image sensor, an acceleration sensor, a gyroscope, etc. The transport vehicle control system can determine the status information of the transport vehicle based on the data detected by the sensors, and form a status log file with the status information. The status log file may include status information such as the transport vehicle position positioning coordinates (such as rectangular coordinates), the identified pallet code, the transport vehicle driving speed, the transport vehicle acceleration, the transport vehicle position (such as polar coordinates) and attitude (such as the movement direction represented by an angle), the transport vehicle idle time, the transport vehicle continuous working time, the remaining endurance level of the transport vehicle, etc. Among them, the status information can be recorded by the transport vehicle control system through the data detected by the sensors or other systems, or obtained by calculating using the data. The acquisition method of the status information can be specifically selected according to the power mechanism of the transport vehicle and the type of installed sensors. For example, if the transport vehicle is an electric transport vehicle and the power mechanism is a drive motor, the remaining endurance level of the transport vehicle can be the remaining power information (or state of charge, SOC) received from the battery management system (configured with the power battery in the transport vehicle). The transport vehicle driving speed can be obtained by converting the rotation speed of the drive motor. The transport vehicle acceleration can be detected by the acceleration sensor. The transport vehicle position and attitude can be detected by the gyroscope. The pallet code and / or the path position coordinate code can be detected by the CMOS / CCD sensor. The transport vehicle time record and the working status (such as the task execution status) record can determine the transport vehicle idle time (the idle state can be the state of not executing tasks), etc. The obtained status information can be specified to be recorded in the status log file according to the usage and test effects. The transport vehicle control system of the transport vehicle can record the status information in real time and form a status log file within a specified time.

[0068] In some examples of the embodiments of the present invention, the content-addressable storage system may include a processor and a ternary content-addressable memory (TCAM). The processor performs read operations, write operations, and query operations on the ternary content-addressable memory by executing instructions, wherein the content address can be specified in a mapping manner of a value-number table with the content. In some applications with more optimal costs, the content-addressable storage system may also include an industrial control computer and / or a server and other devices with instruction set processing capabilities and computing capabilities. The device can be configured / to have a communication module, and the communication module may include an Ethernet communication module, a 4G LTE / 5G radio frequency communication module, and / or a Wi-Fi communication module, etc. The device can also be configured with an application program of an InterPlanetary File System (IPFS) node. When the application program is executed, it can perform file addition / write operations, deletion operations, query operations, etc. For any file, after the addition / write operation is executed, the unique identifier (CID) of the arbitrary file in the InterPlanetary File System can be obtained. The unique identifier can be a hash value, and the hash value can be used as the content address, such as / ipfs / hash value (a complete address can be formed by combining the application program or the interface component with the specified network address); the hash value can also form a link address according to the access protocol (key-encrypted data, specified interface, etc.), and the link address can be used as the content address, such as https: / / specified network address / ipfs / hash value.

[0069] The task distribution system may include an industrial control computer and / or a server and other devices with instruction set processing capabilities and computing capabilities. The device can be configured / to have a communication module, and the communication module may include an Ethernet communication module, a 4G LTE / 5G radio frequency communication module, and / or a Wi-Fi communication module, etc. The task distribution system can be configured with a task information file. The task distribution system can be communicatively connected to the content-addressable storage system. The task distribution system can also be configured with executable files such as an application program with an interface component, a system service program, and / or a script file, etc. The executable file may include instructions with operation functions, and the instructions, when executed, can be used to control the content-addressable storage system to perform addition / write operations, deletion operations, query operations, etc. on the specified content (such as any file). In some examples, the method for the task distribution system to distribute tasks may include:

[0070] A1) The task distribution system can write the task information file into the content-addressable storage system;

[0071] A2) The task distribution system can obtain the content address corresponding to the task information file returned by the content-addressable storage system.

[0072] Among them, the task distribution system can be configured with an encryption module, and the task distribution system can use the encryption module to convert the task information file into a ciphertext file. The task information file can include plaintext task information such as the material identification to be transported, the loading coordinates, and the unloading coordinates. It can also include detailed information such as the material size / weight, ciphertext task information such as the travel control instruction and speed control instruction of the transport vehicle. The material identification can be a specified string and / or number. The loading coordinates and the unloading coordinates can be relative coordinates of the working site rather than GPS longitude and latitude coordinates. The working site can be, for example, a storage plant area, a hub station, etc. The working site can have a defined reference position as the relative coordinate origin. It will be difficult for external visitors to obtain the actual meaning of the file corresponding to the content address, so that the specific content information of the task information file can be obfuscated to ensure the confidentiality of the task information file and provide the security of task execution. It can be understood that the task distribution system can also convert all the task information in the task information file into encrypted ciphertext. It should be added that in a better example of the embodiment of the present invention, each system can be configured with an encryption module and a corresponding decryption module, and the decryption module can convert the encrypted ciphertext into plaintext.

[0073] In some examples disclosed in the embodiment of the present invention, the task distribution system can also be communicatively connected to the blockchain system; the transport vehicle control system of the transport vehicle can be communicatively connected to the content-addressable storage system and can also be communicatively connected to the blockchain system. Among them, the blockchain system can be composed of blockchain nodes in a private network or, in the case where each system can provide sufficient information confidentiality and data security, can be composed of blockchain nodes in a public network. The blockchain nodes can be devices such as industrial control computers and / or servers that have instruction set processing capabilities and computing capabilities, and the device is configured with an executable program corresponding to the blockchain node source code that is compatible with the same / version. The blockchain nodes can adopt a type with the function of executing smart contract instances. The task distribution system can also perform the following operations:

[0074] A3) The task distribution system writes the content address corresponding to the task information file into the blockchain system.

[0075] Similarly, the transport vehicle control system can perform the recording operation of the status log file:

[0076] B1) The transport vehicle control system can write the status log file into the content-addressable storage system;

[0077] B2) The transport vehicle control system can obtain the content address corresponding to the status log file returned by the content-addressable storage system;

[0078] B3) The transport vehicle control system writes the content address corresponding to the status log file into the blockchain system.

[0079] Among them, the blockchain system can be selected as a blockchain system that supports the deployment of smart contracts. In some instances, by configuring functions with the string function of recording content addresses and functions that can return the string function of the content address based on instruction calls in the code of the smart contract, after compiling the smart contract, the executable file of the smart contract is deployed to the blockchain system and associated with a specified account address, so that an instantiated execution program (smart contract instance) can be obtained in the blockchain system. Based on the interface description file generated together during compilation, the task distribution system and the transport vehicle control system can implement the aforementioned steps A3) and B3) through the interface component. The recording operation of the transport vehicle control system can be executed synchronously or asynchronously with any one of the aforementioned steps S1) to S4). The task distribution system of the embodiment of the present invention can record any file in the manner of the aforementioned steps A1) to A3), and the transport vehicle control system of any transport vehicle can record any file in the manner of the aforementioned steps B1) to B3), which can be understood in this way in the embodiment of the present invention.

[0080] The task distribution system can form a task instruction through the aforementioned content address. Based on the effects of use and testing, the task instruction can also include task identification information and / or auxiliary broadcast data frame information, etc. The task distribution system can broadcast this task instruction.

[0081] In the embodiment of the present invention, the transport vehicle control system of the current transport vehicle can be communicatively connected to the task distribution system, and this transport vehicle control system can be communicatively connected to the transport vehicle control systems of other transport vehicles in the site. The transport vehicle control system can determine the task instruction in various ways, including:

[0082] S101) The transport control system queries the data record of the smart contract instance deployed under the associated account address in the blockchain system to obtain the task instruction; among them, after the task distribution system obtains the content address from the content-addressable storage system, the task instruction can be recorded in the smart contract instance by the task distribution system, so as to realize the task distribution system arranging the time distribution of each task instruction through the smart contract instance;

[0083] S102) The transport control system receives the task instruction broadcast by (other transport vehicles in the site);

[0084] S103) The transport control system receives the task instruction broadcast by the task distribution system.

[0085] Among them, step S101) can be executed according to the specified period, and the transport vehicle control system can mark the block identifier (for example, the block height value H1), which corresponds to the task identifier, and the task identifier is bound to the transport vehicle identifier. Before the scheduling task corresponding to the task identifier is completed, the marked block identifier may not be changed (locked at the block height value H1), and if before the scheduling task corresponding to the task identifier is completed, step S101) obtains a new task instruction, the transport vehicle identifier can still be bound to the task identifier of the new task instruction, and the transport vehicle control system can write the bound new task identifier and transport vehicle identifier into the block record of the blockchain system (there is a new task identifier). The block height value of the transport vehicle may have any interval with the aforementioned height value, that is, the scheduling tasks assigned by other transport vehicles are separated in the middle), that is, although the transport vehicle has not completed the scheduling task, it can still assign a new scheduling task. After the scheduling task corresponding to the aforementioned task identifier is completed, the marked block identifier can be changed, for example, to the aforementioned new block height value (locked in the block height value H2), and then continue to execute the scheduling task corresponding to the new task instruction. In this way, regardless of whether any failure occurs in the server of the central control scheduling system or the software and hardware of the transport vehicle, the effective block record will not change, and will not affect the transport vehicle scheduling conflict and task execution disorder after the resumption of operation. Therefore, step S101) can also include:

[0086] S101-1) determining whether a new task instruction is obtained, if so, executing step S101-2), if not, continuing to determine whether a new task instruction is obtained after a specified time interval;

[0087] S101-2) recording the own transport vehicle identifier and the task identifier of the new task instruction in a new block record, and determining whether there is a scheduling task in execution;

[0088] S101-3) If it exists, keep the marked block ID unchanged;

[0089] S101-4) If it does not exist, mark the block identifier corresponding to the new block record and keep it, and jump to step S101-1).

[0090] It should be noted that, in any of steps S101) to S103), if a new task instruction is obtained and there is no task instruction with the same task identification information as the new task instruction, the task instruction with the same task identifier obtained repeatedly in the same step / obtained in other steps can be ignored; step S103) can be further used for task instructions for controlling each transport vehicle, such as motion control (moving to a specified position) or indicating maintenance or adjustment task instructions.

[0091] After determining the task instruction, the transport vehicle control system can perform broadcasting, including any at least one of the following:

[0092] C1) The transport control system performs the broadcasting of the task instruction;

[0093] C2) The transport control system performs the broadcasting of the status information of the transport vehicle.

[0094] Among them, the execution of step C1) or step C2) can be synchronized (such as when multiple task instructions are issued) or asynchronous with the execution of any one of steps S1) to S4). The broadcasting of the status information in step C2) can be performed under specified conditions and / or within a specified time. For example, it can be performed when the status of the transport vehicle changes (such as from the idle state to the working state), when the specified cycle timing is reached, or in real time during the working state.

[0095] In step S2), the transport vehicle control system can query the content address in step S1). The information in the task information file obtained by the transport vehicle control system can be consistent with the information in the task information file written by the task issuing system to the content addressing system. The bidding rule file can be a file that records the measurement method of whether the transport vehicle is suitable for the current task information, and this file also records the bidding information (suitable for the current task information) specifying a specific type of status information. In some instances, the bidding rule file can include a specified calculation function for estimating the competitiveness value of the transport vehicle status information relative to the task information in the current (task information file) and / or a specified numerical range for estimating the competitiveness level of the transport vehicle status information relative to the current task information. Exemplarily, the data processing operations performed using the bidding rule file can include any one of the following:

[0096] D1) Using the specified calculation function to perform a weighted sum calculation on the numerical value of the status information, and the weighted sum value can be used as the competitiveness value;

[0097] D2) When the numerical value of the status information is within the specified numerical range (representing the status), it can be recorded as obtaining a specified score. The final score is determined by the sum of the specified scores, and based on the specified numerical range (representing the level) where the final score is located, the competitiveness level is determined. Among them, the examples of steps S201) and S202) are not limited implementation manners, and can be selected based on the usage and test effects, or other data processing operations can be configured, such as setting a threshold and comparing the status information with the set threshold, etc. This data processing operation can also include:

[0098] D3) Whether the numerical value / level of the status information (both) reaches the bidding threshold.

[0099] In the bidding rule file, a bidding threshold can be specified, and the bidding threshold can be a measurement threshold for whether the transport vehicle is suitable for the current scheduling task. For example, the bidding threshold can include a numerical threshold or a level threshold corresponding to the transport level, and the transport level can be a numerical / level representation of the current status information of the transport vehicle relative to the current task information. Step D3) can be configured to be executed before steps D1) to D2), and when the return after the execution of step D3) is yes, it can be used as a condition for the execution of step D1) or D2).

[0100] The bidding rule file can be default-configured in the transport vehicle control system of each transport vehicle, or the content address of the bidding rule file can be recorded in the transport vehicle control system of each transport vehicle. The bidding rule file can also be obtained according to the acquisition method of the task information file. For example, the transport vehicle control system can obtain the content address of the bidding rule file from the task information file / task instruction, and the transport vehicle control system obtains the bidding rule file from the content-addressable storage system based on the content address of the bidding rule file, so that the task information file and the bidding rule file can be associated to facilitate determining a more suitable transport vehicle for the current task information to execute the scheduling task. In view of this, determining the bidding rule file can include any one of the following:

[0101] S201) Based on the pre-configured content address, the transport control system obtains the bidding rule file from the content-addressable storage system, where the task instruction also includes the specified content address.

[0102] S202) Based on the specified content address, the transport control system obtains the bidding rule file from the content-addressable storage system, where the task information file includes the specified content address.

[0103] After determining the bidding rule file, the information of the materials in the task information file and the measurement information in the bidding rule file can be utilized. Step S3) can include:

[0104] S301) Based on the task information file, the transport control system determines the transport level of the transport vehicle, where the transport level includes the scheduling distance, the endurance level, and the load capacity level.

[0105] S302) The transport control system determines that the transport level of the transport vehicle reaches the bidding threshold in the bidding rule file.

[0106] Among them, the scheduling distance can be calculated based on the positioning coordinates of the transport vehicle and the loading and unloading coordinates of the material. The endurance level can be the remaining battery power or the high or low level of the remaining battery power. The load-bearing level can be the rated load capacity or the load size level. In some examples, the transport level can also include the current numerical size of the task token. The task token can be a function that configures the allocation, transfer (value increase or decrease), and query of the current numerical size, etc. of the task token on the basis of the foregoing smart contract during code configuration. After the smart contract is deployed, the account address associated with the transport vehicle identifier can be assigned the same specified number (which can be 0 or other numbers) of task tokens. Whenever the transport vehicle completes a scheduling task, the task issuing system can send a specified number of task tokens from the account address associated with the task issuing system identifier to the account address associated with the transport vehicle identifier, or the transport vehicle control system can send a specified number of task tokens from the account address associated with the transport vehicle identifier to the account address associated with the task issuing system identifier. The task token can also be a type of bidding threshold. The bidding threshold can include a scheduling distance threshold, a remaining battery power threshold, a load-bearing level threshold, and a task token, etc. at this time.

[0107] In this way, on the one hand, the balanced use of transport vehicles can be achieved by using the threshold limit of task tokens; on the other hand, after a certain working time, according to the distribution of task tokens of the account address associated with the transport vehicle identifier, it can be determined whether the transport vehicle has executed a reasonable number of scheduling tasks and whether the task completion rate meets the requirements, etc. For example, transport vehicles with too high or too low task tokens associated with the account address can reflect that the scheduling system is unreasonably set, so as to adjust the scheduling strategy in time and balance the scheduling tasks of each transport vehicle.

[0108] In some examples, transport vehicles that meet the bidding threshold can already execute scheduling tasks. In another example, transport vehicles with scheduling priorities (identifiers) can be determined among the transport vehicles that meet the bidding threshold. The foregoing execution method can also include: determining the transport vehicle with scheduling priority, specifically as follows:

[0109] E1) Based on the bidding information in the bidding rule file, the transport control system determines the scheduling priority level of the transport vehicle that reaches the bidding threshold. Among them, the bidding information includes any at least one of the idle time, the maximum endurance level, and the shortest scheduling distance;

[0110] E2) Based on the scheduling priority level, the transport control system designates the transport vehicle (identifier) for task execution.

[0111] Among them, steps E1) to E2) can be executed after step S3) and before step S4). The bidding information can also include the maximum or minimum task proxy value and whether multi-vehicle linkage is involved, etc. The types of information in the bidding information can be used to specify the types of status information participating in the calculation in step D1) above and the weights for associated allocation, and can also be used to specify the types of status information participating in the comparison and their specified numerical ranges in step D2) above. At this time, for step E1), the corresponding status information can include idle time, battery life level, and positioning coordinates (or calculated scheduling distance). The competitiveness value in step D1) above or the competitiveness level in step D2) above can be used as the scheduling priority level.

[0112] For step E2), based on the scheduling strategy configured for the transport vehicle and the communication network infrastructure, there can be multiple implementation methods. For example, each transport vehicle can add its own scheduling priority level to the status information, broadcast the status information, write its own and the received scheduling priority levels into the scheduling priority level list. The list can record the task identification information and the scheduling priority levels of the transport vehicles corresponding to the task identification information. One or more transport vehicles for task execution can be specified by sorting by value / level in the scheduling priority level list. For example, one transport vehicle with the highest scheduling priority level or multiple transport vehicles with relatively high scheduling priority levels can be specified to execute the scheduling task. Another example is that each transport vehicle can add its own scheduling priority level to the status information and broadcast the status information. Within a specified time, if the received scheduling priority levels do not exceed its own scheduling priority level, it specifies itself as the transport vehicle for task execution. If the received scheduling priority levels exceed its own scheduling priority level, it ignores the scheduling task corresponding to the task information file. The above examples are not the implementation methods limited by the embodiments of the present invention. The determination of scheduling priority can be achieved based on the specific site and network infrastructure.

[0113] To improve the scheduling efficiency, on this basis, path planning can be performed. The path planning can include:

[0114] E3) The transport control system determines a path planning rule file, where the path planning rule file is stored in the content-addressable storage system;

[0115] E4) Based on the path planning rule file and the task information file, the transport control system determines the travel path and time window of the specified transport vehicle.

[0116] Among them, steps E3) to E4) can be executed after step E2) and before step S4). The path planning rule file can be a file for determining the walking path of the transport vehicle in the site and determining the time window (which can be used to configure speed / acceleration). The path planning rule file can include a default calculation function for the walking path from the positioning coordinates of the current transport vehicle relative to the material positioning position in the task information file and filtering conditions for sections where walking is prohibited, etc. The path planning rule file can be configured by the task distribution system. The storage and acquisition methods of the path planning rule file can refer to the implementation methods of the aforementioned status log file and bidding rule file, which will not be elaborated here.

[0117] After the path planning is completed, during the walking process, the transport vehicle can add the information of the walking path and the time window to the status information, write the current status information into the status log file, broadcast the status information, and write the status log file into the content-addressable storage system. This process can be set to broadcast to specified local transport vehicles (such as broadcasting with a specified number of hops) or to all transport vehicles according to the actual situation.

[0118] To further improve the scheduling efficiency, path optimization can be performed on this basis. Path optimization can include:

[0119] F1) Determine a path optimization rule file, where the path optimization rule file is stored in the content-addressable storage system;

[0120] F2) Based on the path optimization rule file, determine the passing priority level of the specified transport vehicle;

[0121] F3) Optionally adjust the walking path and the time window based on the passing priority level.

[0122] Among them, steps F1) to F3) can be executed before step S4) and can be executed during the execution of step S4). The path optimization rule file can be a file for managing the priority levels of each path in the site and managing the time window. The path optimization rule file can include priority passing rules (numerical / level) corresponding to the level of the task, first-come-first-served priority passing rules (numerical / level, the walking path and the time window can determine the arrival time of each coordinate of the section not yet walked), deceleration rules for key sections (positioning coordinates for controlling speed in the specified walking path), etc. The path optimization rule file can be configured by the task distribution system and can be associated with the scheduling task (such as the task priority level). The storage and acquisition methods of the path optimization rule file can refer to the implementation methods of the aforementioned status log file and bidding rule file, which will not be elaborated here.

[0123] During the movement of the transport vehicle, information about the travel path can be broadcast. For intersections or overlapping sections in the path, the vehicle can determine its own priority level (numerical / grade) for passage based on the path optimization rule file. The data processing operations configured in the path optimization rule file can refer to the aforementioned steps D1) and D2). For example, based on the coordinates and time windows in the travel path in the status information of each transport vehicle, with respect to the first-come-first-served priority rule for passage in the path optimization rule file (for the arrival time in the time window of each section of the travel path with respect to the coordinates, different values can be mapped), and the priority rule for passage corresponding to the grade of the task (assigning weights), a competitiveness value / competitiveness grade is calculated, and this competitiveness value / competitiveness grade is used as the priority level for passage. The autonomous implementation method of the scheduling priority level can be referred to, and the priority levels for passage of each transport vehicle are arranged. According to the arrangement, the time window corresponding to the positioning coordinates in its own travel path is adjusted, so as to adjust the travel paths of each transport vehicle in a bidding manner and obtain the actual travel path and actual time window. For example, with respect to a positioning coordinate, if the priority level for passage of the current transport vehicle does not exceed that of other transport vehicles, then based on the time window when the last of the other transport vehicles passed this positioning coordinate, the time window for the current transport vehicle to pass this positioning coordinate is adjusted by increasing the delay, or the current transport vehicle avoids traveling to this positioning coordinate and changes to the specified coordinate in the idle section; if the priority level for passage of the current transport vehicle exceeds that of other transport vehicles, then the current transport vehicle can pass according to the travel path obtained from the path planning and the time window obtained from the path planning.

[0124] In step S4), the transport vehicle can transport the material to the designated position point. If there are still scheduling tasks to be executed, it can go to the position point of the next material. If there are no scheduling tasks, it can go to the default parking position point in the site. When any scheduling task is accepted, being executed, or completed by the transport vehicle, the transport vehicle control system can form a string of the transport vehicle identifier and the task identifier (a type of task identification information) and write it into the blockchain system (it can be in a block record), and the string can be recorded and queried through the smart contract instance. It should be added that in some more advantageous implementations, in addition to the processing of ciphertext and plaintext in the aforementioned file, the task distribution system and the transport vehicle control system of any transport vehicle can be configured with an encryption module and a corresponding decryption module. For any file, the encryption module can be used for the overall encryption of the file. The encryption of the file by the encryption module can be before writing into the content-addressable storage system, and the file written into the content-addressable storage system can be the encrypted file of the file. After obtaining the encrypted file from the content-addressable storage system, the decryption module can be used for decrypting the encrypted file, so as to provide sufficient information confidentiality and data security.

[0125] After the scheduling task is completed, task proxy value sending can be performed, which may include:

[0126] S5) The transport vehicle control system sends the task proxy value to the specified account address via the account address of the transport vehicle that has executed the scheduling task.

[0127] Under the same inventive concept, an embodiment of the present invention further provides a method for executing a scheduling task, which can be applied to a content-addressable storage system and a task distribution system. The execution method includes:

[0128] J1) Record the status log file sent by the transport vehicle via the content-addressable storage system;

[0129] J2) Write the content address of the task information file into the blockchain system via the task distribution system, where the content address is obtained after the task distribution system writes the task information file into the content-addressable storage system.

[0130] In the embodiment of the present invention, the task distribution system can determine whether the scheduling task has been completed based on the broadcast of the status information of the transport vehicle. After completion, the configured instruction can be executed via the task distribution system, and the task proxy value can be sent to the account address of the transport vehicle that has executed the scheduling task via the intelligent contract instance deployed in the blockchain system after the scheduling task is completed.

[0131] Embodiment 2

[0132] The embodiment of the present invention belongs to the same inventive concept as Embodiment 1. The embodiment of the present invention provides a transport vehicle system, which can be the transport vehicle control system in Embodiment 1. The transport vehicle system includes:

[0133] A determination module for determining the task instruction specified by the task distribution system, where the task instruction includes the content address of the task information file, and the content address is obtained after the task distribution system writes the task information file into the content-addressable storage system;

[0134] A query module for querying the content address, obtaining the task information file from the content-addressable storage system, and determining the bidding rule file;

[0135] A bidding module for determining that the status information in the status log file of the transport vehicle reaches the bidding threshold in the bidding rule file based on the task information file;

[0136] An execution module for executing the scheduling task corresponding to the task information file.

[0137] Specifically, the determination module is used for one or more of the following:

[0138] Query the data records of the smart contract instance deployed in the blockchain system to obtain a task instruction, which is recorded in the smart contract instance after obtaining the content address;

[0139] Receive the task instruction broadcast by the transport vehicle.

[0140] Specifically, the transport vehicle system may further include: a communication module, which is used for:

[0141] Perform the broadcast of the task instruction and / or perform the broadcast of the status information of the transport vehicle.

[0142] Specifically, the query module is used for:

[0143] Obtain an auction rule file from the content-addressable storage system based on a specified content address or a pre-configured content address, wherein the task instruction further includes the specified content address.

[0144] Specifically, the auction module is used for:

[0145] Determine the transportation level of the transport vehicle based on the task information file, wherein the transportation level includes a scheduling distance, a battery life level, and a carrying level;

[0146] Determine that the transportation level of the transport vehicle reaches the auction threshold in the auction rule file.

[0147] Specifically, the transport vehicle system may further include: a scheduling module, which is used for:

[0148] Determine the scheduling priority level of the transport vehicle that reaches the auction threshold based on the auction information in the auction rule file, wherein the auction information includes any at least one of an idle time, a maximum battery life level, and a shortest scheduling distance;

[0149] Specify a transport vehicle for task execution based on the scheduling priority level.

[0150] Specifically, the transport vehicle system may further include: a path planning module, which is used for:

[0151] Determine a path planning rule file, wherein the path planning rule file is stored in the content-addressable storage system;

[0152] Determine the traveling path of the specified transport vehicle based on the path planning rule file and the task information file.

[0153] Specifically, the transport vehicle system may further include: a path optimization module, which is used for:

[0154] Determine a path optimization rule file, where the path optimization rule file is stored in the content-addressable storage system;

[0155] Based on the path optimization rule file, determine the traffic priority level of a specified transport vehicle;

[0156] Optionally adjust the travel path based on the traffic priority level.

[0157] Specifically, the transport vehicle system may further include: a call module, which is used for at least one of the following:

[0158] Write the task identifier of the scheduling task and the identifier of the transport vehicle that executes the scheduling task into the blockchain system;

[0159] Write the content address of the status log file of the transport vehicle into the blockchain system, where the content address is obtained after writing the status log file of the transport vehicle into the content-addressable storage system;

[0160] After the scheduling task is completed, send a task value to a specified account address through the account address of the transport vehicle that has executed the scheduling task.

[0161] An embodiment of the present invention also provides a scheduling system under the same concept. The scheduling system may include the foregoing transport vehicle system, the content-addressable storage system in Embodiment 1, and the task distribution system in Embodiment 1. In a more advantageous embodiment, the scheduling system may further include the blockchain system in Embodiment 1.

[0162] In an example disclosed in an embodiment of the present invention, such as Figure 3 , the task distribution system and each AGV have 5G / Wi-Fi communication modules. The task distribution system is communicatively connected to each AGV. The content-addressable storage system (which can be IPFS at this time) is communicatively connected to the task distribution system and the AGV respectively (not shown in the drawings). The content-addressable storage system may further be communicatively connected to the blockchain system. The task distribution system and each AGV may be communicatively connected to the blockchain system and have network access rights to the blockchain system. The content-addressable storage system and the blockchain system may belong to the same private network. On this basis, such as Figure 4, the scheduling system may include a data storage layer, a blockchain layer, and a task execution layer. In the data storage layer, files can be recorded through IPFS. The files may include code files of smart contracts, bidding rule files, status information files, etc. In the blockchain layer, the transport vehicle identifier (AGVi), the task identifier (for the assigned task i), and the timestamp information (timestamp i) can be configured to be recorded in the block through the blockchain system, where i = 1, 2, 3... n, and n can be a positive integer. Whenever the transport vehicle control system completes the task self-assignment, the transport vehicle control system can write its own transport vehicle identifier and the task identifier of the task into the block record of the blockchain system (the transport vehicle control system forms new transaction data by packing through a smart contract instance, and a task is only recorded once). In the task execution layer, it can be divided into 5 application stages for execution, namely, the task distribution application stage, the task bidding application stage, the task execution application stage, the path bidding application stage, and the contract effectiveness application stage.

[0163] The present invention's handling of multi-system collaboration breaks through the constraints of centralized scheduling control, avoids the task distribution system from participating in task allocation, scheduling, and walking path processing, and does not require the direct transmission of task information files between the central control system and the transport vehicle. Compared with the usual need to transmit the entire task information file, the present invention can only transmit the content address data, can quickly complete task synchronization, and the transport vehicle and the file system can communicate directly, avoiding the occupation of the communication between the transport vehicle control systems by the data of the transmitted file. It also does not require the task distribution system to perform real-time calculations for task allocation, path allocation, and path optimization, etc. The transport vehicle control system can independently complete the scheduling task.

[0164] The status log files (including working status, fault information, etc.) of the transport vehicles in the present invention are all recorded in the content-addressable storage system and associated with the blockchain system, rather than being recorded in the servers of the task distribution system or other central control systems, ensuring that the data is easy to trace, difficult to tamper with, and easy to maintain. Each transport vehicle participates in task scheduling and path scheduling, realizing autonomous and bidding-based scheduling, avoiding problems such as scheduling failures caused by network and server issues, and not relying on the stability of the servers of the central control system / task distribution system and the communication effect between the transport vehicles. The fault tolerance of the entire scheduling system is greatly improved, avoiding the phenomenon of a large number of transport vehicles crashing.

[0165] Embodiments of the present invention provide an electronic device, a transport vehicle, and a computer-readable storage medium. The embodiments of the present invention and Embodiment 1 belong to the same inventive concept. The electronic device is intended to represent various forms of devices with instruction processing capabilities and computing capabilities, such as devices with integrated circuit chips or computers. The processor and the memory can be implemented in the form of a system-on-chip (SoC or MCU) or directly assembled using a circuit board with connection interfaces. The memory stores instructions that can be executed by at least one processor, and the at least one processor implements the method in Embodiment 1 described above by executing the instructions stored in the memory.

[0166] The optional embodiments of the present invention have been described in detail above in conjunction with the accompanying drawings. However, the embodiments of the present invention are not limited to the specific details in the above embodiments. Within the scope of the technical concept of the embodiments of the present invention, various simple modifications can be made to the technical solutions of the embodiments of the present invention, and these simple modifications all fall within the protection scope of the embodiments of the present invention.

[0167] In addition, it should be noted that, among the various specific technical features described in the above specific embodiments, they can be combined in any suitable manner without conflict. To avoid unnecessary repetition, the embodiments of the present invention do not separately describe various possible combination methods.

[0168] Those skilled in the art can understand that all or part of the steps of implementing the method in the above embodiments can be completed by instructing relevant hardware through a program. The program is stored in a storage medium, including several instructions to enable a single-chip microcomputer, a chip, or a processor to execute all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage medium can be non-transitory, and the storage medium can include: USB flash drives, hard disks, read-only memories (ROM, Read-Only Memory), random access memories (RAM, Random Access Memory), flash memories, magnetic disks, or optical discs, etc., which can store program codes.

[0169] In addition, any combination can be made between various different embodiments of the present invention as long as it does not violate the idea of the embodiments of the present invention, and it should also be regarded as the content disclosed in the embodiments of the present invention.

Claims

1. An execution method for an automatic guided vehicle scheduling task, characterized in that, the execution method includes: Determine the task instruction specified by the task issuing system, where the task instruction includes the content address of the task information file, and the content address is obtained after the task issuing system writes the task information file into the content-addressable storage system; Query the content address, obtain the task information file from the content-addressable storage system, and determine the bidding rule file; Based on the task information file, determine that the status information in the status log file of the transport vehicle reaches the bidding threshold in the bidding rule file, including: based on the task information file, determine the transport level of the transport vehicle, where the transport level includes the scheduling distance, the endurance level, and the load level; determine that the transport level of the transport vehicle reaches the bidding threshold in the bidding rule file; Execute the scheduling task corresponding to the task information file.

2. The execution method for an automatic guided vehicle scheduling task according to claim 1, characterized in that, The determination of the task instruction specified by the task issuing system includes one or more of the following: Query the data record of the smart contract instance deployed in the blockchain system to obtain the task instruction, and the task instruction is recorded in the smart contract instance after obtaining the content address; Receive the task instruction broadcast by the transport vehicle.

3. The execution method for an automatic guided vehicle scheduling task according to claim 2, characterized in that, After determining the task instruction specified by the task issuing system, the execution method further includes: Execute the broadcast of the task instruction and / or execute the broadcast of the status information of the transport vehicle.

4. The execution method for an automatic guided vehicle scheduling task according to claim 1, characterized in that, The determination of the bidding rule file includes: Based on the specified content address or the pre-configured content address, obtain the bidding rule file from the content-addressable storage system, where the task instruction further includes the specified content address.

5. The execution method for an automatic guided vehicle scheduling task according to claim 1, characterized in that, After determining that the status information in the status log file of the transport vehicle reaches the bidding threshold in the bidding rule file based on the task information file, and before executing the scheduling task corresponding to the task information file, the execution method further includes: Based on the bidding information in the bidding rule file, determine the scheduling priority level of the transport vehicle that reaches the bidding threshold, where the bidding information includes any at least one of the idle time, the maximum endurance level, and the shortest scheduling distance; Based on the scheduling priority level, specify the transport vehicle for task execution.

6. The execution method for an automatic guided vehicle scheduling task according to any one of claims 1 to 5, characterized in that, The execution method further includes: Determine the path planning rule file, where the path planning rule file is stored in the content-addressable storage system; Based on the path planning rule file and the task information file, determine the traveling path of the specified transport vehicle.

7. The execution method of the automatic guided vehicle scheduling task according to claim 6, wherein, the execution method further includes: determining a path optimization rule file, wherein the path optimization rule file is stored in the content-addressable storage system; determining the passing priority level of a specified transport vehicle based on the path optimization rule file; selectively adjusting the traveling path based on the passing priority level.

8. The execution method of the automatic guided vehicle scheduling task according to claim 2, wherein, the execution method further includes at least one of the following: writing the task identifier of the scheduling task and the identifier of the transport vehicle executing the scheduling task into the blockchain system; writing the content address of the status log file of the transport vehicle into the blockchain system, where the content address is obtained after writing the status log file of the transport vehicle into the content-addressable storage system; after the scheduling task is completed, sending a task Token to a specified account address through the account address of the transport vehicle that has executed the scheduling task.

9. An execution method of a scheduling task, which is executed in cooperation with the execution method of the automatic guided vehicle scheduling task according to any one of claims 1 to 8, wherein, the execution method includes: recording the status log file sent by the transport vehicle through the content-addressable storage system; writing the content address of the task information file into the blockchain system through the task distribution system, where the content address is obtained after the task distribution system writes the task information file into the content-addressable storage system.

10. The execution method of the scheduling task according to claim 9, wherein, the execution method further includes: sending a task Token to the account address of the transport vehicle that has executed the scheduling task after the scheduling task is completed through the intelligent contract instance deployed in the blockchain system.

11. A transport vehicle system, wherein, the transport vehicle system includes: a determination module for determining a task instruction specified by the task distribution system, where the task instruction includes the content address of the task information file, and the content address is obtained after the task distribution system writes the task information file into the content-addressable storage system; a query module for querying the content address, obtaining the task information file from the content-addressable storage system, and determining a bidding rule file; a bidding module for determining that the status information in the status log file of the transport vehicle reaches the bidding threshold in the bidding rule file based on the task information file, including: determining the transport level of the transport vehicle based on the task information file, where the transport level includes the scheduling distance, the endurance level, and the load level; determining that the transport level of the transport vehicle reaches the bidding threshold in the bidding rule file; an execution module for executing the scheduling task corresponding to the task information file.

12. An electronic device, wherein, the electronic device includes: at least one processor; a memory connected to the at least one processor; Wherein, the memory stores instructions executable by the at least one processor, and the at least one processor implements the method according to any one of claims 1 to 10 by executing the instructions stored in the memory.

13. An automatic guided vehicle, which has the electronic device according to claim 12.

14. A computer-readable storage medium storing computer instructions, which, when run on a computer, cause the computer to execute the method according to any one of claims 1 to 10.

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