A method, system, and computer device for dynamically selecting AGV equipment.

Abstract

This application provides a method, system, and computer device for dynamically selecting AGV devices. The method includes: obtaining a first set of ideal travel paths corresponding to the starting point of a plurality of AGV devices currently not performing tasks; determining whether the lengths of several travel paths in the first set of ideal travel paths are less than a first preset safe path length threshold; when none of the travel path lengths in the first set of ideal travel paths are less than the first preset safe path length threshold, performing dynamic selection strategy processing on the AGV devices currently not performing tasks; and selecting AGV devices that meet the criteria from the AGV devices currently not performing tasks using the dynamic selection strategy, and determining these AGV devices as the AGV devices to perform tasks. This improves the overall efficiency of selecting AGV devices to perform tasks.

Description

Technical Field

[0001] This invention relates to the field of AGV scheduling technology, specifically to a method for dynamically selecting AGV equipment after a task is assigned. Background Technology

[0002] In recent years, with the increasing demand for AGVs in small warehouses, the high-frequency use of all AGVs at the same time does not account for a large portion of the entire production cycle, resulting in AGVs being idle most of the time. When a station needs to call an AGV to perform a task, the traditional approach is to first use Dijkstra's algorithm to calculate the vehicle with the shortest distance between the actual starting point and the destination of the route, and then call that vehicle to move to the task starting point to perform the task.

[0003] In the process of developing the existing technology, the inventors discovered that:

[0004] After selecting the vehicle, various situations may arise during its actual movement to the task starting point, such as internal module damage to the AGV, obstruction or destruction of the AGV's movement path, preventing the AGV from moving to the task starting point within the expected time. Since traditional task allocation methods involve a one-time calculation, it is impossible to select other available AGVs to move to the task starting point in a timely manner, resulting in task allocation failure and inability to execute.

[0005] Therefore, a technical solution for dynamically selecting AGV devices is needed to solve the technical problem in the prior art that when the selected AGV device cannot reach the designated task starting point within the expected time, other idle AGV devices cannot be selected in time to reach the designated task starting point to execute the task. Summary of the Invention

[0006] This application provides a technical solution for dynamically selecting AGV devices, including a method, system, and computer equipment, to solve the technical problem in the prior art where, when the selected AGV device cannot reach the designated task starting point within the expected time, other idle AGV devices cannot be selected in a timely manner to reach the designated task starting point and execute the task.

[0007] Specifically, a method for dynamically selecting AGV equipment includes the following steps:

[0008] Obtain the first set of ideal travel paths corresponding to the arrival of several AGV devices with no tasks currently being performed to the task starting point;

[0009] Determine whether the length of some driving paths in the first group of several ideal driving paths is less than the first preset safe path length threshold.

[0010] When the length of several travel paths in the first set of several ideal travel paths is not less than the first preset safe path length threshold, a dynamic selection strategy is applied to several AGV devices that are not currently performing tasks.

[0011] The dynamic selection strategy selects a suitable AGV device from among several AGV devices that are not currently performing a task, and determines that the AGV device is the one that will perform the task.

[0012] Furthermore, the first preset safe path length threshold is determined at least by the distance between path points.

[0013] Furthermore, through the dynamic selection strategy, a suitable AGV device is selected from a group of AGV devices that have not yet performed a task, and this AGV device is determined to be the one performing the task. Specifically, this includes:

[0014] The first set of several ideal driving paths is segmented to generate at least the first set of several ideal driving paths, the second set of several ideal driving paths, and the third set of several ideal driving paths.

[0015] Drive the AGV devices that are currently not performing tasks to travel along the first segment of the first ideal travel path group after being divided into segments, and generate the first segment of actual travel path parameter group for the AGV devices that are currently not performing tasks to travel along the first segment of the ideal travel path group.

[0016] Select several AGV devices corresponding to several actual driving paths that meet the first preset driving time threshold from the first segment of several actual driving path parameter groups to generate the first AGV device group;

[0017] Drive the first AGV equipment group to travel along the second segment of several ideal travel path groups after the corresponding first several ideal travel path groups are divided into several segments, and generate several actual travel path parameter groups for the second segment of the first AGV equipment group to travel along the first segment of several ideal travel path groups.

[0018] Select several AGV devices corresponding to several actual driving paths that meet the second preset driving time threshold from the second set of several actual driving path parameter groups to generate the second AGV device group;

[0019] Select the AGV device that meets the criteria from the second AGV device group, and determine that the AGV device is the AGV device that performs the task.

[0020] Further, selecting suitable AGV devices from the second AGV device group and determining the AGV devices as those performing the task specifically includes:

[0021] Obtain a second set of several ideal driving paths corresponding to the arrival of the second AGV device at the task starting point;

[0022] Determine whether the lengths of some driving paths in the second set of several ideal driving paths are less than the first preset safe path length threshold.

[0023] When the lengths of several driving paths in the second set of several ideal driving paths are less than the first preset safe path length threshold, the first preset safe path length threshold is used to perform a function operation with the path lengths of several second set of ideal driving paths that are less than the first preset safe path length threshold, to generate function values ​​of several first preset safe path length thresholds and several paths that are less than the first preset safe path length threshold.

[0024] Select a number of first preset safe path length thresholds and determine the first AGV devices as the AGV devices that perform the task by matching the maximum value among a number of function values ​​that are less than the first preset safe path length thresholds.

[0025] Furthermore, the second preset time threshold can be adjusted;

[0026] The second preset time threshold is determined based at least on fault alarm, emergency stop duration, vehicle execution timeliness score, and route point score.

[0027] Furthermore, after driving the currently unperforming AGV devices along the first segment of the corresponding first ideal driving path group, and generating the first segment of actual driving path parameter group for the currently unperforming AGV devices along the first ideal driving path group, the process further includes:

[0028] Select AGV devices corresponding to several actual driving paths that do not meet the first preset driving time threshold from the first segment of several actual driving path parameter groups to generate a first candidate AGV device group.

[0029] The first alternative AGV equipment group is mainly used to reselect the first alternative AGV equipment in the first alternative AGV equipment group when there is no AGV equipment corresponding to several actual driving paths that meet the second preset driving time threshold in the second segment of several actual driving path parameter groups.

[0030] This application also provides a system for dynamically selecting AGV equipment, including:

[0031] The acquisition module is used to acquire the first set of ideal travel paths corresponding to the arrival of several AGV devices that have not yet performed tasks at the task starting point;

[0032] The judgment module is used to determine whether the length of some driving paths in the first group of several ideal driving paths is less than the first preset safe path length threshold.

[0033] The dynamic processing module is used to perform dynamic selection strategy processing on several AGV devices that have not yet performed tasks when there are no travel paths in the first set of several ideal travel paths with lengths less than the first preset safe path length threshold.

[0034] The selection module is used to select, through the dynamic selection strategy, a matching AGV device from a number of currently non-task-performing AGV devices, and determine the AGV device as the AGV device to perform the task.

[0035] This application also provides a computer device for dynamically selecting AGV equipment.

[0036] Specifically, it includes a memory and a processor, the memory storing a computer program, characterized in that the processor executes the computer program to implement the steps of the method according to any one of claims 1 to 6.

[0037] The technical solution provided in this application has at least the following beneficial effects:

[0038] The method, system, and computer equipment for dynamically selecting AGV devices provided in this application enable the timely selection of other idle AGV devices to reach the designated task starting point and execute the task when the selected AGV device cannot reach the designated task starting point within the expected time. This method significantly improves overall task execution efficiency, avoids various anomalies during actual movement, and effectively eliminates AGVs with slow execution or unreasonable routes. Multiple attempts can be made when an AGV cannot reach the starting point, greatly reducing the number of tasks that cannot be executed. Attached Figure Description

[0039] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0040] Figure 1 This is a flowchart illustrating a method for dynamically selecting AGV devices, as provided in an embodiment of this application.

[0041] Figure 2 This is a schematic diagram of a system structure for dynamically selecting AGV equipment, provided in an embodiment of this application. Detailed Implementation

[0042] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0043] This invention provides a method, system, and computer device for dynamically selecting AGV equipment.

[0044] The AGV equipment, also known as AGV cart or Automated Guided Vehicle, refers to a transport vehicle equipped with electromagnetic or optical automatic navigation devices, capable of traveling along a predetermined navigation path, and possessing safety protection and various transfer functions. In industrial applications, these driverless transport vehicles are powered by rechargeable batteries. Their movement path and behavior are typically controlled by a computer, or their movement path is established using an electromagnetic path-following system. The electromagnetic track is attached to the floor, and the AGV moves and operates based on the information provided by the track. Existing technologies generally use Dijkstra's algorithm to select an idle AGV to perform a task. However, this often encounters various problems when the selected AGV moves to the task start point, resulting in its inability to arrive at the task start point in a timely manner. The technical problem that this application aims to solve is how to address the technical issue of not being able to promptly select another idle AGV to perform the task when the selected AGV fails to arrive at the designated task start point within the expected time.

[0045] Please refer to Figure 1 The present application provides a method for dynamically selecting AGV devices, which specifically includes the following steps:

[0046] S110: Obtain the first set of ideal travel paths corresponding to the arrival of the task starting point for the current set of AGV devices that have not yet performed tasks.

[0047] Specifically, when the task is issued, the starting position of the task is first obtained. Then, the positions of several AGV devices that are currently not performing tasks within a certain distance of that starting position are obtained. The distances between these positions and the starting position are then calculated to generate a first set of ideal travel paths. It is understood that the calculated distances between the starting position and the positions of the AGV devices can be either straight-line distances or distances calculated using the actual travel path. In a preferred embodiment provided in this application, the distances between the starting positions and the positions of the AGV devices are preferably the distances calculated using the actual travel path.

[0048] S120: Determine whether the length of some driving paths in the first group of several ideal driving paths is less than the first preset safe path length threshold.

[0049] Specifically, if there is an ideal driving path in the calculated first set of ideal driving paths that is less than the first preset safety path length threshold, the AGV device corresponding to that ideal driving path can be selected to drive to the task starting point to perform the task.

[0050] Furthermore, in a preferred embodiment provided in this application, the first preset safe path length threshold is determined at least by the distance between path points.

[0051] Specifically, the length threshold of the first preset safety path can be determined by the distance between path points. It is understood that path points for sensing the AGV are generally laid at intervals along the path the AGV travels. The length threshold of the first preset safety path can be determined based on the distance between these path points. For example, the length threshold of the first preset safety path can be set to be the same as the distance between path points, or it can be a certain multiple of the distance between path points. It should also be noted that the length threshold of the first preset safety path can also be determined based on other factors, or a combination of the distance between path points and other factors. Other factors may include considering the continuous working cycle of the AGV.

[0052] S130: When the length of several travel paths in the first set of several ideal travel paths is not less than the first preset safe path length threshold, a dynamic selection strategy is performed on several AGV devices that are not currently performing tasks.

[0053] Specifically, when the path length of the first set of several ideal driving paths is not less than the first preset safe path length threshold, a dynamic selection strategy is used for processing.

[0054] It should also be understood that even if there are AGV devices in the first set of ideal travel paths whose travel path lengths are less than the first preset safe path length threshold, and such devices are selected to reach the task starting point, but a malfunction occurs upon reaching the task starting point and they cannot arrive in time, the dynamic selection strategy still has a preset detection module that detects this and selects from other AGV devices besides those with travel path lengths less than the first preset safe path length threshold, thereby achieving dynamic selection of AGV devices. It can be understood that selecting from other AGV devices besides those with travel path lengths less than the first preset safe path length threshold is equivalent to selecting from AGV devices in the first set of ideal travel paths whose travel path lengths are greater than the first preset safe path length threshold, i.e., selection is achieved through a dynamic selection strategy.

[0055] S140: Using the dynamic selection strategy, select the AGV device that meets the criteria from among the current AGV devices that have not yet performed a task, and determine the AGV device as the AGV device that performs the task.

[0056] Furthermore, in a preferred embodiment provided in this application, the dynamic selection strategy selects a qualified AGV device from among several AGV devices that have not yet performed a task, and determines the AGV device as the AGV device performing the task. Specifically, this includes: performing path segmentation processing on the first set of several ideal driving path groups to generate at least a first set of several ideal driving path groups, a second set of several ideal driving path groups, and a third set of several ideal driving path groups; driving the current set of several AGV devices that have not yet performed a task along the first set of several ideal driving path groups after segmentation of the corresponding first set of several ideal driving path groups, and generating parameters for the first set of several actual driving paths along the first set of several ideal driving path groups. The process involves: selecting several AGV devices from the first set of several actual driving path parameter groups that meet a first preset driving time threshold, generating a first AGV device group; driving the first AGV device group along a second set of several ideal driving path groups after the corresponding first set of several ideal driving path groups have been segmented, generating a second set of several actual driving path parameter groups along the first set of ideal driving path groups; selecting several AGV devices from the second set of several actual driving path parameter groups that meet a second preset driving time threshold, generating a second AGV device group; and selecting AGV devices from the second AGV device group that meet the threshold, determining the AGV devices as the AGV devices performing the task.

[0057] Specifically, when the length of any of the travel paths in the first set of ideal travel paths is less than a first preset safe path length threshold, the first set of ideal travel paths is segmented to generate at least a first set of ideal travel paths, a second set of ideal travel paths, and a third set of ideal travel paths. It is understood that this segmentation can be based on the AGV's need to make left turns, right turns, or U-turns, or it can be based on the path points it needs to traverse. It should also be noted that the limitation on the number of segments described here does not constitute a limitation on the specific scope of protection of this application.

[0058] The system drives the currently untasked AGVs along a first segment of ideal driving paths, which is a subset of the first set of ideal driving paths. This generates a first set of actual driving path parameters for the AGVs traveling along this first segment. The purpose of driving the currently untasked AGVs along this first segment of ideal driving paths is to select the relatively better AGV from the current set of untasked AGVs after traveling along the first segment of ideal driving paths, and then select an even better AGV from the second and third segments of ideal driving paths to perform the task.

[0059] AGV devices corresponding to several actual driving paths that meet a first preset driving time threshold are selected from the first set of several actual driving path parameter groups to generate a first AGV device group. AGV devices that meet the first preset driving time threshold are considered relatively optimal. The first preset driving time threshold is a preset time for several AGV devices that are not currently performing tasks to travel along the first set of several ideal driving path groups after being segmented. When this first preset driving time threshold is exceeded, it is clear that the movement of the AGV device is not optimal.

[0060] The first AGV group is driven to travel along a second set of ideal travel paths, which is a segment of the first set of ideal travel paths. This generates a second set of actual travel path parameters for the first AGV group traveling along the first set of ideal travel paths. AGV devices corresponding to several actual travel paths in the second set of actual travel path parameters that meet a second preset travel time threshold are selected to generate a second AGV group. It can be understood that the AGV devices in the first AGV group that meet the second preset travel time threshold are relatively better at performing the task.

[0061] It should be noted that the generated second AGV equipment group can also travel along several ideal travel paths in the third segment, and then select AGV equipment that meets the third preset travel time threshold to generate the third AGV equipment group. This process is repeated sequentially along the segmented paths, finally selecting the matching AGV equipment. That is, selecting the matching AGV equipment from the second AGV equipment group and determining that the AGV equipment is the one performing the task can be understood as dividing the path into n segments, selecting the matching AGV equipment from the nth segment's AGV equipment group, and determining that the AGV equipment is the one performing the task.

[0062] Furthermore, in a preferred embodiment provided in this application, selecting a suitable AGV device from the second AGV device group and determining the AGV device as the AGV device performing the task specifically includes: obtaining a second set of several ideal driving paths corresponding to the second AGV device reaching the task starting point; determining whether the lengths of several driving paths in the second set of several ideal driving paths are less than a first preset safe path length threshold; when several driving path lengths in the second set of several ideal driving paths are less than the first preset safe path length threshold, performing a function operation between the first preset safe path length threshold and the path lengths of the several second set of ideal driving paths less than the first preset safe path length threshold, generating several function values ​​of the first preset safe path length threshold and several function values ​​less than the first preset safe path length threshold; selecting a first AGV device corresponding to the maximum value among the several function values ​​of the first preset safe path length threshold and several function values ​​less than the first preset safe path length threshold, and determining the first AGV device as the AGV device performing the task.

[0063] Understandably, if multiple AGV devices still exist after traveling along segmented path groups multiple times, the positions of these multiple AGV devices and their starting points can be obtained. Then, a second set of ideal travel paths corresponding to the starting points of the multiple AGV devices can be calculated. Next, it is determined whether the lengths of several travel paths in the second set of ideal travel paths are less than a first preset safe path length threshold. If none of the lengths of the second set of ideal travel paths are less than the first preset safe path length threshold, travel along the segmented path groups continues. However, if several lengths of the second set of ideal travel paths are less than the first preset safe path length threshold, a function operation is performed between the first preset safe path length threshold and the lengths of the second set of ideal travel paths less than the first preset safe path length threshold, generating function values ​​for the first preset safe path length threshold and several values ​​less than the first preset safe path length threshold. The first AGV device corresponding to the maximum value among these function values ​​is selected as the AGV device performing the task.

[0064] It is understood that the second AGV equipment group mentioned above specifically refers to AGV equipment corresponding to several actual travel paths that meet the second preset travel time threshold. In actual application scenarios, it can also refer to AGV equipment corresponding to several actual travel paths that meet the third and fourth preset travel time thresholds. Obviously, determining which segment after segmentation is shorter than the first preset safe path length threshold does not constitute a limitation on the specific scope of protection of this application.

[0065] Furthermore, in a preferred embodiment provided in this application, the first preset time threshold and the second preset time threshold are adjustable; wherein, the first preset time threshold and the second preset time threshold are determined at least based on the fault alarm and emergency stop duration.

[0066] Specifically, when the AGV travels along the first, second, and third segments of ideal travel paths, the corresponding first and second preset travel time thresholds are all adjustable. The adjustment of these preset travel time thresholds can be determined based on fault alarms and emergency stop durations that occur during the AGV's travel along the previous path segment. For example, when the AGV travels along the segmented paths, incompatibility between its software and hardware may cause it to restart, leading to an extended travel time. Emergency stop durations may be due to potential collisions with other AGVs, resulting in extended waiting times. It should also be noted that the time thresholds are also affected by vehicle execution efficiency and route point scores.

[0067] Furthermore, in a preferred embodiment provided in this application, after driving the currently unperforming AGV devices along the first segment of the corresponding first ideal driving path group to generate the first segment of actual driving path parameter group for the currently unperforming AGV devices to travel along the first segment of the ideal driving path group, the method further includes: selecting AGV devices corresponding to several actual driving paths in the first segment of the actual driving path parameter group that do not meet the first preset driving time threshold, and generating a first candidate AGV device group; wherein, the first candidate AGV device group is mainly used to reselect the first candidate AGV devices in the first candidate AGV device group when there are no AGV devices corresponding to several actual driving paths that meet the second preset driving time threshold in the second segment of the actual driving path parameter group.

[0068] Specifically, when the AGV equipment travels along the first segment of the corresponding first set of ideal travel paths, there are also several AGV equipment corresponding to actual travel paths that do not meet the first preset travel time threshold, i.e., the first candidate AGV equipment. Correspondingly, when traveling along the second, third, and other segments of ideal travel paths, a second and third candidate AGV equipment group are generated. This candidate AGV equipment group is mainly used for the second AGV equipment group that meets the second preset travel time threshold. When traveling along the third segment of the first set of ideal travel paths, all of them may be eliminated, and dynamic selection can be performed again from the first candidate AGV equipment group. This greatly improves the robustness of the vehicle selection function.

[0069] It should also be noted that for candidate AGV devices that do not meet the first preset driving time threshold, the second preset driving time threshold, etc., if they still do not meet the selection criteria when reselecting, the device can be marked or classified into different levels, which can serve as evidence for subsequent maintenance.

[0070] Understandably, in existing technologies, when a station needs to call an AGV device to perform a task, the traditional approach is to first use Dijkstra's algorithm to calculate the vehicle with the shortest distance between the actual starting point and the destination of the route, and then call that vehicle to move to the task starting point to perform the task. Compared to the dynamic AGV device selection method provided in this application, this application drives several AGV devices to the task starting point and evaluates and filters the status of these AGV devices as they move towards the task starting point, thereby selecting the optimal AGV device to perform the task at the task starting point.

[0071] It is mainly used when selecting one of several AGV devices that have not yet performed a task to perform a task.

[0072] Please refer to Figure 2 A system for dynamically selecting AGV equipment, provided in this application embodiment, specifically includes:

[0073] The acquisition module 11 is used to acquire the first set of ideal driving paths corresponding to the arrival of the task starting point of several AGV devices that have not yet performed tasks.

[0074] Specifically, when the task is issued, the starting position of the task is first obtained. Then, the positions of several AGV devices that are currently not performing tasks within a certain distance of that starting position are obtained. The distances between these positions and the starting position are then calculated to generate a first set of ideal travel paths. It is understood that the calculated distances between the starting position and the positions of the AGV devices can be either straight-line distances or distances calculated using the actual travel path. In a preferred embodiment provided in this application, the distances between the starting positions and the positions of the AGV devices are preferably the distances calculated using the actual travel path.

[0075] The judgment module 12 is used to determine whether the length of some driving paths in the first group of several ideal driving paths is less than the first preset safe path length threshold.

[0076] Specifically, if there is an ideal driving path in the calculated first set of ideal driving paths that is less than the first preset safety path length threshold, the AGV device corresponding to that ideal driving path can be selected to drive to the task starting point to perform the task.

[0077] Furthermore, in a preferred embodiment provided in this application, the first preset safe path length threshold is determined at least by the distance between path points.

[0078] Specifically, the length threshold of the first preset safety path can be determined by the distance between path points. It is understood that path points for sensing the AGV are generally laid at intervals along the path the AGV travels. The length threshold of the first preset safety path can be determined based on the distance between these path points. For example, the length threshold of the first preset safety path can be set to be the same as the distance between path points, or it can be a certain multiple of the distance between path points. It should also be noted that the length threshold of the first preset safety path can also be determined based on other factors, or a combination of the distance between path points and other factors. Other factors may include considering the continuous working cycle of the AGV.

[0079] The dynamic processing module 13 is used to perform dynamic selection strategy processing on several AGV devices that are not currently performing tasks when there is no travel path length less than the first preset safe path length threshold in the first group of several ideal travel paths.

[0080] Specifically, when the path length of the first set of several ideal driving paths is not less than the first preset safe path length threshold, a dynamic selection strategy is used for processing.

[0081] It should also be understood that even if there are AGV devices in the first set of ideal travel paths whose travel path lengths are less than the first preset safe path length threshold, and such devices are selected to reach the task starting point, but a malfunction occurs upon reaching the task starting point and they cannot arrive in time, the dynamic selection strategy still has a preset detection module that detects this and selects from other AGV devices besides those with travel path lengths less than the first preset safe path length threshold, thereby achieving dynamic selection of AGV devices. It can be understood that selecting from other AGV devices besides those with travel path lengths less than the first preset safe path length threshold is equivalent to selecting from AGV devices in the first set of ideal travel paths whose travel path lengths are greater than the first preset safe path length threshold, i.e., selection is achieved through a dynamic selection strategy.

[0082] The selection module 14 is used to select, through the dynamic selection strategy, a matching AGV device from a plurality of currently non-performing AGV devices, and determine the AGV device as the AGV device to perform the task.

[0083] Furthermore, in a preferred embodiment provided in this application, the dynamic selection strategy selects a qualified AGV device from among several AGV devices that have not yet performed a task, and determines the AGV device as the AGV device performing the task. Specifically, this includes: performing path segmentation processing on the first set of several ideal driving path groups to generate at least a first set of several ideal driving path groups, a second set of several ideal driving path groups, and a third set of several ideal driving path groups; driving the current set of several AGV devices that have not yet performed a task along the first set of several ideal driving path groups after segmentation of the corresponding first set of several ideal driving path groups, and generating parameters for the first set of several actual driving paths along the first set of several ideal driving path groups. The process involves: selecting several AGV devices from the first set of several actual driving path parameter groups that meet a first preset driving time threshold, generating a first AGV device group; driving the first AGV device group along a second set of several ideal driving path groups after the corresponding first set of several ideal driving path groups have been segmented, generating a second set of several actual driving path parameter groups along the first set of ideal driving path groups; selecting several AGV devices from the second set of several actual driving path parameter groups that meet a second preset driving time threshold, generating a second AGV device group; and selecting AGV devices from the second AGV device group that meet the threshold, determining the AGV devices as the AGV devices performing the task.

[0084] Specifically, when the length of any of the travel paths in the first set of ideal travel paths is less than a first preset safe path length threshold, the first set of ideal travel paths is segmented to generate at least a first set of ideal travel paths, a second set of ideal travel paths, and a third set of ideal travel paths. It is understood that this segmentation can be based on the AGV's need to make left turns, right turns, or U-turns, or it can be based on the path points it needs to traverse. It should also be noted that the limitation on the number of segments described here does not constitute a limitation on the specific scope of protection of this application.

[0085] The system drives the currently untasked AGVs along a first segment of ideal driving paths, which is a subset of the first set of ideal driving paths. This generates a first set of actual driving path parameters for the AGVs traveling along this first segment. The purpose of driving the currently untasked AGVs along this first segment of ideal driving paths is to select the relatively better AGV from the current set of untasked AGVs during the first segment of ideal driving paths, and then select an even better AGV to perform the task during the second and third segments of ideal driving paths.

[0086] AGV devices corresponding to several actual driving paths that meet a first preset driving time threshold are selected from the first set of several actual driving path parameter groups to generate a first AGV device group. AGV devices that meet the first preset driving time threshold are considered relatively optimal. The first preset driving time threshold is a preset time for several AGV devices that are not currently performing tasks to travel along the first set of several ideal driving path groups after being segmented. When this first preset driving time threshold is exceeded, it is clear that the movement of the AGV device is not optimal.

[0087] The first AGV group is driven to travel along a second set of ideal travel paths, which is a segment of the first set of ideal travel paths. This generates a second set of actual travel path parameters for the first AGV group traveling along the first set of ideal travel paths. AGV devices corresponding to several actual travel paths in the second set of actual travel path parameters that meet a second preset travel time threshold are selected to generate a second AGV group. It can be understood that the AGV devices in the first AGV group that meet the second preset travel time threshold are relatively better at performing the task.

[0088] It should be noted that the generated second AGV equipment group can also travel along several ideal travel paths in the third segment, and then select AGV equipment that meets the third preset travel time threshold to generate the third AGV equipment group. This process is repeated sequentially along the segmented paths, finally selecting the matching AGV equipment. That is, selecting the matching AGV equipment from the second AGV equipment group and determining that the AGV equipment is the one performing the task can be understood as dividing the path into n segments, selecting the matching AGV equipment from the nth segment's AGV equipment group, and determining that the AGV equipment is the one performing the task.

[0089] Furthermore, in a preferred embodiment provided in this application, selecting a suitable AGV device from the second AGV device group and determining the AGV device as the AGV device performing the task specifically includes: obtaining a second set of several ideal driving paths corresponding to the second AGV device reaching the task starting point; determining whether the lengths of several driving paths in the second set of several ideal driving paths are less than a first preset safe path length threshold; when several driving path lengths in the second set of several ideal driving paths are less than the first preset safe path length threshold, performing a function operation between the first preset safe path length threshold and the path lengths of the several second set of ideal driving paths less than the first preset safe path length threshold, generating several function values ​​of the first preset safe path length threshold and several function values ​​less than the first preset safe path length threshold; selecting a first AGV device corresponding to the maximum value among the several function values ​​of the first preset safe path length threshold and several function values ​​less than the first preset safe path length threshold, and determining the first AGV device as the AGV device performing the task.

[0090] Understandably, if multiple AGV devices still exist after traveling along segmented path groups multiple times, the positions of these multiple AGV devices and their starting points can be obtained. Then, a second set of ideal travel paths corresponding to the starting points of the multiple AGV devices can be calculated. Next, it is determined whether the lengths of several travel paths in the second set of ideal travel paths are less than a first preset safe path length threshold. If none of the lengths of the second set of ideal travel paths are less than the first preset safe path length threshold, travel along the segmented path groups continues. However, if several lengths of the second set of ideal travel paths are less than the first preset safe path length threshold, a function operation is performed between the first preset safe path length threshold and the lengths of the second set of ideal travel paths less than the first preset safe path length threshold, generating function values ​​for the first preset safe path length threshold and several values ​​less than the first preset safe path length threshold. The first AGV device corresponding to the maximum value among these function values ​​is selected as the AGV device performing the task.

[0091] It is understood that the second AGV equipment group mentioned above specifically refers to AGV equipment corresponding to several actual travel paths that meet the second preset travel time threshold. In actual application scenarios, it can also refer to AGV equipment corresponding to several actual travel paths that meet the third and fourth preset travel time thresholds. Obviously, determining which segment after segmentation is shorter than the first preset safe path length threshold does not constitute a limitation on the specific scope of protection of this application.

[0092] Furthermore, in a preferred embodiment provided in this application, the first preset time threshold and the second preset time threshold are adjustable; wherein, the first preset time threshold and the second preset time threshold are determined at least based on the fault alarm and emergency stop duration.

[0093] Specifically, when the AGV travels along the first, second, and third segments of ideal travel paths, the corresponding first and second preset travel time thresholds are all adjustable. The adjustment of these preset travel time thresholds can be determined based on fault alarms and emergency stop durations that occur during the AGV's travel along the previous path segment. For example, when the AGV travels along the segmented paths, incompatibility between its software and hardware may cause it to restart, leading to an extended travel time. Emergency stop durations may be due to potential collisions with other AGVs, resulting in extended waiting times. It should also be noted that the time thresholds are also affected by vehicle execution efficiency and route point scores.

[0094] Furthermore, in a preferred embodiment provided in this application, after driving the currently unperforming AGV devices along the first segment of the corresponding first ideal driving path group to generate the first segment of actual driving path parameter group for the currently unperforming AGV devices to travel along the first segment of the ideal driving path group, the method further includes: selecting AGV devices corresponding to several actual driving paths in the first segment of the actual driving path parameter group that do not meet the first preset driving time threshold, and generating a first candidate AGV device group; wherein, the first candidate AGV device group is mainly used to reselect the first candidate AGV devices in the first candidate AGV device group when there are no AGV devices corresponding to several actual driving paths that meet the second preset driving time threshold in the second segment of the actual driving path parameter group.

[0095] Specifically, when the AGV equipment travels along the first segment of the corresponding first set of ideal travel paths, there are also several AGV equipment corresponding to actual travel paths that do not meet the first preset travel time threshold, i.e., the first candidate AGV equipment. Correspondingly, when traveling along the second, third, and other segments of ideal travel paths, a second and third candidate AGV equipment group are generated. This candidate AGV equipment group is mainly used for the second AGV equipment group that meets the second preset travel time threshold. When traveling along the third segment of the first set of ideal travel paths, all of them may be eliminated, and dynamic selection can be performed again from the first candidate AGV equipment group. This greatly improves the robustness of the vehicle selection function.

[0096] It should also be noted that for candidate AGV devices that do not meet the first preset driving time threshold, the second preset driving time threshold, etc., if they still do not meet the selection criteria when reselecting, the device can be marked or classified into different levels, which can serve as evidence for subsequent maintenance.

[0097] Understandably, in existing technologies, when a station needs to call an AGV device to perform a task, the traditional approach is to first use Dijkstra's algorithm to calculate the vehicle with the shortest distance between the actual starting point and the destination of the route, and then call that vehicle to move to the task starting point to perform the task. Compared to the dynamic AGV device selection method provided in this application, this application drives several AGV devices to the task starting point and evaluates and filters the status of these AGV devices as they move towards the task starting point, thereby selecting the optimal AGV device to perform the task at the task starting point.

[0098] This application also provides a computer device for dynamically selecting AGV equipment, specifically including a memory and a processor. The memory stores a computer program, characterized in that the processor executes the computer program to implement the steps of a method for dynamically selecting AGV equipment. Specific implementation details can be found in the method embodiments and will not be repeated here.

[0099] It should be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0100] The above description is merely an embodiment of this application and is not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A method for dynamically selecting AGV equipment, characterized in that, Includes the following steps: Obtain the first set of ideal travel paths corresponding to the arrival of several AGV devices with no tasks currently being performed to the task starting point; Determine whether the length of some driving paths in the first group of several ideal driving paths is less than the first preset safe path length threshold. When the length of several travel paths in the first set of several ideal travel paths is not less than the first preset safe path length threshold, a dynamic selection strategy is applied to several AGV devices that are not currently performing tasks. The dynamic selection strategy is used to select the AGV devices that meet the criteria from a number of AGV devices that are not currently performing tasks, and then determine the AGV devices that are performing tasks. Specifically, the dynamic selection strategy involves selecting suitable AGV devices from a pool of non-task-performing AGV devices, and then determining these AGV devices as task-performing AGV devices. This process includes: The first set of several ideal driving paths is segmented to generate at least the first set of several ideal driving paths, the second set of several ideal driving paths, and the third set of several ideal driving paths. Drive the AGV devices that are currently not performing tasks to travel along the first segment of the first ideal travel path group after being divided into segments, and generate the first segment of actual travel path parameter group for the AGV devices that are currently not performing tasks to travel along the first segment of the ideal travel path group. Select several AGV devices corresponding to several actual driving paths that meet the first preset driving time threshold from the first segment of several actual driving path parameter groups to generate the first AGV device group; Drive the first AGV equipment group to travel along the second segment of several ideal travel path groups after the corresponding first several ideal travel path groups are divided into several segments, and generate several actual travel path parameter groups for the second segment of the first AGV equipment group to travel along the first segment of several ideal travel path groups. Select several AGV devices corresponding to several actual driving paths that meet the second preset driving time threshold from the second set of several actual driving path parameter groups to generate the second AGV device group; Select the AGV device that meets the criteria from the second AGV device group, and determine that the AGV device is the AGV device that performs the task.

2. The method for dynamically selecting AGV equipment as described in claim 1, characterized in that, The first preset safe path length threshold is determined at least by the distance between path points.

3. The method for dynamically selecting AGV equipment as described in claim 1, characterized in that, Selecting suitable AGV devices from the second AGV device group and determining the AGV devices as those performing the task specifically includes: Obtain a second set of several ideal travel paths corresponding to the arrival of the second AGV equipment group at the task starting point; Determine whether the lengths of some driving paths in the second set of several ideal driving paths are less than the first preset safe path length threshold. When the lengths of several driving paths in the second set of several ideal driving paths are less than the first preset safe path length threshold, the first preset safe path length threshold is used to perform a function operation with the path lengths of several second set of ideal driving paths that are less than the first preset safe path length threshold, to generate function values ​​of several first preset safe path length thresholds and several paths that are less than the first preset safe path length threshold. Select a number of first preset safe path length thresholds and determine the first AGV devices as the AGV devices that perform the task by matching the maximum value among a number of function values ​​that are less than the first preset safe path length thresholds.

4. The method for dynamically selecting AGV equipment as described in claim 1, characterized in that, The first preset time threshold and the second preset time threshold are adjustable; The first preset time threshold and the second preset time threshold are determined at least based on the fault alarm and emergency stop duration.

5. The method for dynamically selecting AGV equipment as described in claim 1, characterized in that, After driving the currently unexecuted AGV devices along the first segment of the corresponding first ideal driving path group, and generating the first segment of actual driving path parameter group for the currently unexecuted AGV devices along the first ideal driving path group, the process further includes: Select AGV devices corresponding to several actual driving paths that do not meet the first preset driving time threshold from the first segment of several actual driving path parameter groups to generate a first candidate AGV device group. The first alternative AGV equipment group is mainly used to reselect the first alternative AGV equipment in the first alternative AGV equipment group when there is no AGV equipment corresponding to several actual driving paths that meet the second preset driving time threshold in the second segment of several actual driving path parameter groups.

6. A system for dynamically selecting AGV equipment, characterized in that, The system includes: The acquisition module is used to acquire the first set of ideal travel paths corresponding to the arrival of several AGV devices that have not yet performed tasks at the task starting point; The judgment module is used to determine whether the length of some driving paths in the first group of several ideal driving paths is less than the first preset safe path length threshold. The dynamic processing module is used to perform dynamic selection strategy processing on several AGV devices that have not yet performed tasks when there are no travel paths in the first set of several ideal travel paths with lengths less than the first preset safe path length threshold. The selection module is used to select, through the dynamic selection strategy, a matching AGV device from a number of currently non-task-performing AGV devices, and determine the AGV device as the AGV device to perform the task; Specifically, the dynamic selection strategy involves selecting suitable AGV devices from a pool of non-task-performing AGV devices, and then determining these AGV devices as task-performing AGV devices. This process includes: The first set of several ideal driving paths is segmented to generate at least the first set of several ideal driving paths, the second set of several ideal driving paths, and the third set of several ideal driving paths. Drive the AGV devices that are currently not performing tasks to travel along the first segment of the first ideal travel path group after being divided into segments, and generate the first segment of actual travel path parameter group for the AGV devices that are currently not performing tasks to travel along the first segment of the ideal travel path group. Select several AGV devices corresponding to several actual driving paths that meet the first preset driving time threshold from the first segment of several actual driving path parameter groups to generate the first AGV device group; Drive the first AGV equipment group to travel along the second segment of several ideal travel path groups after the corresponding first several ideal travel path groups are divided into several segments, and generate several actual travel path parameter groups for the second segment of the first AGV equipment group to travel along the first segment of several ideal travel path groups. Select several AGV devices corresponding to several actual driving paths that meet the second preset driving time threshold from the second set of several actual driving path parameter groups to generate the second AGV device group; Select the AGV device that meets the criteria from the second AGV device group, and determine that the AGV device is the AGV device that performs the task.

7. A computer device for dynamically selecting AGV equipment, comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 5.

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