Local path shared multi-agv scheduling method, system, device and storage medium

Abstract

The application provides a local path sharing multi-AGV scheduling method, system, device and storage medium. When the multi-AGV scheduling method encounters local path sharing AGV scheduling, the time of collision between each borrowed AGV vehicle and the main road AGV vehicle is calculated first. Then, based on the principle of first collision first passing, the position of each borrowed AGV vehicle and the main road AGV vehicle on the corresponding planning driving path at each time is allocated, and a time / vehicle position scheduling table is generated. Finally, the main road AGV vehicle and the borrowed AGV vehicle are scheduled to drive on the corresponding planning driving path through the time / vehicle position scheduling table. The application configures the order of the borrowed AGV vehicle and the main road AGV vehicle passing the collision point based on the time of collision between each borrowed AGV vehicle and the main road AGV vehicle, and schedules the vehicle operation by using the time / vehicle position scheduling table, thereby improving the scheduling efficiency of the AGV.

Description

TECHNICAL FIELD

[0001] The present application relates to the AGV scheduling technical field, and particularly relates to a local path sharing multi-AGV scheduling method, system, device and storage medium. BACKGROUND

[0002] In a multi-AGV system, the conflicts between vehicles include intersection conflict, pursuit conflict, opposite conflict and cycle conflict. For the first two conflicts, the method of waiting can effectively solve the dynamic problem, and there is no vehicle deadlock situation. For the last two conflict types, due to the relationship between the local path resources occupied by the vehicles, solving these two conflicts becomes the key to solving the path deadlock problem. Although the existing AGV no-deadlock scheduling method for local path resource sharing can solve the opposite conflict and cycle conflict, its efficiency is low, especially in the case of narrow path.

[0003] Therefore, the prior art still needs to be improved and developed. SUMMARY

[0004] The main purpose of the present application is to solve the technical problem of low scheduling efficiency of the existing AGV scheduling method for local path resource sharing.

[0005] The first aspect of the present application provides a local path sharing multi-AGV scheduling method, which comprises:

[0006] Obtaining an AGV vehicle set existing in an AGV scheduling area;

[0007] Obtaining a planned travel path of each AGV vehicle in the AGV vehicle set;

[0008] Filtering to obtain an AGV vehicle sub-set with local path sharing based on the planned travel path of each AGV vehicle;

[0009] Based on the path sharing relationship between each AGV vehicle in the AGV vehicle sub-set, each AGV vehicle in the AGV vehicle sub-set is divided into a main road AGV vehicle and a borrowed road AGV vehicle;

[0010] Calculating the time of collision between each borrowed road AGV vehicle and the main road AGV vehicle;

[0011] Based on the principle of first collision first passing, assigning each borrowed road AGV vehicle and the main road AGV vehicle to a position on the corresponding planned travel path at each time, and generating a time / vehicle position scheduling table;

[0012] The main road AGV vehicle and the cut-through AGV vehicle are scheduled to travel on the respective corresponding planned travel paths according to the time / vehicle position scheduling table.

[0013] In an optional implementation of the first aspect of the present application, the screening of the AGV vehicle subset with local path sharing based on the planned travel paths of the AGV vehicles comprises:

[0014] For each AGV vehicle, it is determined whether the planned travel paths of at least two other AGV vehicles partially overlap with the AGV vehicle;

[0015] If the planned travel paths of at least two other AGV vehicles partially overlap with the AGV vehicle, it is determined that the AGV vehicle and the at least two other AGV vehicles belong to the AGV vehicle subset.

[0016] In an optional implementation of the first aspect of the present application, the division of the AGV vehicle subset into main road AGV vehicles and cut-through AGV vehicles based on the path sharing relationship between the AGV vehicles in the AGV vehicle subset comprises:

[0017] For each AGV vehicle in the AGV vehicle subset, it is determined whether the planned travel path of the AGV vehicle is passed through by at least two other AGV vehicles;

[0018] If the planned travel path of the AGV vehicle is passed through by at least two other AGV vehicles, the AGV vehicle is set as a main road AGV vehicle;

[0019] If the planned travel path of the AGV vehicle is passed through by only one other AGV vehicle, the AGV vehicle is set as a cut-through AGV vehicle.

[0020] In an optional implementation of the first aspect of the present application, the calculation of the time of collision between each cut-through AGV vehicle and the main road AGV vehicle comprises:

[0021] For each cut-through AGV vehicle, a first speed of the cut-through AGV vehicle and a first length of the planned travel path of the cut-through AGV vehicle are obtained;

[0022] A second speed of the main road AGV vehicle and a second length of the planned travel path of the main road AGV vehicle are obtained;

[0023] For each of the AGV vehicles, the time of collision between the AGV vehicle and the main road AGV vehicle is calculated based on the first speed, the first length, the second speed and the second length.

[0024] In an optional implementation of the first aspect of the present application, the principle of first collision first passing is used to allocate positions of each of the AGV vehicles and the main road AGV vehicle on the corresponding planned travel path at each time point, and a time point / vehicle position scheduling table is generated by summarizing the positions.

[0025] The principle of first collision first passing is used to plan the order of passing through each intersection point for each of the AGV vehicles and the main road AGV vehicle.

[0026] Based on the order and in order to optimize the passing efficiency, positions of each of the AGV vehicles and the main road AGV vehicle on the corresponding planned travel path at each time point are allocated.

[0027] A blank time point / vehicle position scheduling table is established.

[0028] Time / position grouping data of the positions of each of the AGV vehicles and the main road AGV vehicle on the corresponding planned travel path at each time point are filled into the blank time point / vehicle position scheduling table, and the time point / vehicle position scheduling table is obtained.

[0029] In an optional implementation of the first aspect of the present application, the AGV scheduling area is divided into a plurality of vehicle travel position points by a pre-passing point array.

[0030] In an optional implementation of the first aspect of the present application, for each of the AGV vehicles, if the planned travel path of the AGV vehicle has at least two vehicle travel position points identical to the planned travel path of another AGV vehicle, and the planned travel path of the AGV vehicle is not completely identical to the planned travel path of another AGV vehicle, it is determined that the AGV vehicle and another AGV vehicle have local path overlap.

[0031] The second aspect of the present application provides a multi-AGV scheduling system with local path sharing, and the multi-AGV scheduling system comprises:

[0032] A vehicle set acquisition module is configured to acquire a set of AGV vehicles existing in an AGV scheduling area.

[0033] a path acquisition module, configured to acquire a planned driving path of each AGV vehicle in the AGV vehicle set;

[0034] a vehicle set screening module, configured to screen a sub-set of AGV vehicles with local path sharing based on the planned driving path of each AGV vehicle;

[0035] a vehicle classification module, configured to classify each AGV vehicle in the sub-set of AGV vehicles into a main-path AGV vehicle and a pass-by AGV vehicle based on a path sharing relationship between each AGV vehicle in the sub-set of AGV vehicles;

[0036] a time calculation module, configured to calculate a time of collision between each pass-by AGV vehicle and the main-path AGV vehicle;

[0037] a schedule table generation module, configured to allocate a position of each pass-by AGV vehicle and the main-path AGV vehicle on the corresponding planned driving path at each time based on a principle of first collision first passing, and generate a time / vehicle position schedule table;

[0038] a scheduling module, configured to schedule the main-path AGV vehicle and the pass-by AGV vehicle to drive on the corresponding planned driving path based on the time / vehicle position schedule table.

[0039] A third aspect of the present application provides a local path sharing multi-AGV scheduling device, which comprises a memory and at least one processor, the memory has instructions stored therein, and the memory and the at least one processor are interconnected through a circuit;

[0040] The at least one processor invokes the instructions in the memory, so that the local path sharing multi-AGV scheduling device performs the local path sharing multi-AGV scheduling method as any one of the above.

[0041] A fourth aspect of the present application provides a computer readable storage medium, which has a computer program stored thereon, and the computer program is executed by a processor to implement the local path sharing multi-AGV scheduling method as any one of the above.

[0042] Beneficial effects: the application provides a local path sharing multi-AGV scheduling method, system, device and storage medium, the multi-AGV scheduling method of the application will calculate the time of collision of each borrowed AGV vehicle and the main road AGV vehicle when encountering local path sharing AGV scheduling;Then, based on the principle of first collision first passing, each said borrowed AGV vehicle and said main road AGV vehicle is allocated a position on the corresponding said planning driving path at each time, and a time / vehicle position scheduling table is generated;Finally, the main road AGV vehicle and the borrowed AGV vehicle are scheduled to run on the corresponding said planning driving path through the time / vehicle position scheduling table.The application configures the order of each borrowed AGV vehicle and the main road AGV vehicle passing through the collision point based on the collision time of each borrowed AGV vehicle and the main road AGV vehicle, and utilizes the time / vehicle position scheduling table to schedule vehicle operation, thereby improving the scheduling efficiency of AGV. BRIEF DESCRIPTION OF DRAWINGS

[0043] Figure 1 An embodiment schematic diagram of the application is shown in the figure.

[0044] Figure 2 An embodiment schematic diagram of the application is shown in the figure.

[0045] Figure 3 An embodiment schematic diagram of the application is shown in the figure.

[0046] Figure 4 An embodiment schematic diagram of the application is shown in the figure. DETAILED DESCRIPTION

[0047] The application provides a local path sharing multi-AGV scheduling method, system, device and storage medium.

[0048] The terms "first", "second", "third", "fourth" and the like in the specification and claims of the application and the above-mentioned drawings (if any) are used to distinguish similar objects, and do not necessarily have to describe a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "include" or "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device including a series of steps or units does not have to be limited to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0049] For ease of understanding, the specific flow of the embodiments of the present application is described below. Please refer to Figure 1 The first aspect of the present application provides a local path sharing multi-AGV scheduling method, which comprises:

[0050] S100, obtaining a set of AGV vehicles existing in an AGV scheduling area; in the present application, the AGV scheduling area refers to the entire AGV scheduling area or a certain sub-AGV scheduling area selected by a person in the AGV scheduling area, and obtaining a set of AGV vehicles existing in the AGV scheduling area is to obtain all AGV vehicles existing in the current AGV scheduling area;

[0051] S200, obtaining a planned driving path of each AGV vehicle in the set of AGV vehicles; in the present application, each AGV vehicle in the AGV scheduling area will be assigned a delivery task, and the delivery task of each AGV vehicle is variable, so the path is also variable. In order to complete the delivery task, the planned driving path is generally configured based on the shortest path principle, which may cause overlapping between each AGV vehicle. The purpose of the present application is to solve the problem of how to plan the passing order of each AGV vehicle when there is overlapping between the paths. Before judging whether there is overlapping between the paths of the AGV vehicles, the planned driving path of each AGV vehicle needs to be obtained;

[0052] S300, screening an AGV vehicle sub-set with local path sharing based on the planned driving path of each AGV vehicle; in the present application, the scheduling method of the present application is mainly applicable to the scheduling scenario in which the conflict between AGV vehicles is opposite conflict and local path sharing. Therefore, in this step, the AGV vehicle sub-set that meets the scheduling scenario needs to be screened out;

[0053] S400, dividing each AGV vehicle in the AGV vehicle sub-set into a main road AGV vehicle and a borrowed road AGV vehicle based on the path sharing relationship between each AGV vehicle in the AGV vehicle sub-set; in the present application, the main road AGV vehicle is generally one, and the borrowed road AGV vehicle is multiple. Each borrowed road AGV vehicle has a local shared path with the main road AGV vehicle, and the conflict between each borrowed road AGV vehicle and the main road AGV vehicle is opposite conflict. The present application mainly distinguishes the borrowed road AGV vehicle and the main road AGV vehicle according to the AGV vehicle attributes mentioned above;

[0054] S500, calculate the time when each of the borrowed AGV vehicles collides with the main road AGV vehicle; in the present application, when multiple borrowed AGV vehicles collide with the main road AGV vehicle, the time when each of the borrowed AGV vehicles collides with the main road AGV vehicle can be calculated according to the current position, speed, and planned travel path of the borrowed AGV vehicle and the current position, speed, and planned travel path of the main road AGV vehicle. The borrowed AGV vehicle that collides first is given the right to pass first, then the main road AGV vehicle, and then the remaining borrowed AGV vehicles that collide are allowed to pass;

[0055] S600, assign each of the borrowed AGV vehicles and the main road AGV vehicle to a position on the corresponding planned travel path at each time based on the principle of first collision first pass, and generate a time / vehicle position scheduling table; in the present application, after the path of each borrowed AGV vehicle and the main road AGV vehicle has been planned in the previous step, the position on the planned travel path where the borrowed AGV vehicle and the main road AGV vehicle should stop at each time can be calculated according to the length of the planned travel path and the speed of the borrowed AGV vehicle and the main road AGV vehicle in the order set. After the time / vehicle position scheduling table is generated, the borrowed AGV vehicle and the main road AGV vehicle can be scheduled based on the table.

[0056] S700, schedule the main road AGV vehicle and the borrowed AGV vehicle to travel on the corresponding planned travel path based on the time / vehicle position scheduling table. In the present application, the position on the planned travel path where the borrowed AGV vehicle and the main road AGV vehicle should travel to at each time is recorded on the time / vehicle position scheduling table, and the borrowed AGV vehicle and the main road AGV vehicle can be scheduled according to the table.

[0057] In an optional embodiment of the first aspect of the present application, the AGV vehicle subset with local path sharing is obtained based on the planned travel paths of the AGV vehicles, and includes:

[0058] For each AGV vehicle, it is determined whether the planned travel path of at least two other AGV vehicles overlaps with the AGV vehicle; in the present application, local path overlap means that the paths overlap in a line segment rather than a point.

[0059] If the planning travel path of the AGV vehicle exists local path overlap with at least two of the rest of the AGV vehicles, it is determined that the AGV vehicle and the at least two of the rest of the AGV vehicles whose planning travel paths exist local path overlap belong to the AGV vehicle subset. In the present application, simply speaking, if the planning travel path of one AGV vehicle in the AGV vehicle set exists local path overlap with the planning travel paths of two other AGV vehicles, the three AGV vehicles belong to the AGV vehicle subset.

[0060] In an optional implementation of the first aspect of the present application, the grouping of the AGV vehicles in the AGV vehicle subset into the main-path AGV vehicles and the pass-through AGV vehicles based on the path sharing relationship between the AGV vehicles in the AGV vehicle subset comprises:

[0061] For each AGV vehicle in the AGV vehicle subset, it is determined whether the planning travel path of the AGV vehicle exists pass-through of at least two of the rest of the AGV vehicles; if the planning travel path of the AGV vehicle exists pass-through of at least two of the rest of the AGV vehicles, the AGV vehicle is set as a main-path AGV vehicle; if the planning travel path of the AGV vehicle exists pass-through of only one of the rest of the AGV vehicles, the AGV vehicle is set as a pass-through AGV vehicle.

[0062] In the present application, in order to facilitate subsequent scheduling planning, it is also necessary to clearly know the roles of the AGV vehicles in the AGV vehicle subset, and the method of distinguishing the roles of the AGV vehicles in the AGV vehicle subset is mainly to determine whether a planning travel path is a main-path AGV vehicle or a pass-through AGV vehicle by judging whether the planning travel path exists line segment overlap with at least two other planning travel paths.

[0063] In an optional implementation of the first aspect of the present application, the calculation of the time of collision between each pass-through AGV vehicle and the main-path AGV vehicle comprises:

[0064] For each pass-through AGV vehicle, the first speed of the pass-through AGV vehicle and the first length of the planning travel path of the pass-through AGV vehicle are obtained;

[0065] The second speed of the main-path AGV vehicle and the second length of the planning travel path of the main-path AGV vehicle are obtained;

[0066] For each of the AGV vehicles, the time of collision between the AGV vehicle and the main road AGV vehicle is calculated based on the first speed, the first length, the second speed and the second length. In the present application, simply speaking, in the calculation of the time of collision, the length of the first length + the second length - the length of the path overlapping section is used first, and then the calculated length value obtained by the first length + the second length - the length of the path overlapping section is divided by (the first speed + the second speed) to obtain the time of collision between each of the AGV vehicles and the main road AGV vehicle.

[0067] In an optional embodiment of the first aspect of the present application, the principle of first collision first passing is used to allocate positions of each of the AGV vehicles and the main road AGV vehicle on the corresponding planning driving path at each time, and a time / vehicle position schedule table is generated.

[0068] The principle of first collision first passing is used to plan the passing order of each of the AGV vehicles and the main road AGV vehicle through each intersection. In the present application, taking the collision between two AGV vehicles and the main road AGV vehicle as an example, the time of collision between the first AGV vehicle and the main road AGV vehicle is 1 min, and the time of collision between the second AGV vehicle and the main road AGV vehicle is 2 min. When the three vehicles pass through the intersection, the passing order of the first AGV vehicle, the second AGV vehicle and the main road AGV vehicle is the first AGV vehicle, the main road AGV vehicle, and then the second AGV vehicle. Then, the passing order of the first AGV vehicle and the main road AGV vehicle through the remaining intersections and the passing order of the second AGV vehicle and the main road AGV vehicle through the remaining intersections are planned.

[0069] Based on the order and in the most optimal passing efficiency, positions of each of the AGV vehicles and the main road AGV vehicle on the corresponding planning driving path at each time are allocated. In the present application, after the passing order of the intersection is determined, the running parameters of the first AGV vehicle, the second AGV vehicle and the main road AGV vehicle are combined, and the positions of the first AGV vehicle, the second AGV vehicle and the main road AGV vehicle at each time are configured according to the respective planning driving paths and in the most optimal passing efficiency.

[0070] A blank time / vehicle position schedule table is established. Specifically, the table header row of the blank time / vehicle position schedule table includes the time column, the main road AGV vehicle running position column, the first AGV vehicle running position column, and the second AGV vehicle running position column.

[0071] The time / position group data of the positions of each of the AGV vehicles and the main road AGV vehicle on the corresponding planning travel path at each time point is filled into the blank time / vehicle position scheduling table to obtain the time / vehicle position scheduling table. In this step of the present application, the positions to which the first borrowed road AGV vehicle, the second borrowed road AGV vehicle and the main road AGV vehicle need to move at each time point are filled into the blank time / vehicle position scheduling table with the time point as the link.

[0072] In an optional embodiment of the first aspect of the present application, the AGV scheduling region is divided into vehicle travel position points by a dot matrix in advance; and the planning travel path is formed by connecting lines of the vehicle travel position points in the dot matrix in the AGV scheduling region. In the present application, the AGV scheduling region can be directly regarded as a path dot matrix composed of vehicle travel position points, and the planning travel path of the vehicle is that the AGV vehicle runs to vehicle travel position point 1 (the starting point) at time point A, runs to vehicle travel position point 2 at time point B, and runs to vehicle travel position point n (the ending point) at time point N, and the connecting lines between the vehicle travel position points 1, 2, …, n obtain the planning travel path of the AGV vehicle.

[0073] In an optional embodiment of the first aspect of the present application, for each AGV vehicle, if the planning travel path of the AGV vehicle has at least two same vehicle travel position points with the planning travel path of another AGV vehicle, and the planning travel path of the AGV vehicle is not completely same with the planning travel path of the another AGV vehicle, it is determined that the AGV vehicle and the another AGV vehicle have local path overlap. In the present application, if the path is formed by connecting lines of the vehicle travel position points, the local path overlap can be determined by judging whether there are continuous same vehicle travel position points in the vehicle travel position point set of each AGV vehicle.

[0074] Referring to Figure 2 In order to better illustrate the effect of the technical scheme of the present application, the present application is described by taking three AGV vehicles having local path sharing as an example. The three AGV vehicles are AGV1 (the main road AGV), AGV2 (the borrowed road AGV) and AGV3 (the borrowed road AGV) in the figure, and their starting points and ending points are S = {1, 11, 10} and E = {9, 14, 16} respectively. The scheduling tables obtained by the traditional scheduling method and the scheduling method of the present application are as follows. It can be seen from the time points spent that the scheduling efficiency is improved by the present application.

[0075]

[0076]

[0077] At the AGV control code level, the local path sharing multi-AGV scheduling method of the application is embodied as the implementation logic of how AGV vehicles apply for vehicle driving position points in the AGV scheduling area. The implementation logic of the AGV vehicle applying for vehicle driving position points in the AGV scheduling area is as follows:

[0078] 1) Initialize the vehicle, generate a new vehicle path P, the initial occupied point P1 (n = 1), and the path length N. Go to 2).

[0079] 2) Determine whether the application conditions are met. If yes, go to 3), otherwise go to 11).

[0080] 3) Obtain the resource-occupied vehicle set Carriers of the application point, and go to 4).

[0081] 4) Traverse the local continuous shared resources of the vehicle, and go to 5).

[0082] 5) Determine whether there is a vehicle occupying the local continuous shared resources. If yes, go to 6); otherwise, go to 7).

[0083] 6) Determine whether the cycle conflict detection passes. If yes, go to 8); otherwise, go to 7).

[0084] 7) Path application fails, go to 2).

[0085] 8) Path Pn application succeeds, go to 9).

[0086] 9) Update the occupied set, n = n + 1. Go to 10).

[0087] 10) Determine whether n > N. If yes, go to 11); otherwise, go to 2).

[0088] 11) Task ends.

[0089] Further, after generating a new path in step 1), the occupation of each path point by other vehicles needs to be calculated to facilitate resource and conflict judgment.

[0090] Further, in step 5), from the current application point Start, the next point End that does not collide with the conflict vehicle is obtained. If the conflict vehicle exists in [Start, End), the local continuous shared resources are occupied.

[0091] Further, for the vehicle MyCar applying for resources, the cycle conflict detection method of step 6) includes:

[0092] Step1: Obtain the application to conflict set Carriers, traverse all vehicles Car, let CurCar = MyCar execute CheckLoop (CurCar, Car).

[0093] Step2: Find the next point NextPoint that does not collide with Car, obtain all new vehicle set NewCarriers.

[0094] Step3: For each vehicle NewCar in the new set, execute CheckLoop (NewCar, CurCar).

[0095] Step4: When NewCar = MyCar, a loop conflict is detected, and the process is exited.

[0096] Referring to Figure 3 , the second aspect of the present application provides a local path sharing multi-AGV scheduling system, the multi-AGV scheduling system comprises:

[0097] A vehicle set acquisition module 10 is configured to acquire a set of AGV vehicles existing in an AGV scheduling area.

[0098] A path acquisition module 20 is configured to acquire a planned driving path of each AGV vehicle in the set of AGV vehicles.

[0099] A vehicle set screening module 30 is configured to screen a sub-set of AGV vehicles with local path sharing based on the planned driving path of each AGV vehicle.

[0100] A vehicle classification module 40 is configured to classify each AGV vehicle in the sub-set of AGV vehicles into a main road AGV vehicle and a borrowed road AGV vehicle based on a path sharing relationship between each AGV vehicle in the sub-set of AGV vehicles.

[0101] A time calculation module 50 is configured to calculate a time at which each borrowed road AGV vehicle collides with the main road AGV vehicle.

[0102] A scheduling table generation module 60 is configured to allocate a position of each borrowed road AGV vehicle and the main road AGV vehicle on the corresponding planned driving path at each time based on the principle of first collision first passing, and generate a time / vehicle position scheduling table.

[0103] A scheduling module 70 is configured to schedule the main road AGV vehicle and the borrowed road AGV vehicle to drive on the corresponding planned driving path through the time / vehicle position scheduling table.

[0104] In an alternative implementation of the second aspect of the present application, the vehicle set screening module 30 comprises:

[0105] a path overlap judging unit configured to judge, for each AGV vehicle, whether there is at least one other AGV vehicle whose planned travel path locally overlaps with the AGV vehicle;

[0106] a screening unit configured to determine, if there is at least one other AGV vehicle whose planned travel path locally overlaps with the AGV vehicle, that the AGV vehicle and the at least one other AGV vehicle whose planned travel path locally overlaps with the AGV vehicle all belong to the AGV vehicle subset.

[0107] In an alternative implementation of the second aspect of the present application, the vehicle classification module 40 comprises:

[0108] a pass-by judging unit configured to judge, for each AGV vehicle in the AGV vehicle subset, whether there is at least one other AGV vehicle that passes by the AGV vehicle's planned travel path;

[0109] a classification unit configured to set the attribute of the AGV vehicle as a main road AGV vehicle if there is at least one other AGV vehicle that passes by the AGV vehicle's planned travel path, and set the attribute of the AGV vehicle as a pass-by AGV vehicle if there is only one other AGV vehicle that passes by the AGV vehicle's planned travel path.

[0110] In an alternative implementation of the second aspect of the present application, the time calculation module 50 comprises:

[0111] a pass-by AGV vehicle data acquisition unit configured to acquire, for each pass-by AGV vehicle, a first speed of the pass-by AGV vehicle and a first length of the pass-by AGV vehicle's planned travel path;

[0112] a main road AGV vehicle data acquisition unit configured to acquire a second speed of the main road AGV vehicle and a second length of the main road AGV vehicle's planned travel path;

[0113] a joint calculation unit configured to calculate, for each pass-by AGV vehicle, a time of collision between the pass-by AGV vehicle and the main road AGV vehicle based on the first speed, the first length, the second speed and the second length.

[0114] In an alternative implementation of the second aspect of the present application, the schedule table generation module 60 comprises:

[0115] The sequence acquisition unit plans the sequence of each of the AGV vehicles and the main road AGV vehicle passing through each intersection based on the principle of first collision first passing;

[0116] The time / position assignment unit assigns each of the AGV vehicles and the main road AGV vehicle a position on the corresponding planned travel path at each time based on the sequence and with the optimal passing efficiency;

[0117] The table building unit builds a blank time / vehicle position schedule table;

[0118] The table data writing unit fills the time / position group data of the position of each of the AGV vehicles and the main road AGV vehicle on the corresponding planned travel path at each time into the blank time / vehicle position schedule table to obtain the time / vehicle position schedule table.

[0119] In an optional embodiment of the second aspect of the application, the AGV scheduling area is divided into vehicle travel position points by a dot matrix; and the planned travel path is formed by connecting the vehicle travel position points in the dot matrix in the AGV scheduling area.

[0120] In an optional embodiment of the second aspect of the application, for each AGV vehicle, if the planned travel path of the AGV vehicle has at least two vehicle travel position points identical to the planned travel path of another AGV vehicle and the planned travel path of the AGV vehicle is not completely identical to the planned travel path of another AGV vehicle, it is determined that the AGV vehicle and another AGV vehicle have local path overlap.

[0121] Figure 4Figure 1 is a schematic diagram of a structure of a local path shared multi-AGV scheduling device according to an embodiment of the present application. The local path shared multi-AGV scheduling device can have a great difference due to different configurations or performances, and can include one or more processors 80 (central processing units, CPU) (for example, one or more processors) and a memory 90, one or more storage media 100 (for example, one or more mass storage devices) for storing application programs or data. The memory and the storage media can be temporary storage or persistent storage. The programs stored in the storage media can include one or more modules (not shown in the figure), and each module can include a series of instruction operations in the local path shared multi-AGV scheduling device. Further, the processor can be configured to communicate with the storage media and execute the series of instruction operations in the storage media on the local path shared multi-AGV scheduling device.

[0122] The local path shared multi-AGV scheduling device can further include one or more power supplies 110, one or more wired or wireless network interfaces 120, one or more input / output interfaces 130, and / or one or more operating systems, such as Windows Server, Mac OS X, Unix, Linux, FreeBSD, etc. Those skilled in the art can understand that the local path shared multi-AGV scheduling device can include more or fewer components than those shown, or combine some components, or arrange different components. Figure 4 The structure of the local path shared multi-AGV scheduling device shown does not constitute a limitation on the local path shared multi-AGV scheduling device, and can include more or fewer components than those shown, or combine some components, or arrange different components.

[0123] The present application also provides a computer readable storage medium, which can be a non-volatile computer readable storage medium or a volatile computer readable storage medium. The computer readable storage medium stores instructions, and when the instructions are run on a computer, the computer executes the steps of the local path shared multi-AGV scheduling method.

[0124] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the above-described system or system, unit can refer to the corresponding process in the foregoing method embodiments, which will not be described here.

[0125] The integrated unit, if implemented in the form of a software function unit and sold or used as an independent product, can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application or the entire or part of the technical solutions that essentially contribute to the prior art can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in the various embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and various media that can store program codes.

[0126] The above-described embodiments are merely used to illustrate the technical solutions of the present application, rather than limit the same; even though the present application has been described in detail with reference to the foregoing embodiments, those ordinarily skilled in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacements for some of the technical features; and these modifications or replacements do not cause the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A local path sharing multi-AGV scheduling method, characterized in that, The multi-AGV scheduling method comprises: acquiring a set of AGV vehicles existing in an AGV scheduling area; acquiring a planned travel path of each AGV vehicle in the set of AGV vehicles; screening, based on the planned travel path of each AGV vehicle, a subset of AGV vehicles existing in local path sharing; based on a path sharing relationship between each AGV vehicle in the subset of AGV vehicles, dividing each AGV vehicle in the subset of AGV vehicles into a main road AGV vehicle and a borrowed road AGV vehicle; calculating a time of collision between each borrowed road AGV vehicle and the main road AGV vehicle; based on a principle of first collision first passing, assigning each borrowed road AGV vehicle and the main road AGV vehicle a position on the respective corresponding planned travel path at each time, and generating a time / vehicle position scheduling table; scheduling the main road AGV vehicle and the borrowed road AGV vehicle to travel on the respective corresponding planned travel path through the time / vehicle position scheduling table; the screening, based on the planned travel path of each AGV vehicle, a subset of AGV vehicles existing in local path sharing comprises: for each AGV vehicle, judging whether the planned travel path of at least two other AGV vehicles exists in local path overlap with the AGV vehicle, and the path-to-path overlap is a line segment overlap; if the planned travel path of at least two other AGV vehicles exists in local path overlap with the AGV vehicle, then it is determined that the AGV vehicle and at least two other AGV vehicles whose planned travel path exists in local path overlap with the AGV vehicle all belong to the subset of AGV vehicles; the AGV scheduling area is divided into vehicle travel position points by a point array in advance; and the planned travel path is formed by connecting lines of the vehicle travel position points in the point array in the AGV scheduling area; the assigning, based on the principle of first collision first passing, each borrowed road AGV vehicle and the main road AGV vehicle a position on the respective corresponding planned travel path at each time comprises: combining the operation parameters of the borrowed road AGV vehicle and the main road AGV vehicle, and configuring the positions to which the borrowed road AGV vehicle and the main road AGV vehicle need to move at each time according to the respective planned travel path and in an optimal passing efficiency.

2. The local path-shared multi-AGV scheduling method according to claim 1, wherein, the dividing, based on the path sharing relationship between each AGV vehicle in the subset of AGV vehicles, each AGV vehicle in the subset of AGV vehicles into a main road AGV vehicle and a borrowed road AGV vehicle comprises: for each AGV vehicle in the subset of AGV vehicles, judging whether at least two other AGV vehicles pass through by borrowing the path of the AGV vehicle; if at least two other AGV vehicles pass through by borrowing the path of the AGV vehicle, then setting the attribute of the AGV vehicle as a main road AGV vehicle; If the planned travel path of the AGV vehicle only has one other AGV vehicle passing through, the AGV vehicle is set as a passing-through AGV vehicle.

3. The local path-shared multi-AGV scheduling method according to claim 2, wherein, The time when each passing-through AGV vehicle collides with the main-path AGV vehicle is calculated by: For each passing-through AGV vehicle, a first speed of the passing-through AGV vehicle and a first length of the planned travel path of the passing-through AGV vehicle are obtained; A second speed of the main-path AGV vehicle and a second length of the planned travel path of the main-path AGV vehicle are obtained; For each passing-through AGV vehicle, the time when the passing-through AGV vehicle collides with the main-path AGV vehicle is calculated based on the first speed, the first length, the second speed and the second length.

4. The local path-shared multi-AGV scheduling method according to claim 3, characterized in that, The positions of each passing-through AGV vehicle and the main-path AGV vehicle on the corresponding planned travel path at each time are allocated based on the principle of first collision first passing, and a time / vehicle position scheduling table is generated by: The order of passing through each intersection of each passing-through AGV vehicle and the main-path AGV vehicle is planned based on the principle of first collision first passing; The positions of each passing-through AGV vehicle and the main-path AGV vehicle on the corresponding planned travel path at each time are allocated based on the order and the optimization of passing efficiency; A blank time / vehicle position scheduling table is established; The time / position grouping data of the positions of each passing-through AGV vehicle and the main-path AGV vehicle on the corresponding planned travel path at each time are filled into the blank time / vehicle position scheduling table, and the time / vehicle position scheduling table is obtained.

5. The local path-shared multi-AGV scheduling method according to claim 1, wherein, For each AGV vehicle, if the planned travel path of the AGV vehicle has at least two vehicle travel position points identical to the planned travel path of another AGV vehicle, and the planned travel path of the AGV vehicle is not completely identical to the planned travel path of another AGV vehicle, it is determined that the AGV vehicle and another AGV vehicle have local path overlap.

6. A multi-AGV scheduling system with local path sharing, characterized in that, The multi-AGV scheduling system comprises: A vehicle set obtaining module is configured to obtain a set of AGV vehicles existing in an AGV scheduling area; A path obtaining module is configured to obtain a planned travel path of each AGV vehicle in the set of AGV vehicles; A vehicle set screening module is configured to screen a sub-set of AGV vehicles having local path sharing based on the planned travel path of each AGV vehicle; A vehicle classification module is configured to classify each AGV vehicle in the sub-set of AGV vehicles into a main-path AGV vehicle and a passing-through AGV vehicle based on the path sharing relationship between each AGV vehicle in the sub-set of AGV vehicles; A time calculation module is configured to calculate the time when each passing-through AGV vehicle collides with the main-path AGV vehicle. The scheduling table generation module is configured to allocate positions of each of the borrowed-path AGV vehicles and the main-path AGV vehicle on the corresponding planning travel path at each time based on the principle of first collision first passing, and generate a time / vehicle position scheduling table. The scheduling module is configured to schedule the main-path AGV vehicle and the borrowed-path AGV vehicle to travel on the corresponding planning travel path based on the time / vehicle position scheduling table. The AGV vehicle subset with local path sharing is obtained based on the planning travel path of each AGV vehicle, and includes the following steps: For each AGV vehicle, it is determined whether the planning travel path of at least two other AGV vehicles partially overlaps with the AGV vehicle. If the planning travel path of at least two other AGV vehicles partially overlaps with the AGV vehicle, the AGV vehicle and the at least two other AGV vehicles are determined to belong to the AGV vehicle subset. The AGV scheduling area is divided into a plurality of vehicle travel position points by a point array. The positions of each of the borrowed-path AGV vehicles and the main-path AGV vehicle on the corresponding planning travel path at each time are allocated based on the principle of first collision first passing, which includes the following steps:

7. A multi-AGV scheduling device with local path sharing, characterized in that, The local-path-sharing multi-AGV scheduling device includes a memory and at least one processor, the memory stores instructions, and the memory and the at least one processor are interconnected by a circuit. The at least one processor calls the instructions in the memory to enable the local-path-sharing multi-AGV scheduling device to perform the local-path-sharing multi-AGV scheduling method according to any one of claims 1-5.

8. A computer-readable storage medium having stored thereon a computer program, characterized in that The computer program is executed by a processor to implement the local-path-sharing multi-AGV scheduling method according to any one of claims 1-5.

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