Agv scheduling method and system, computer and readable storage medium

Abstract

The application provides an AGV scheduling method and system, a computer and a readable storage medium. The method comprises the following steps: obtaining production information generated in real time by a plurality of production areas, the plurality of production areas being arranged in a stacked manner or a parallel manner, and the production information comprising real-time order information; setting a dynamic priority between the plurality of production areas according to the real-time order information based on a preset rule, and generating a plurality of corresponding scheduling instructions one by one according to the dynamic priority, each scheduling instruction corresponding to a target production area; splitting a plurality of AGVs into a plurality of transfer fleets according to the scheduling instructions, and scheduling the plurality of transfer fleets into a plurality of corresponding target production areas according to the scheduling instructions. Through the above method, the transfer route and the transfer area of the AGV can be changed in real time during the transfer of the AGV according to the scheduling instruction, so that the AGV can be suitable for different work requirements at the same time, and the transfer efficiency of the AGV is improved.

Description

Technical Field

[0001] This invention relates to the field of cargo transportation technology, and in particular to an AGV (Automated Guided Vehicle) scheduling method, system, computer, and readable storage medium. Background Technology

[0002] Automated Guided Vehicle (AGV), also known as AGV trolley, refers to a transport vehicle equipped with electromagnetic or optical automatic navigation devices, capable of traveling along a prescribed navigation path, and possessing safety protection and various transfer functions.

[0003] AGVs are driverless transport vehicles used in industrial applications. They are powered by rechargeable batteries and their movement and behavior are typically controlled by a computer. They have been widely used in industry.

[0004] However, existing technologies for transferring products using AGVs mostly rely on pre-determining the transfer area and route for the AGVs. This approach does not allow for changes to the AGVs' working area and route during operation. For example, regardless of the workload in the AGV's working area, existing technologies use a fixed number of AGVs for product transfer. This can easily lead to a situation where there are fewer AGVs in areas with heavy workloads, while AGVs in areas with light workloads are idle. Consequently, AGVs cannot be adapted to different work requirements, reducing their transfer efficiency. Summary of the Invention

[0005] Based on this, the purpose of the present invention is to provide an AGV cart scheduling method, system, computer, and readable storage medium to solve the problem that in the prior art, when transferring products using AGV carts, the transfer of products is mostly completed by pre-determining the transfer area and transfer route of the AGV cart, and it is impossible to change the working area and transfer route of the AGV cart during its use.

[0006] The first aspect of this invention proposes an AGV (Automated Guided Vehicle) scheduling method, applied to a plurality of AGVs, the method comprising:

[0007] Acquire real-time production information generated by several production areas, wherein the production areas are stacked or arranged side by side, and the production information includes real-time order information;

[0008] Based on preset rules, dynamic priorities are set between several production areas according to the real-time order information, and several corresponding scheduling instructions are generated one by one according to the dynamic priorities. Each scheduling instruction corresponds to a target production area, and each scheduling instruction includes the number of AGV vehicles to be scheduled.

[0009] According to the scheduling instructions, the AGV vehicles are divided into several transfer fleets, and the transfer fleets are respectively dispatched to several corresponding target production areas according to the scheduling instructions.

[0010] The beneficial effects of this invention are as follows: By acquiring production information generated in real time from several production areas (specifically, these production areas are stacked or arranged side-by-side, and the production information includes real-time order information), and further, by setting dynamic priorities among these production areas based on preset rules and the real-time order information, and generating several corresponding scheduling instructions according to these dynamic priorities, each scheduling instruction corresponds to a target production area and includes the number of AGVs to be scheduled, the invention can then divide the AGVs into several transport fleets according to the scheduling instructions and dispatch these transport fleets to the corresponding target production areas. This method enables the generation of corresponding dynamic scheduling instructions in real time based on the production information of each production area, and further allows for real-time changes to the AGV transport routes and areas during the transport process, thereby enabling the AGVs to be suitable for different work requirements simultaneously, thus improving the transport efficiency of the AGVs and making them suitable for widespread promotion and use.

[0011] Preferably, when several production areas are stacked, the step of setting a dynamic priority among the several production areas based on preset rules and the real-time order information includes:

[0012] The hierarchical relationship between several production areas is identified, and the several production areas are sorted according to the hierarchical relationship to generate a corresponding first sorting table, wherein the first sorting table is arranged in descending order of floor number.

[0013] The number of orders contained in the real-time production information generated by each production area is identified in the first sorting table, and the first sorting table is sorted a second time according to the number of orders to generate a corresponding second sorting table, wherein the second sorting table is arranged in descending order of the number of orders.

[0014] Preferably, after the step of performing a secondary sorting of the first sorting table based on the order quantity to generate a corresponding second sorting table, the method further includes:

[0015] A first weight is applied to the floor corresponding to the production area, and a second weight is applied to the number of orders corresponding to the production area, wherein the sum of the first weight and the second weight is 1;

[0016] The first priority value corresponding to each production area is calculated based on the first weight and the second weight respectively. The second sorting table is sorted three times according to the size of the first priority value to generate the corresponding third sorting table. The third sorting table is arranged in descending order of the first priority value.

[0017] Preferably, when several production areas are arranged side by side, the step of setting a dynamic priority among the several production areas based on preset rules and the real-time order information includes:

[0018] The parking areas corresponding to several AGV vehicles are detected, and the distance value between each production area and the parking area is calculated respectively, so as to generate a corresponding fourth sorting table based on the distance value, wherein the fourth sorting table is arranged in order of increasing distance value;

[0019] The fourth sorting table identifies the number of orders contained in the production information generated in real time for each production area, and sorts the fourth sorting table a second time according to the number of orders to generate a corresponding fifth sorting table, wherein the fifth sorting table is arranged in descending order of the number of orders.

[0020] Preferably, after the step of performing a secondary sorting of the fourth sorting table based on the order quantity to generate a corresponding fifth sorting table, the method further includes:

[0021] A third weight is applied to the distance value corresponding to the production area, and the sum of the third weight and the second weight is 1;

[0022] The second priority value corresponding to each production area is calculated based on the second weight and the third weight respectively, and the fifth sorting table is sorted a second time according to the size of the second priority value to generate the corresponding sixth sorting table, wherein the sixth sorting table is arranged in descending order of the second priority value.

[0023] Preferably, the step of splitting the plurality of AGV vehicles into a plurality of transport fleets according to the scheduling instruction includes:

[0024] Identify the real-time order information generated by the target production area corresponding to each scheduling instruction, and detect the quantity of goods corresponding to each real-time order information;

[0025] The number of AGVs corresponding to each AGV is obtained, and the required number of AGVs for each target production area is calculated based on the number of goods and the number of AGVs. The AGVs are then divided into several transport fleets based on the required number of each AGV.

[0026] Preferably, the step of dispatching the plurality of transport convoys to the plurality of corresponding target production areas according to the dispatching instructions includes:

[0027] The scheduling instructions are issued to several AGV vehicles to divide the several AGV vehicles into several transfer fleets, and a complete area map corresponding to several target production areas is retrieved.

[0028] The complete regional map is used to plan the route map for each of the transport fleets to move to the corresponding target production area, and the transport fleets are dispatched to the corresponding target production areas according to the route map.

[0029] A second aspect of this invention provides an AGV (Automated Guided Vehicle) scheduling system, applied to a plurality of AGVs, the system comprising:

[0030] The acquisition module is used to acquire production information generated in real time by several production areas, wherein the production areas are stacked or arranged side by side, and the production information includes real-time order information.

[0031] The processing module is used to set a dynamic priority between several production areas based on preset rules and the real-time order information, and generate several corresponding scheduling instructions one by one according to the dynamic priority. Each scheduling instruction corresponds to a target production area, and each scheduling instruction includes the number of AGV vehicles to be scheduled.

[0032] The scheduling module is used to split the AGV vehicles into several transfer fleets according to the scheduling instructions, and to schedule the several transfer fleets to several corresponding target production areas according to the scheduling instructions.

[0033] In the aforementioned AGV scheduling system, when several production areas are stacked, the processing module is specifically used for:

[0034] The hierarchical relationship between several production areas is identified, and the several production areas are sorted according to the hierarchical relationship to generate a corresponding first sorting table, wherein the first sorting table is arranged in descending order of floor number.

[0035] The number of orders contained in the real-time production information generated by each production area is identified in the first sorting table, and the first sorting table is sorted a second time according to the number of orders to generate a corresponding second sorting table, wherein the second sorting table is arranged in descending order of the number of orders.

[0036] In the aforementioned AGV scheduling system, the AGV scheduling system further includes a first calculation module, which is specifically used for:

[0037] A first weight is applied to the floor corresponding to the production area, and a second weight is applied to the number of orders corresponding to the production area, wherein the sum of the first weight and the second weight is 1;

[0038] The first priority value corresponding to each production area is calculated based on the first weight and the second weight respectively. The second sorting table is sorted three times according to the size of the first priority value to generate the corresponding third sorting table. The third sorting table is arranged in descending order of the first priority value.

[0039] In the aforementioned AGV scheduling system, when several production areas are arranged side-by-side, the processing module is specifically used for:

[0040] The parking areas corresponding to several AGV vehicles are detected, and the distance value between each production area and the parking area is calculated respectively, so as to generate a corresponding fourth sorting table based on the distance value, wherein the fourth sorting table is arranged in order of increasing distance value;

[0041] The fourth sorting table identifies the number of orders contained in the production information generated in real time for each production area, and sorts the fourth sorting table a second time according to the number of orders to generate a corresponding fifth sorting table, wherein the fifth sorting table is arranged in descending order of the number of orders.

[0042] In the aforementioned AGV scheduling system, the AGV scheduling system further includes a second calculation module, which is specifically used for:

[0043] A third weight is applied to the distance value corresponding to the production area, and the sum of the third weight and the second weight is 1;

[0044] The second priority value corresponding to each production area is calculated based on the second weight and the third weight respectively, and the fifth sorting table is sorted a second time according to the size of the second priority value to generate the corresponding sixth sorting table, wherein the sixth sorting table is arranged in descending order of the second priority value.

[0045] In the aforementioned AGV scheduling system, the scheduling module is specifically used for:

[0046] Identify the real-time order information generated by the target production area corresponding to each scheduling instruction, and detect the quantity of goods corresponding to each real-time order information;

[0047] The number of AGVs corresponding to each AGV is obtained, and the required number of AGVs for each target production area is calculated based on the number of goods and the number of AGVs. The AGVs are then divided into several transport fleets based on the required number of each AGV.

[0048] In the aforementioned AGV scheduling system, the scheduling module is specifically used for:

[0049] The scheduling instructions are issued to several AGV vehicles to divide the several AGV vehicles into several transfer fleets, and a complete area map corresponding to several target production areas is retrieved.

[0050] The complete regional map is used to plan the route map for each of the transport fleets to move to the corresponding target production area, and the transport fleets are dispatched to the corresponding target production areas according to the route map.

[0051] A third aspect of the present invention provides a computer, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the AGV scheduling method as described above.

[0052] The fourth aspect of this invention provides a readable storage medium storing a computer program that, when executed by a processor, implements the AGV scheduling method described above.

[0053] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0054] Figure 1 A flowchart of an AGV scheduling method provided in an embodiment of the present invention;

[0055] Figure 2 This is a region diagram in an AGV scheduling method provided in an embodiment of the present invention;

[0056] Figure 3 This is a structural block diagram of an AGV (Automated Guided Vehicle) scheduling system provided in an embodiment of the present invention.

[0057] The following detailed description, in conjunction with the accompanying drawings, will further illustrate the present invention. Detailed Implementation

[0058] To facilitate understanding of the present invention, a more complete description will be given below with reference to the accompanying drawings. Several embodiments of the invention are illustrated in the drawings. However, the invention can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

[0059] It should be noted that when a component is said to be "fixed to" another component, it can be directly on the other component or there may be an intervening component. When a component is said to be "connected to" another component, it can be directly connected to the other component or there may be an intervening component. The terms "vertical," "horizontal," "left," "right," and similar expressions used in this document are for illustrative purposes only.

[0060] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0061] In existing technologies, when using AGVs to transfer products, the transfer area and route of the AGVs are mostly determined in advance. However, it is impossible to change the working area and transfer route of the AGVs during use. For example, regardless of whether the workload in the working area of ​​the AGV is heavy or light, the existing technology uses a fixed number of AGVs for product transfer. This can easily lead to a situation where there are fewer AGVs in areas with heavy workloads, while AGVs in areas with light workloads are idle. As a result, the AGVs cannot be adapted to different work requirements, reducing the transfer efficiency of the AGVs.

[0062] Please see Figure 1 The figure shows the AGV scheduling method provided in the first embodiment of the present invention. The AGV scheduling method provided in this embodiment can generate corresponding dynamic scheduling instructions in real time according to the production information of each production area, and can further change the transfer route and transfer area of ​​the AGV in real time according to the scheduling instructions during the transfer process, so that the AGV can be used for different work requirements at the same time, thereby improving the transfer efficiency of the AGV and making it suitable for wide-ranging promotion and use.

[0063] Specifically, the AGV scheduling method provided in this embodiment is applied to several AGVs, and the method specifically includes the following steps:

[0064] Step S10: Obtain production information generated in real time by several production areas respectively. The several production areas are stacked or arranged side by side. The production information includes real-time order information.

[0065] Specifically, in this embodiment, it should first be noted that the AGV scheduling method provided in this embodiment is specifically applied in factories that use AGVs to improve the efficiency of goods transfer in the factory, thereby improving the production efficiency of products.

[0066] In this embodiment, it should be noted that existing factories are generally planned with several production areas, i.e., several production workshops, and each production workshop operates independently to produce products separately. Therefore, each independent production area generates separate production information, and this production information is dynamically changing to meet different production requirements.

[0067] Therefore, in this embodiment, it should be noted that in order to accurately schedule several AGV vehicles, this step needs to obtain the production information generated in real time by several production areas. Specifically, the production information includes actual order information. In addition, it should be pointed out that the production areas provided in this embodiment can be stacked, that is, set up in layers, or set up side by side, that is, set up with horizontal intervals, all of which are within the protection scope of this embodiment.

[0068] Step S20: Based on preset rules, set dynamic priorities among several production areas according to the real-time order information, and generate several corresponding scheduling instructions one by one according to the dynamic priorities. Each scheduling instruction corresponds to a target production area, and each scheduling instruction includes the number of AGV vehicles to be scheduled.

[0069] Furthermore, in this step, it should be noted that the real-time order information will be processed according to the pre-set arrangement rules to set the dynamic priority between several production areas based on the current order information. On this basis, several corresponding scheduling instructions will be generated one by one according to the obtained dynamic priority. It should be pointed out that each scheduling instruction corresponds to a target production area. At the same time, each scheduling instruction also includes the number of AGVs to be scheduled, so that the corresponding number of AGVs can be scheduled to the required target production area.

[0070] Step S30: According to the scheduling instruction, the AGV vehicles are divided into several transfer fleets, and the transfer fleets are respectively dispatched to several corresponding target production areas according to the scheduling instruction.

[0071] Finally, it should be noted in this step that after generating the corresponding scheduling instructions through the above steps, this step will further divide the above-mentioned AGV vehicles into several corresponding transfer fleets according to the real-time generated scheduling instructions. On this basis, the several fleets that were split in real time will be dispatched to several corresponding target production areas according to the above-mentioned scheduling instructions.

[0072] Specifically, for ease of understanding, this embodiment has three production areas: A, B, and C. The order information for production areas A, B, and C corresponds to the production of 100 products, 200 products, and 300 products, respectively. Furthermore, according to preset rules, production area B has a higher priority than production area A, and production area A has a higher priority than production area C. Simultaneously, three corresponding scheduling instructions are generated. The scheduling instruction for production area A requires 10 AGVs, the instruction for production area B requires 20 AGVs, and the instruction for production area C requires 30 AGVs. Since the total number of AGVs is 50, this embodiment first schedules 20 AGVs to production area B based on the set priorities. Then, after scheduling 10 AGVs to production area A, the remaining 20 AGVs are scheduled to production area C, thus accurately scheduling all 50 AGVs.

[0073] In use, the system acquires real-time production information from several production areas, which are either layered or arranged side-by-side. This production information includes real-time order information. Furthermore, based on preset rules, dynamic priorities are set among the production areas according to the real-time order information. Several corresponding scheduling instructions are then generated based on these priorities, each corresponding to a target production area and including the number of AGVs to be scheduled. Finally, the AGVs are divided into several transport fleets according to the scheduling instructions, and these fleets are then dispatched to their respective target production areas. This method allows for the real-time generation of dynamic scheduling instructions based on the production information from each production area. Furthermore, the system can adjust the AGV transport routes and areas in real-time during transport, enabling the AGVs to be suitable for different work requirements and improving their transport efficiency. This makes the system suitable for widespread adoption and use.

[0074] It should be noted that the above implementation process is only to illustrate the feasibility of this application, but it does not mean that the AGV scheduling method of this application has only the above-mentioned unique implementation process. On the contrary, as long as the AGV scheduling method of this application can be implemented, it can be included in the feasible implementation scheme of this application.

[0075] In summary, the AGV scheduling method provided by the above embodiments of the present invention can generate corresponding dynamic scheduling instructions in real time based on the production information of each production area, and can further change the transfer route and transfer area of ​​the AGV in real time during the transfer process according to the scheduling instructions. This enables the AGV to be suitable for different work requirements at the same time, thereby improving the transfer efficiency of the AGV and making it suitable for widespread promotion and use.

[0076] The second embodiment of the present invention also provides an AGV scheduling method. The AGV scheduling method provided in this embodiment differs from the AGV scheduling method provided in the first embodiment above in that:

[0077] Specifically, in this embodiment, it should be noted that when several production areas are stacked, the step of setting a dynamic priority between the several production areas based on preset rules and the real-time order information includes:

[0078] The hierarchical relationship between several production areas is identified, and the several production areas are sorted according to the hierarchical relationship to generate a corresponding first sorting table, wherein the first sorting table is arranged in descending order of floor number.

[0079] The number of orders contained in the real-time production information generated by each production area is identified in the first sorting table, and the first sorting table is sorted a second time according to the number of orders to generate a corresponding second sorting table, wherein the second sorting table is arranged in descending order of the number of orders.

[0080] Specifically, in this embodiment, such as Figure 2 As shown, it should be noted that Figure 2 The diagram shows a floor plan of a factory, which includes a production area 11, a goods area 21, and a parking area 31. When it is detected that the production areas are stacked on top of each other, that is, when the production areas are set up in layers, this embodiment will first identify the floor heights of the production areas and then sort the production areas and generate a corresponding first sorting table. The production areas with higher floors are ranked higher.

[0081] Based on this, this embodiment further identifies the order quantity corresponding to each of the current production areas in the first sorting table, and further sorts the production areas in the current first sorting table a second time according to the real-time order quantity, and generates a corresponding second sorting table. Specifically, in the second sorting table, the production area with more orders ranks higher, so as to accurately set the priority between the current production areas.

[0082] Specifically, for example, if there are three production areas A, B, and C, where production area A is on the first floor, production area B is on the second floor, and production area C is on the third floor, then in the first sorting table, the priority of production area C is higher than that of production area B, and the priority of production area B is higher than that of production area A. Furthermore, if the number of orders in production area A is 150, the number of orders in production area B is 100, and the number of orders in production area C is 200, then in the second sorting table, the priority of production area C is higher than that of production area A, and the priority of production area A is higher than that of production area B, thus accurately setting the priority among the three production areas A, B, and C.

[0083] Furthermore, in this embodiment, it should be noted that after the step of performing a secondary sorting of the first sorting table based on the order quantity to generate a corresponding second sorting table, the method further includes:

[0084] A first weight is applied to the floor corresponding to the production area, and a second weight is applied to the number of orders corresponding to the production area, wherein the sum of the first weight and the second weight is 1;

[0085] The first priority value corresponding to each production area is calculated based on the first weight and the second weight respectively. The second sorting table is sorted three times according to the size of the first priority value to generate the corresponding third sorting table. The third sorting table is arranged in descending order of the first priority value.

[0086] Furthermore, in this embodiment, it should be noted that, for ease of understanding, there are, for example, three production areas A, B, and C. Simultaneously, in this embodiment, a first weight of 0.3 is pre-applied to the floor level, and a second weight of 0.7 is applied to the order quantity. Further, it is found that A is on the first floor with 150 orders, B is on the second floor with 100 orders, and C is on the third floor with 180 orders. Then, the first priority value is calculated as 105.3 for A, 70.6 for B, and 126.9 for C. Therefore, in the third sorting table, C's priority is greater than A's priority, and A's priority is greater than B's priority.

[0087] It should be noted that the method provided in the second embodiment of the present invention has the same implementation principle and some technical effects as the first embodiment. For the sake of brevity, any parts not mentioned in this embodiment can be referred to the corresponding content provided in the first embodiment.

[0088] In summary, the AGV scheduling method provided by the above embodiments of the present invention can generate corresponding dynamic scheduling instructions in real time based on the production information of each production area, and can further change the transfer route and transfer area of ​​the AGV in real time during the transfer process according to the scheduling instructions. This enables the AGV to be suitable for different work requirements at the same time, thereby improving the transfer efficiency of the AGV and making it suitable for widespread promotion and use.

[0089] The third embodiment of the present invention also provides an AGV scheduling method. The AGV scheduling method provided in this embodiment differs from the AGV scheduling method provided in the first embodiment above in that:

[0090] Specifically, in this embodiment, it should be noted that when several production areas are set up side by side, the step of setting a dynamic priority among the several production areas based on preset rules and the real-time order information includes:

[0091] The parking areas corresponding to several AGV vehicles are detected, and the distance value between each production area and the parking area is calculated respectively, so as to generate a corresponding fourth sorting table based on the distance value, wherein the fourth sorting table is arranged in order of increasing distance value;

[0092] The fourth sorting table identifies the number of orders contained in the production information generated in real time for each production area, and sorts the fourth sorting table a second time according to the number of orders to generate a corresponding fifth sorting table, wherein the fifth sorting table is arranged in descending order of the number of orders.

[0093] Similarly, in this embodiment, as Figure 2 As shown, it should be noted that if it is detected in real time that several production areas are set up side by side, that is, when several production areas are set up horizontally, this embodiment will detect the parking area of ​​several AGVs. At the same time, the distance value between each production area and the current parking area is calculated, and a corresponding fourth sorting table is generated based on the obtained distance value. Specifically, in the fourth sorting table, the distance values ​​are arranged in ascending order.

[0094] Furthermore, in this embodiment, the order quantity corresponding to each production area is also obtained, and the order quantity is further sorted in the fourth sorting table according to the real-time order quantity, and a fifth sorting table is generated. Specifically, in the fifth sorting table, the order quantities are arranged in descending order.

[0095] Furthermore, in this embodiment, it should be noted that after the step of performing a secondary sorting of the fourth sorting table based on the order quantity to generate the corresponding fifth sorting table, the method further includes:

[0096] A third weight is applied to the distance value corresponding to the production area, and the sum of the third weight and the second weight is 1;

[0097] The second priority value corresponding to each production area is calculated based on the second weight and the third weight respectively, and the fifth sorting table is sorted a second time according to the size of the second priority value to generate the corresponding sixth sorting table, wherein the sixth sorting table is arranged in descending order of the second priority value.

[0098] Specifically, in this embodiment, for ease of understanding, it should be noted that, for example, there are three production areas A, B, and C in the fifth sorting table mentioned above. In this embodiment, the third weight corresponding to the distance value is preset to be 0.4, and the second weight corresponding to the order quantity is 0.6. At the same time, the distance value of A is obtained as 100m, the distance value of B is 150m, and the distance value of C is 120m. The corresponding order quantity of A is 150, the order quantity of B is 100, and the order quantity of C is 180. Then, the second priority value of A is calculated to be 130, the second priority value of B is 120, and the second priority value of C is 156. Therefore, the priority in the sixth sorting table generated in real time is that the priority of C is greater than that of A, and the priority of A is greater than that of B, so as to accurately complete the sorting among the three production areas.

[0099] It should be noted that the method provided in the third embodiment of the present invention has the same implementation principle and some technical effects as the first embodiment. For the sake of brevity, any parts not mentioned in this embodiment can be referred to the corresponding content provided in the first embodiment.

[0100] In summary, the AGV scheduling method provided by the above embodiments of the present invention can generate corresponding dynamic scheduling instructions in real time based on the production information of each production area, and can further change the transfer route and transfer area of ​​the AGV in real time during the transfer process according to the scheduling instructions. This enables the AGV to be suitable for different work requirements at the same time, thereby improving the transfer efficiency of the AGV and making it suitable for widespread promotion and use.

[0101] The fourth embodiment of the present invention also provides an AGV scheduling method. The AGV scheduling method provided in this embodiment differs from the AGV scheduling method provided in the first embodiment above in that:

[0102] Specifically, in this embodiment, it should be noted that the step of splitting the plurality of AGV vehicles into a plurality of transport fleets according to the scheduling instruction includes:

[0103] Identify the real-time order information generated by the target production area corresponding to each scheduling instruction, and detect the quantity of goods corresponding to each real-time order information;

[0104] The number of AGVs corresponding to each AGV is obtained, and the required number of AGVs for each target production area is calculated based on the number of goods and the number of AGVs. The AGVs are then divided into several transport fleets based on the required number of each AGV.

[0105] Specifically, in this embodiment, it should be noted that in order to accurately obtain the number of AGVs required for each target production area, this embodiment will detect the quantity of goods in the order information corresponding to each target production area in real time. At the same time, it will obtain the transfer quantity that each AGV can carry. Based on this, the required number of AGVs for each target production area will be calculated according to the obtained quantity of goods and transfer quantity. Furthermore, the current number of AGVs will be divided into several corresponding transfer fleets according to each required quantity.

[0106] It should be noted that the method provided in the fourth embodiment of the present invention has the same implementation principle and some technical effects as the first embodiment. For the sake of brevity, any parts not mentioned in this embodiment can be referred to the corresponding content provided in the first embodiment.

[0107] In summary, the AGV scheduling method provided by the above embodiments of the present invention can generate corresponding dynamic scheduling instructions in real time based on the production information of each production area, and can further change the transfer route and transfer area of ​​the AGV in real time during the transfer process according to the scheduling instructions. This enables the AGV to be suitable for different work requirements at the same time, thereby improving the transfer efficiency of the AGV and making it suitable for widespread promotion and use.

[0108] The fifth embodiment of the present invention also provides an AGV scheduling method. The AGV scheduling method provided in this embodiment differs from the AGV scheduling method provided in the first embodiment above in that:

[0109] Furthermore, in this embodiment, it should be noted that the step of dispatching the several transport fleets to several corresponding target production areas according to the dispatching instructions includes:

[0110] The scheduling instructions are issued to several AGV vehicles to divide the several AGV vehicles into several transfer fleets, and a complete area map corresponding to several target production areas is retrieved.

[0111] The complete regional map is used to plan the route map for each of the transport fleets to move to the corresponding target production area, and the transport fleets are dispatched to the corresponding target production areas according to the route map.

[0112] Furthermore, in this embodiment, it should be noted that after obtaining the scheduling instructions corresponding to each production area, this embodiment will further send the real-time generated scheduling instructions to the current number of AGV vehicles, so as to divide the current number of AGV vehicles into several corresponding transfer fleets according to the required quantity in each scheduling instruction. At the same time, the complete area map corresponding to the current number of target production areas is called up.

[0113] Furthermore, this embodiment will use existing path planning algorithms to plan routes in the current complete area map to the corresponding target production areas for the current number of transfer fleets. Based on this, the current number of transfer fleets will be dispatched to the corresponding target production areas according to the real-time planned route maps.

[0114] It should be noted that the method provided in the fifth embodiment of the present invention has the same implementation principle and some technical effects as the first embodiment. For the sake of brevity, any parts not mentioned in this embodiment can be referred to the corresponding content provided in the first embodiment.

[0115] In summary, the AGV scheduling method provided by the above embodiments of the present invention can generate corresponding dynamic scheduling instructions in real time based on the production information of each production area, and can further change the transfer route and transfer area of ​​the AGV in real time during the transfer process according to the scheduling instructions. This enables the AGV to be suitable for different work requirements at the same time, thereby improving the transfer efficiency of the AGV and making it suitable for widespread promotion and use.

[0116] Please see Figure 3 The figure shows an AGV dispatching system provided in the sixth embodiment of the present invention, which is applied to a plurality of AGVs. The system includes:

[0117] The acquisition module 12 is used to acquire production information generated in real time by several production areas, wherein the several production areas are stacked or arranged side by side, and the production information includes real-time order information;

[0118] Processing module 22 is used to set a dynamic priority between several production areas based on preset rules and the real-time order information, and generate several corresponding scheduling instructions one by one according to the dynamic priority. Each scheduling instruction corresponds to a target production area, and each scheduling instruction includes the number of AGV vehicles to be scheduled.

[0119] The scheduling module 32 is used to split the AGV vehicles into several transfer fleets according to the scheduling instructions, and to schedule the several transfer fleets to several corresponding target production areas according to the scheduling instructions.

[0120] In the aforementioned AGV scheduling system, when several production areas are stacked, the processing module 22 is specifically used for:

[0121] The hierarchical relationship between several production areas is identified, and the several production areas are sorted according to the hierarchical relationship to generate a corresponding first sorting table, wherein the first sorting table is arranged in descending order of floor number.

[0122] The number of orders contained in the real-time production information generated by each production area is identified in the first sorting table, and the first sorting table is sorted a second time according to the number of orders to generate a corresponding second sorting table, wherein the second sorting table is arranged in descending order of the number of orders.

[0123] In the aforementioned AGV scheduling system, the AGV scheduling system further includes a first calculation module 42, which is specifically used for:

[0124] A first weight is applied to the floor corresponding to the production area, and a second weight is applied to the number of orders corresponding to the production area, wherein the sum of the first weight and the second weight is 1;

[0125] The first priority value corresponding to each production area is calculated based on the first weight and the second weight respectively. The second sorting table is sorted three times according to the size of the first priority value to generate the corresponding third sorting table. The third sorting table is arranged in descending order of the first priority value.

[0126] In the aforementioned AGV scheduling system, when several production areas are arranged side-by-side, the processing module 22 is specifically used for:

[0127] The parking areas corresponding to several AGV vehicles are detected, and the distance value between each production area and the parking area is calculated respectively, so as to generate a corresponding fourth sorting table based on the distance value, wherein the fourth sorting table is arranged in order of increasing distance value;

[0128] The fourth sorting table identifies the number of orders contained in the production information generated in real time for each production area, and sorts the fourth sorting table a second time according to the number of orders to generate a corresponding fifth sorting table, wherein the fifth sorting table is arranged in descending order of the number of orders.

[0129] In the aforementioned AGV scheduling system, the AGV scheduling system further includes a second calculation module 52, which is specifically used for:

[0130] A third weight is applied to the distance value corresponding to the production area, and the sum of the third weight and the second weight is 1;

[0131] The second priority value corresponding to each production area is calculated based on the second weight and the third weight respectively, and the fifth sorting table is sorted a second time according to the size of the second priority value to generate the corresponding sixth sorting table, wherein the sixth sorting table is arranged in descending order of the second priority value.

[0132] In the aforementioned AGV scheduling system, the scheduling module 32 is specifically used for:

[0133] Identify the real-time order information generated by the target production area corresponding to each scheduling instruction, and detect the quantity of goods corresponding to each real-time order information;

[0134] The number of AGVs corresponding to each AGV is obtained, and the required number of AGVs for each target production area is calculated based on the number of goods and the number of AGVs. The AGVs are then divided into several transport fleets based on the required number of each AGV.

[0135] In the aforementioned AGV scheduling system, the scheduling module 32 is specifically used for:

[0136] The scheduling instructions are issued to several AGV vehicles to divide the several AGV vehicles into several transfer fleets, and a complete area map corresponding to several target production areas is retrieved.

[0137] The complete regional map is used to plan the route map for each of the transport fleets to move to the corresponding target production area, and the transport fleets are dispatched to the corresponding target production areas according to the route map.

[0138] The seventh embodiment of the present invention provides a computer, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the AGV scheduling method provided in the above embodiments.

[0139] The eighth embodiment of the present invention provides a readable storage medium on which a computer program is stored, which, when executed by a processor, implements the AGV scheduling method provided in the above embodiments.

[0140] In summary, the AGV scheduling method, system, computer, and readable storage medium provided in the above embodiments of the present invention can generate corresponding dynamic scheduling instructions in real time based on the production information of each production area, and can further change the transfer route and transfer area of ​​the AGV in real time according to the scheduling instructions during the AGV transfer process. This enables the AGV to be suitable for different work requirements at the same time, thereby improving the transfer efficiency of the AGV and making it suitable for widespread promotion and use.

[0141] It should be noted that the above modules can be functional modules or program modules, and can be implemented through software or hardware. For modules implemented through hardware, the above modules can reside in the same processor; or the above modules can be located in different processors in any combination.

[0142] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device.

[0143] More specific examples of computer-readable media (a non-exhaustive list) include: electrical connections (electronic devices) having one or more wires, portable computer disk drives (magnetic devices), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Furthermore, computer-readable media can even be paper or other suitable media on which the program can be printed, since the program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in computer memory.

[0144] It should be understood that various parts of the present invention can be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0145] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0146] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention. Therefore, the scope of protection of this patent should be determined by the appended claims.

Claims

1. An AGV (Automated Guided Vehicle) scheduling method, characterized in that, Applied to several AGV vehicles, the method includes: Acquire real-time production information generated by several production areas, wherein the production areas are stacked or arranged side by side, and the production information includes real-time order information; Based on preset rules, dynamic priorities are set between several production areas according to the real-time order information, and several corresponding scheduling instructions are generated one by one according to the dynamic priorities. Each scheduling instruction corresponds to a target production area, and each scheduling instruction includes the number of AGV vehicles to be scheduled. According to the scheduling instructions, the AGV vehicles are divided into several transfer fleets, and the transfer fleets are respectively dispatched to several corresponding target production areas according to the scheduling instructions. When several production areas are stacked, the step of setting a dynamic priority among the several production areas based on preset rules and the real-time order information includes: The hierarchical relationship between several production areas is identified, and the several production areas are sorted according to the hierarchical relationship to generate a corresponding first sorting table, wherein the first sorting table is arranged in descending order of floor number. The number of orders contained in the real-time production information generated by each production area is identified in the first sorting table, and the first sorting table is sorted a second time according to the number of orders to generate a corresponding second sorting table, wherein the second sorting table is arranged in descending order of the number of orders. When several production areas are set up side by side, the step of setting a dynamic priority among the several production areas based on preset rules and the real-time order information includes: The parking areas corresponding to several AGV vehicles are detected, and the distance value between each production area and the parking area is calculated respectively, so as to generate a corresponding fourth sorting table based on the distance value, wherein the fourth sorting table is arranged in order of increasing distance value; The fourth sorting table identifies the number of orders contained in the production information generated in real time for each of the production areas, and sorts the fourth sorting table a second time according to the number of orders to generate a corresponding fifth sorting table, wherein the fifth sorting table is arranged in descending order of the number of orders.

2. The AGV scheduling method according to claim 1, characterized in that: After the step of sorting the first sorting table a second time according to the order quantity to generate a corresponding second sorting table, the method further includes: A first weight is applied to the floor corresponding to the production area, and a second weight is applied to the number of orders corresponding to the production area, wherein the sum of the first weight and the second weight is 1; The first priority value corresponding to each production area is calculated based on the first weight and the second weight respectively. The second sorting table is sorted three times according to the size of the first priority value to generate the corresponding third sorting table. The third sorting table is arranged in descending order of the first priority value.

3. The AGV scheduling method according to claim 1, characterized in that: After the step of performing a secondary sorting of the fourth sorting table based on the order quantity to generate a corresponding fifth sorting table, the method further includes: A third weight is applied to the distance value corresponding to the production area, and the sum of the third weight and the second weight is 1; The second priority value corresponding to each production area is calculated based on the second weight and the third weight respectively, and the fifth sorting table is sorted a second time according to the size of the second priority value to generate the corresponding sixth sorting table, wherein the sixth sorting table is arranged in descending order of the second priority value.

4. The AGV scheduling method according to claim 1, characterized in that: The step of splitting the plurality of AGV vehicles into several transport fleets according to the scheduling instructions includes: Identify the real-time order information generated by the target production area corresponding to each scheduling instruction, and detect the quantity of goods corresponding to each real-time order information; The number of AGVs corresponding to each AGV is obtained, and the required number of AGVs for each target production area is calculated based on the number of goods and the number of AGVs. The AGVs are then divided into several transport fleets based on the required number of each AGV.

5. The AGV scheduling method according to claim 1, characterized in that: The step of dispatching several transport vehicle fleets to several corresponding target production areas according to the dispatching instructions includes: The scheduling instructions are issued to several AGV vehicles to divide the several AGV vehicles into several transfer fleets, and a complete area map corresponding to several target production areas is retrieved. The complete regional map is used to plan the route map for each of the transport fleets to move to the corresponding target production area, and the transport fleets are dispatched to the corresponding target production areas according to the route map.

6. An AGV (Automated Guided Vehicle) scheduling system, characterized in that, An AGV (Automated Guided Vehicle) system is applied to a plurality of AGVs to implement the AGV scheduling method as described in any one of claims 1 to 5, the system comprising: The acquisition module is used to acquire production information generated in real time by several production areas, wherein the production areas are stacked or arranged side by side, and the production information includes real-time order information. The processing module is used to set a dynamic priority between several production areas based on preset rules and the real-time order information, and generate several corresponding scheduling instructions one by one according to the dynamic priority. Each scheduling instruction corresponds to a target production area, and each scheduling instruction includes the number of AGV vehicles to be scheduled. The scheduling module is used to split the AGV vehicles into several transfer fleets according to the scheduling instructions, and to schedule the several transfer fleets to several corresponding target production areas according to the scheduling instructions.

7. A computer comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the AGV scheduling method as described in any one of claims 1 to 5.

8. A readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the AGV scheduling method as described in any one of claims 1 to 5.

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