An AGV cooperative scheduling method and device

Abstract

This application discloses an automated guided vehicle (AGV) collaborative scheduling method and apparatus, relating to the field of AGV wireless applications, for improving the performance of AGV scheduling systems. The method includes: receiving a task to move an object from a starting position to an ending position; determining a first AGV group to carry the object, the first AGV group including a first AGV and a second AGV; determining a target travel path for the first AGV group based on the starting and ending positions; allocating a first channel to the first AGV group; wherein the first channel is used for communication between the first and second AGVs; the distance between the first and second AGV groups is greater than a threshold, and the AGVs in the second AGV group communicate with each other through the first channel; and sending a first instruction message to the first AGV group, the first instruction message instructing the first AGV group to communicate through the first channel and complete the task according to the target travel path.

Description

Technical Field

[0001] This application relates to the field of wireless applications for Automated Guided Vehicles (AGVs), and in particular to an AGV collaborative scheduling method and apparatus. Background Technology

[0002] AGVs are industrial vehicles that automatically travel or tow cargo trolleys to designated locations along a pre-set route, and then load and unload goods automatically or manually. Currently, when AGV groups work collaboratively, the limited spectrum resources of wireless systems and the complexity of actual application environments, along with various forms of interference, result in insufficient available physical channels, limiting the possibility of multiple AGV groups working simultaneously, and leading to low performance of AGV scheduling systems. Summary of the Invention

[0003] This application provides an AGV collaborative scheduling method and apparatus to improve the performance of the AGV scheduling system.

[0004] To achieve the above objectives, the embodiments of this application adopt the following technical solutions:

[0005] In a first aspect, embodiments of this application provide an AGV collaborative scheduling method applied to a master control device. The method includes: receiving a task to move an object to be moved from a starting position to an ending position; determining a first AGV group to carry the object to be moved, the first AGV group including a first AGV and a second AGV; determining a target travel path for the first AGV group based on the starting position and the ending position; allocating a first channel to the first AGV group; wherein the first channel is used for communication between the first AGV and the second AGV; the distance between the first AGV group and the second AGV group is greater than a threshold, and the AGVs in the second AGV group communicate with each other through the first channel; and sending a first instruction message to the first AGV group, the first instruction message instructing the first AGV group to communicate through the first channel and complete the task according to the target travel path.

[0006] The above method can meet the high-quality communication required for AGV collaborative work, improve channel utilization, and enhance the performance of the AGV scheduling system.

[0007] In one possible implementation, a task completion message is received from the first AGV; wherein the task completion message is used to instruct the first AGV group to complete the task; and a release connection message is sent to the first AGV, wherein the release connection message is used to instruct the first AGV group to disconnect.

[0008] In this possible implementation, the first AGV sends a task completion message to the main control device to release the connection between the first AGV groups. When the main control device receives the task completion message, it also knows that the first AGV and the second AGV in the first AGV group have finished their work, which helps to designate AGVs for subsequent tasks.

[0009] In one possible implementation, an error message sent by the first AGV is received, indicating that the first AGV group cannot communicate normally; a second instruction message is sent to the first AGV, indicating that the first AGV group switches to the second channel for communication.

[0010] In this possible implementation, the first AGV monitors the surrounding environment in real time during task execution to determine the level of interference in the internal communication channel of the first AGV group. When communication is impossible, it promptly reports the channel status to the main control device to resolve the interference problem, achieve smooth task completion, and improve the performance of the AGV scheduling system.

[0011] In one possible implementation, the second channel satisfies any of the following conditions: the second channel is an idle channel; or, the second channel is used for communication between the third AGV groups; or the distance between the third AGV group and the first AGV group is greater than a threshold.

[0012] This possible implementation provides the conditions that the second channel needs to meet. By allocating a new channel to the first AGV group, it helps to provide a way to resolve interference problems for the first AGV group when interference occurs, thereby improving the efficiency of task completion.

[0013] In one possible implementation, the method further includes: receiving an abnormal message sent by a first AGV, the abnormal message indicating that the first AGV group cannot communicate normally; and sending a third instruction message to the first AGV, the third instruction message instructing the first AGV group to adjust the target driving path.

[0014] This possible implementation provides a solution for adjusting the target travel path of the first AGV group when an exception occurs during task execution, thus resolving communication issues and helping to improve task completion efficiency.

[0015] In one possible implementation, allocating a first channel to the first AGV group includes: allocating an idle channel to the first AGV group when an idle channel is available; and allocating a first channel to the first AGV group when no idle channel is available.

[0016] This possible implementation provides an example of how the master control device allocates channels to the first AGV.

[0017] Secondly, embodiments of this application provide an AGV collaborative scheduling method applied to a first AGV. The method includes: receiving a first instruction message sent by a master control device, the first instruction message instructing a first AGV group to communicate through a first channel and complete a task according to a target travel path; wherein the first AGV group includes a first AGV and a second AGV; the first channel is used for communication between the first AGV and the second AGV; the distance between the first AGV group and the second AGV group is greater than a threshold, and the AGVs in the second AGV group communicate with each other through the first channel; the task is used to instruct the object to be moved to be moved from a starting position to an ending position; establishing a connection with the second AGV through the first channel; and completing the task according to the target travel path.

[0018] The above method can meet the high-quality communication required for AGV collaborative work, improve channel utilization, and enhance the performance of the AGV scheduling system.

[0019] One possible implementation involves sending a task completion message to the master control device; wherein the task completion message is used to instruct the first AGV group to complete the task; receiving a release connection message sent by the master control device, the release connection message is used to instruct the first AGV to disconnect from the second AGV; and sending a release connection request to the second AGV, the release connection request is used to release the connection between the first AGV and the second AGV.

[0020] In this possible implementation, the first AGV sends a task completion message to the main control device to release the connection between the first AGV groups. When the main control device receives the task completion message, it also knows that the first AGV and the second AGV in the first AGV group have finished their work, which helps to designate AGVs for subsequent tasks.

[0021] One possible implementation involves sending a first data packet to the second AGV at a preset cycle and receiving a second data packet from the second AGV; wherein the first and second data packets are used to adjust the driving parameters of the first AGV group.

[0022] This possible implementation method ensures smooth task execution and improves the performance of the AGV scheduling system by exchanging data packets between the first AGV and the second AGV.

[0023] One possible implementation involves calculating the packet loss rate of the second data packet; when the packet loss rate exceeds a first threshold, an abnormal message is sent to the master control device, which indicates that the first AGV group cannot communicate normally.

[0024] In this possible implementation, the first AGV monitors the surrounding environment in real time during task execution to determine the level of interference in the internal communication channel of the first AGV group. When communication is impossible, it promptly reports the channel status to the main control device to resolve the interference problem, achieve smooth task completion, and improve the performance of the AGV scheduling system.

[0025] One possible implementation of the method further includes: receiving a second instruction message sent by the master control device, the second instruction message being used to instruct the first AGV group to switch to the second channel for communication; or, receiving a third instruction message sent by the master control device, the third instruction message being used to instruct the first AGV group to adjust the target driving path.

[0026] This possible implementation provides two ways to resolve communication anomalies, with the main control device instructing the first AGV group, which helps improve task completion efficiency.

[0027] One possible implementation is that the second channel satisfies any of the following conditions: the second channel is an idle channel; or, the second channel is used for communication between the third AGV groups; or the distance between the third AGV group and the first AGV group is greater than a threshold.

[0028] This possible implementation provides the conditions that the second channel needs to meet. By allocating a new channel to the first AGV group, it helps to provide a way to resolve interference problems for the first AGV group when interference occurs, thereby improving the efficiency of task completion.

[0029] Thirdly, this application provides a master control device that has the function of implementing the AGV collaborative scheduling method described in any of the first aspects above. This function can be implemented in hardware or by hardware executing corresponding software. The hardware or software includes one or more modules corresponding to the above-described function.

[0030] Fourthly, this application provides an automated guided vehicle (AGV) that has the function of implementing the AGV collaborative scheduling method described in any of the second aspects above. This function can be implemented in hardware or by hardware executing corresponding software. The hardware or software includes one or more modules corresponding to the above-described function.

[0031] Fifthly, a master control device is provided, comprising: a processor and a memory; the memory is used to store computer execution instructions, and when the master control device is running, the processor executes the computer execution instructions stored in the memory to cause the master control device to perform the AGV collaborative scheduling method as described in any of the first aspects above.

[0032] In a sixth aspect, an automated guided vehicle (AGV) is provided, comprising: a processor and a memory; the memory is used to store computer-executed instructions, and when the AGV is running, the processor executes the computer-executed instructions stored in the memory to cause the AGV to perform the AGV collaborative scheduling method as described in any of the second aspects above.

[0033] In a seventh aspect, a computer-readable storage medium is provided, wherein instructions are stored therein, which, when executed on a computer, enable the computer to perform the AGV collaborative scheduling method of any one of the first and second aspects described above.

[0034] Eighthly, a computer program product containing instructions is provided, which, when run on a computer, enables the computer to execute the AGV collaborative scheduling method of any one of the first and second aspects described above.

[0035] Ninth aspect, a chip is provided, the chip including a processor and a memory coupled together, the memory storing program instructions, and when the program instructions stored in the memory are executed by the processor, the AGV collaborative scheduling method of any one of the first and second aspects described above is implemented.

[0036] In a tenth aspect, a communication system is provided, which includes the main control device of the third aspect of the above-described aspects and the automated guided vehicle (AGV) of the fourth aspect; or, the communication system includes the main control device of the fifth aspect of the above-described aspects and the automated guided vehicle (AGV) of the sixth aspect.

[0037] The technical effects of any of the implementation methods in the third to tenth aspects can be found in the technical effects of the corresponding implementation methods in the first and second aspects, and will not be repeated here. Attached Figure Description

[0038] Figure 1 This is a schematic diagram of the composition of an AGV scheduling system provided in an embodiment of this application;

[0039] Figure 2 This is a schematic diagram of the main control device and AGV provided in the embodiments of this application;

[0040] Figure 3 A flowchart illustrating an AGV collaborative scheduling method provided in this application embodiment;

[0041] Figure 4 A schematic diagram of an AGV collaborative scheduling scenario provided in an embodiment of this application;

[0042] Figure 5 A schematic diagram of a route for AGV collaborative scheduling provided in an embodiment of this application;

[0043] Figure 6 A schematic diagram of a route for AGV collaborative scheduling provided in an embodiment of this application;

[0044] Figure 7 A flowchart illustrating an AGV collaborative scheduling method provided in this application embodiment;

[0045] Figure 8 A schematic diagram of a route for AGV collaborative scheduling provided in an embodiment of this application;

[0046] Figure 9 This application provides a flowchart illustrating an AGV scheduling system.

[0047] Figure 10 This is a schematic diagram of the AGV antenna configuration provided in the embodiments of this application;

[0048] Figure 11 This is a schematic diagram of the main control device provided in an embodiment of this application;

[0049] Figure 12 This is a schematic diagram of the structure of the automated guided vehicle (AGV) provided in the embodiments of this application. Detailed Implementation

[0050] In the description of this application, unless otherwise stated, " / " means "or," for example, A / B can mean A or B. The "and / or" in this document is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, and B alone. Furthermore, "at least one" means one or more, and "multiple" means two or more. The terms "first," "second," etc., do not limit the quantity or order of execution, and "first," "second," etc., do not necessarily imply differences.

[0051] It should be noted that, in this application, the terms "exemplary" or "for example" are used to indicate that something is being described as an example, illustration, or illustration. Any embodiment or design described as "exemplary" or "for example" in this application should not be construed as being more preferred or advantageous than other embodiments or design solutions. Specifically, the use of terms such as "exemplary" or "for example" is intended to present the relevant concepts in a concrete manner.

[0052] This application provides an AGV collaborative scheduling method, which can be applied to an AGV scheduling system that includes AGVs and a master control device. For example... Figure 1 As shown, in the AGV scheduling system, the scheduling of AGVs is achieved through communication between the main control device and AGV1, AGV2, AGV3, AGV4 and AGV5.

[0053] This application does not impose any restrictions on the specific forms of the main control device and the AGV. For example, the main control device can be a computer device with data processing capabilities. This computer device can be a terminal device or a network device. The terminal device can be referred to as a terminal, user equipment (UE), wireless communication device, or user device, etc. Specifically, the terminal device can be a mobile phone, tablet computer, laptop computer, ultra-mobile personal computer (UMPC), netbook, personal digital assistant (PDA), etc. The network device can be a server, etc. The server can be a single physical or logical server, or two or more physical or logical servers sharing different responsibilities and cooperating to achieve the various functions of the server. The AGV can be a device capable of transporting goods to a designated location, such as a vehicle with cargo-carrying and automatic navigation functions. The AGV may also include other detection devices for monitoring the environment during transportation, such as pressure sensors, positioning sensors, etc.

[0054] In terms of hardware implementation, the aforementioned main control device and AGV can be implemented through, for example... Figure 2 The computer device shown is implemented as follows. Figure 2 The diagram shown is a hardware structure schematic of a computer device 20 provided in an embodiment of this application. The computer device 20 can be used to implement the functions of the aforementioned computer device.

[0055] Figure 2 The computer device 20 shown may include a processor 201, a memory 202, a communication interface 203, and a bus 204. The processor 201, the memory 202, and the communication interface 203 can be connected via the bus 204.

[0056] The processor 201 is the control center of the computer device 20. It can be a general-purpose central processing unit (CPU) or other general-purpose processors. The general-purpose processor can be a microprocessor or any conventional processor.

[0057] As an example, processor 201 may include one or more CPUs, for example Figure 2 CPU 0 and CPU 1 are shown in the diagram.

[0058] The memory 202 may be a read-only memory (ROM) or other type of static storage device capable of storing static information and instructions, random access memory (RAM) or other type of dynamic storage device capable of storing information and instructions, or electrically erasable programmable read-only memory (EEPROM), disk storage media or other magnetic storage devices, or any other medium capable of carrying or storing desired program code in the form of instructions or data structures and accessible by a computer, but is not limited thereto.

[0059] In one possible implementation, the memory 202 can exist independently of the processor 201. The memory 202 can be connected to the processor 201 via a bus 204 and is used to store data, instructions, or program code. When the processor 201 calls and executes the instructions or program code stored in the memory 202, it can implement the method for determining node influence provided in the embodiments of this application.

[0060] In another possible implementation, the memory 202 can also be integrated with the processor 201.

[0061] The communication interface 203 is used for connecting the computer device 20 to other devices via a communication network, which may be Ethernet, radio access network (RAN), wireless local area network (WLAN), etc. The communication interface 203 may include a receiving unit for receiving data and a transmitting unit for transmitting data.

[0062] Bus 204 can be an industry standard architecture (ISA) bus, a peripheral component interconnect (PCI) bus, or an extended industry standard architecture (EISA) bus. This bus can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 2 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0063] It should be pointed out that, Figure 2 The structure shown does not constitute a limitation on computer device 20, except... Figure 2In addition to the components shown, the computer device 20 may include more or fewer components than illustrated, or combine certain components, or have different component arrangements.

[0064] Currently, in AGV scheduling systems, the main control equipment selects at least two AGVs to form an AGV group for collaborative work to complete the task of transporting the same item. During the AGV group's operation, real-time exchange of driving parameters within the group is crucial for safe cargo transport. If one AGV travels at a higher speed than the other, the cargo may fall off or be damaged during transport.

[0065] In this application, to ensure the safety of AGV groups during task completion, an AGV collaborative scheduling method is provided. For example... Figure 3 The flowchart shown illustrates that this method, applied to the main control device, includes:

[0066] S301, The main control device receives a task, which is used to move the object to be moved from the starting position to the ending position.

[0067] The object to be moved refers to the goods that the AGV needs to transport. The task can be manually input by the operator into the main control device, or it can be sent to the main control device via communication with other devices. The task received by the main control device includes a start position and an end position. The start position is where the AGV loads the object to be moved, and the end position is where the AGV unloads the object.

[0068] Optionally, the task may include processing actions that the AGV needs to perform on the object to be moved, for example, the processing actions may be applied during the movement process, and this application does not limit this.

[0069] S302, The main control equipment determines the first AGV group to carry the object to be moved.

[0070] The first AGV group refers to at least two AGVs that work together to move an object from a starting position to a destination position, including the first AGV and the second AGV.

[0071] Optionally, the first AGV and the second AGV are AGVs whose distance from the starting position meets a preset condition and are in an idle state. The AGV is in a working state when it is performing a task, and in an idle state otherwise.

[0072] One possible implementation is that the master control device determines AGVs whose distance from the starting position is less than or equal to a first threshold. For example, such as... Figure 4As shown, M is the starting position and N is the ending position. The area centered on M, with a distance from M less than or equal to the first threshold, is shown as the circle enclosed by the dashed box in the figure. Within this area, AGV3 and AGV4 are included. The main control device then selects AGV3 and AGV4 as the first AGV group.

[0073] Another possible implementation is that the main control device determines the AGV with the shortest distance from the starting position. (The rest is incomplete and requires further context.) Figure 4 As shown, the AGV closest to M is AGV4, followed by AGV3. Therefore, the main control device determines AGV3 and AGV4 as the first AGV group.

[0074] It should be noted that, in the above possible implementations, when there are multiple (e.g., three) AGVs that meet the preset conditions, the main control device can determine the first AGV group by random selection, or select the AGV with the shorter working time based on the status of multiple AGVs, in order to balance the energy consumption of each AGV managed by the main control device. The main control device may also consider other factors, which are not limited in this application.

[0075] Optionally, after step S302, the main control device marks the first AGV and the second AGV as working, and when determining the AGV according to the task later, the AGV in the working state will no longer be considered.

[0076] It should be noted that when the main control device determines that two or more AGVs are in the first AGV group, multiple AGVs can be selected according to the two methods mentioned above.

[0077] S303. The main control equipment determines the target travel path of the first AGV group based on the starting position and the ending position.

[0078] The target travel path is a route from the starting point to the end point, for the first AGV group to travel. Specifically, the main control equipment can plan the path based on the size of the task area, obstacles, etc. For example, such as... Figure 5 As shown.

[0079] S304. The main control device allocates the first channel to the first AGV group.

[0080] The first channel is used for communication between the first AGV and the second AGV.

[0081] In this collaborative operation, the first AGV group requires communication between the first and second AGVs to exchange driving data. This driving data is used by both parties to adjust driving speed, direction, etc., during task execution. This prevents excessive accumulation of errors in the driving data, which could lead to task failure. Therefore, it is necessary to ensure the quality of communication between the two parties to obtain driving parameters in real time and ensure the stability of the driving process. If each AGV group performing a task occupies one channel during its operation, the communication quality between the two parties can be guaranteed. However, the number of channels available for communication is limited. To complete more tasks within the limited number of channels in the same time period, this application proposes that the main control device use channel multiplexing to allocate channels for multiple AGV groups.

[0082] Specifically, when the first AGV group needs to perform a task through channel multiplexing, the master control device determines that the distance between the first AGV group and the second AGV group is greater than a threshold, and the AGVs in the second AGV group communicate with each other through the first channel. Then, the master control device allocates the first channel to the first AGV group.

[0083] It is understandable that when two AGV groups are close together, communication via the same channel can cause interference. The threshold mentioned above represents the minimum safe distance that the first and second AGV groups need to maintain for their target travel routes. When the second AGV group appears within the safe distance of the first AGV group (i.e., when the distance between the first and second AGV groups is less than or equal to the threshold), communication between the first and second AGV groups may interfere with each other, causing task failure. This area within the safe distance will be referred to as the mutual interference risk zone.

[0084] For example, such as Figure 6 As shown, this includes path 1 with a starting position of E and an ending position of F, and the target travel path with a starting position of M and an ending position of N. The main control device determines the mutual interference risk area based on the intersection of path 1 and the target travel path. It can be understood that the mutual interference risk area refers to the area centered on the AGV group with a radius equal to the shortest safe distance. In the target travel path, the first AGV group will appear at various points on the target travel path at different times; therefore, the mutual interference risk area for the first AGV group is the area centered on each point on the target travel path with a radius equal to the shortest safe distance. Figure 6 In the example shown, the intersection is considered as a potential area of ​​mutual interference risk, and the distance between other non-intersecting paths is greater than the shortest safe distance.

[0085] In the example above, the main control device, based on the current position of the second AGV group traveling on path 1, determines that the second AGV group has left the mutual interference risk area, and allocates the first communication channel within the second AGV group to the first AGV group for use.

[0086] It is understood that the above is only an example. In real-world applications, the target travel path may overlap with multiple paths currently executing the task, resulting in different numbers of mutual interference risk areas at the intersections of different paths. Furthermore, the main control device can select a target travel path with fewer intersections.

[0087] Optionally, the main control device determines the target travel path by combining the path intersections and the positions of the AGVs traveling along the path. Specifically, the main control device determines the intersections of multiple paths based on the target travel path, determines the positions of AGV groups along the multiple paths, and uses the channel used by the AGV group that has exited the mutual interference risk area where the intersection is located as the first channel.

[0088] Optionally, based on the target travel path of the first AGV group, the main control device further determines the mutual interference risk area according to the travel speed of the AGV group that has already occupied the channel, and determines the first channel for the first AGV group. Specifically, the main control device obtains the position information and travel speed of the AGV group that has already occupied the channel, and predicts the mutual interference risk area between the first AGV group and the AGV group that has already occupied the channel based on the preset travel speed and target travel path of the first AGV group. Figure 6 As shown, the main control device obtains the current position and speed of the second AGV group. The second AGV group travels from point E to point F. Assuming that the AGV group travels from point M to point N at the same speed, the first AGV group and the second AGV group can maintain a travel environment with a distance greater than the shortest safe distance during the travel process, so there is no risk area of ​​mutual interference between the two.

[0089] It should be noted that if the main control equipment predicts that there is a risk of mutual interference between the first AGV group and the second AGV group during the operation, it can adjust the target driving path of the first AGV group or delay the driving time of the first AGV group to avoid the risk of mutual interference during the operation.

[0090] Under normal circumstances, the main control device instructs the same driving speed for all AGV groups it manages, i.e., the preset driving speed mentioned above, to facilitate the management of multiple AGV groups. Of course, during task execution, the AGV groups can adaptively adjust their driving speed according to changes in the path to ensure the stability of transported goods.

[0091] S305, The main control device sends the first instruction message to the first AGV group.

[0092] The first instruction message is used to instruct the first AGV group to communicate through the first channel and complete the task according to the target travel path.

[0093] Specifically, the first instruction message includes the target travel path, the starting position, and the identifier of the first channel. The target travel path is used by the first AGV group to perform the task, and the starting position and the identifier of the first channel are used by the first AGV group to establish a connection and communicate during the task execution.

[0094] The above method enables the allocation of channels for collaborative AGV groups, and allows multiple AGV groups to use the same channel to perform tasks within a limited number of channels, thereby improving channel utilization, reducing the waiting time for AGVs to complete tasks, and enhancing the performance of the AGV scheduling system.

[0095] After performing steps S301-S305 above, this application also provides a flowchart of an AGV collaborative scheduling method. For example... Figure 7 As shown, the method includes:

[0096] S701, the first AGV receives a first instruction message sent by the main control device. The first instruction message is used to instruct the first AGV group to communicate through the first channel and complete the task according to the target travel path.

[0097] The first instruction message includes at least the task's starting position, the target travel path, and the identifier of the first channel. The task's starting position and the identifier of the first channel are used for device connection between the first AGV and the second AGV. The target travel path is used by the first AGV group to complete the task.

[0098] S702, the first AGV establishes a connection with the second AGV in the first channel.

[0099] In the field of wireless communication, the process of establishing a connection between two devices is well known to those skilled in the art and will not be described in detail here.

[0100] Optionally, in step S702, the first AGV and the second AGV determine the communication method, specifically including determining through negotiation that the first AGV is the master device and the second AGV is the slave device, and the master device communicates with the master control device on behalf of the first AGV group.

[0101] It should be noted that the master device and slave device mentioned above can also be designated by the master control device. For example, before or after step S702, the first AGV receives a second instruction message sent by the master control device. The second instruction message is used to indicate that the first AGV is the master device, and the master device is used to communicate with the master control device on behalf of the first AGV group.

[0102] It should be noted that the aforementioned second instruction message can also be the first instruction message, that is, the first instruction message includes information about the first AGV as the main device, used to instruct the first AGV to communicate with the main control device in place of the first AGV group. This application does not limit the method of determining the AGV that replaces the first AGV group in communicating with the main control device. The following explanation uses the first AGV as an example. It can be understood that communication between the first AGV and the main control device can be replaced by communication between the second AGV and the main control device, which will not be elaborated further.

[0103] S703, the first AGV completes the task according to the target driving path.

[0104] Optionally, in step S703, the first AGV sends a first data packet to the second AGV according to a preset cycle and receives a second data packet from the second AGV. The first and second data packets are used to adjust the driving parameters of the first AGV group. The driving parameters of the first AGV group can be found in the description above.

[0105] The above methods enable AGVs to work collaboratively, and allow multiple AGV groups to use the same channel to perform tasks in a limited number of channels, thereby improving channel utilization, reducing the waiting time for AGVs to complete tasks, and improving the performance of the AGV scheduling system.

[0106] After step S703, step S704 is also included: the first AGV sends a task completion message to the main control device. This task completion message is used to instruct the first AGV group to complete the task.

[0107] S705, the main control device receives the task completion message and sends a release connection message to the first AGV. The release connection message is used to instruct the first AGV group to disconnect.

[0108] Optionally, the master control device marks the status of the first and second AGVs in the first AGV group as idle, for use in specifying subsequent tasks.

[0109] S706, First AGV group release connection.

[0110] Specifically, the first AGV receives a release connection message and sends a release connection request to the second AGV. This release connection request is used to release the connection between the first AGV and the second AGV.

[0111] The first AGV sends a task completion message to the main control device to release the connection between the first AGV groups. At the same time, the main control device knows that the first AGV and the second AGV in the first AGV group have finished their work, which helps to designate AGVs for subsequent tasks.

[0112] It should be noted that steps S704-S706 above are merely examples. In certain situations, the master control device can also actively release the connection of the first AGV group. For example, the object to be moved can be loaded onto the first AGV, allowing the first AGV to continue performing its task, releasing the connection between the first AGV group, and assigning a new task to the second AGV. This application does not impose any limitations on this.

[0113] Optionally, step S703 may further include steps S703a-S703c.

[0114] S703a, The first AGV calculates the packet loss rate of the second data packet.

[0115] The packet loss rate is the proportion of data packets that the first AGV did not receive out of the data packets it should have received.

[0116] S703b: When the packet loss rate is greater than the first threshold, an abnormal message is sent to the main control device. This abnormal message is used to indicate that the first AGV group cannot communicate normally.

[0117] For example, if the first AGV does not receive the second data packet from the second AGV before the next cycle, the packet loss rate is considered to be 100%. If the first threshold is 60%, the first AGV is triggered to send an abnormal message to the main control device.

[0118] It should be noted that this abnormal message indicates that during the execution of the task according to the target travel path, the distance between the first AGV group and other AGV groups may be less than the minimum safe distance, interfering with the communication of the first AGV group and causing communication abnormalities between the first AGV and the second AGV. Alternatively, this abnormal message can indicate other reasons for communication abnormalities between the first AGV groups, such as a communication failure within the first AGV group; this application does not impose any restrictions on this.

[0119] S703c1 After receiving the abnormal message, the main control device sends a second instruction message to the first AGV. The second instruction message is used to instruct the first AGV group to switch to the second channel for communication.

[0120] Optionally, the main control device may re-determine the channel for the first AGV group based on its location and target travel path.

[0121] Specifically, the main control device allocates an idle channel to the first AGV group as the second channel, or, in accordance with the above step S304, the main control device allocates a communication channel between the third AGV group to the first AGV group as the second channel, wherein the distance between the third AGV group and the first AGV group is greater than a threshold.

[0122] S703c2. After receiving the abnormal message, the main control device sends a third instruction message to the first AGV. The third instruction message is used to instruct the adjustment of the target driving path.

[0123] Optionally, assuming the abnormal message indicates that the distance between the first AGV group and other AGV groups is less than the minimum safe distance, the master control device redetermines the target travel path for the first AGV group based on the positions of the first AGV group and other AGV groups. Alternatively, the master control device instructs the first AGV group to suspend operation based on its current position, and resume operation only after other AGV groups have left the mutual interference risk area. For example, when the first AGV receives the message from the master control device instructing it to suspend operation, the first AGV and the second AGV continue to communicate at the position where operation has stopped, and calculate the packet loss rate. When the packet loss rate is less than a first threshold, the first AGV and the second AGV continue to execute the task according to the target travel path. S703d, the first AGV and the second AGV establish a connection on the second channel and complete the task.

[0124] Through the above steps S703a-S03d, the first AGV monitors the surrounding environment in real time during task execution, determines the interference level of the internal communication channel used by the first AGV group, and promptly reports the channel status to the main control device when communication is impossible, so as to solve the interference problem, achieve smooth task completion, and improve the performance of the AGV scheduling system.

[0125] Optionally, the first AGV reports its positioning information to the main control device. Specifically, the first AGV may also be equipped with a positioning sensor for periodically reporting its current position. The main control device adjusts the channel for the first AGV group based on the positioning information. Specifically, the main control device monitors the movement trajectories of all AGV groups performing tasks to proactively avoid areas prone to mutual interference. Figure 8 As shown, the main control device can monitor the location information and travel paths of the first AGV group, the second AGV group, the third AGV group, and the fourth AGV group. The first AGV group and the fourth AGV group share channel 1. Based on the distance between the first AGV group and the fourth AGV group, the main control device determines that they are in a mutual interference risk area. Then, the main control device searches for other available channels for the first AGV group according to the above step S703c.

[0126] Optionally, the master control device described above can re-determine the channel for the first AGV group after receiving an abnormal message from the first AGV group. That is, when the first AGV group, which is in the mutual interference risk area, does not report an abnormal message from the fourth AGV group, the master control device does not need to actively intervene in order to ensure the efficiency of task completion.

[0127] By monitoring the location information of AGV groups in the AGV scheduling system through the aforementioned main control equipment, interference areas can be avoided in advance, ensuring the smoothness of task execution and improving the performance of the AGV scheduling system.

[0128] The above examples can be applied to, for example, Figure 9 The AGV scheduling system shown includes a main control device and multiple AGVs.

[0129] This includes the following steps:

[0130] S901, AGV scheduling system initialization.

[0131] The AGV scheduling system initialization includes master control device initialization and AGV initialization. Master control device initialization is used to obtain the status of the AGVs managed by the master control device and to obtain the available channels for communication within the AGV group. The available channels for communication within the AGV group can be detected during the AGV initialization process and reported to the master control device. The master control device stores the AGV status and available channels to determine the AGV to perform the task.

[0132] S902, AGV scheduling system receives tasks.

[0133] Same as step S301 above.

[0134] S903 and the AGV scheduling system are used for AGV pairing.

[0135] Same as step S302 above. The AGVs to be paired are the AGVs that were in an idle state in step S901 above.

[0136] S904. The AGV scheduling system determines whether the current channel is used up. If yes, it executes step S905; otherwise, it executes step S906.

[0137] In this context, "whether the current channel is used up" refers to whether all the free channels stored in the main control device in step S901 have been used for internal communication within the AGV group. If yes, it means that the AGV group currently performing a task and the AGV group performing a task later need to share the channel for internal communication within the AGV group; if no, it means that the AGV group currently performing a task and the AGV group performing a task later do not need to share the channel.

[0138] The S905 AGV scheduling system allocates unused channels in the vicinity based on the usage status of nearby AGV channels.

[0139] Same as step S304 above.

[0140] The S906 AGV scheduling system directly allocates new channels.

[0141] Specifically, the AGV group is allocated according to the idle channels stored in the master control device in step S901.

[0142] S907, AGV scheduling system marks channel usage status.

[0143] Specifically, the master control device marks the channel when allocating a channel to the AGV group. If the channel is idle, the master control device marks the channel as active; if the channel has already been marked as active, the master control device marks it again.

[0144] Optionally, when the same channel is allocated to multiple AGV groups, the channel status is marked by the task performed by each AGV group. For example, if task 1 is performed by the first AGV group and task 2 is performed by the second AGV group, then the identifier of task 1 is used to mark working status 1 in the channel, and the identifier of task 2 is used to mark working status 2 in the channel.

[0145] S908, AGV pairing release, AGV scheduling system clears channel usage status.

[0146] The steps for AGV pairing and release are the same as steps S704-S706 described above. The master control device can also clear the channel usage status based on the task completion message. Specifically, the task completion message includes a task identifier, and the master control device clears the status of the channel corresponding to the task identifier. For example, in step S907 above, if the master control device receives a task 1 completion message, it releases working state 1 based on the identifier of task 1.

[0147] Understandably, when all working states in the channel are released, the channel is marked as idle.

[0148] The steps S902-S908 above describe the process of channel allocation and related actions performed by the AGV scheduling system. In addition, after system initialization, the AGV scheduling system can also execute the following steps S910-S915 to perform channel monitoring, including:

[0149] The S910 AGV scheduling system reads the usage status of all paired AGV channels within the system.

[0150] One possible implementation is that the master control device reads the stored channel status to determine the usage of all paired AGV channels within the system.

[0151] Another possible implementation involves the master control device reacquiring the current channel status. Specifically, the master control device sends a third indication message to the third AGV, which is in an idle state, instructing the third AGV to detect the channel status. In response to the third indication message, the third AGV feeds back the detection result to the master control device. The master control device receives the detection result and updates its settings.

[0152] Optionally, the AGV periodically reports the channel status. Specifically, a preset period is provided for the AGV to detect the channel, and the detection is performed according to the period, with the detection results sent to the main control device.

[0153] S911. The AGV scheduling system detects whether the distance between AGVs on the same channel is less than the safe distance. If yes, proceed to step S912; otherwise, proceed to step S913. No further processing is required.

[0154] Specifically, whether the distance between AGVs on the same channel is less than the safe distance refers to the distance between AGV groups corresponding to multiple working states in the channel. For example, if channel 1 includes working state 1 and working state 2, and the distance between the first AGV group corresponding to working state 1 and the second AGV group corresponding to working state 2 is less than the safe distance, it indicates that the first AGV group and the second AGV group may interfere with each other, affecting the completion of the task.

[0155] The S912 AGV scheduling system allocates nearby unused channels based on the usage status of nearby AGV channels.

[0156] Same as step S304 above.

[0157] S914, AGV scheduling system marking channel usage status.

[0158] Same as step S907 above.

[0159] The S915 and AGV scheduling system completes the inspection of all channels.

[0160] The AGV scheduling system described above allocates channels to collaborative AGV groups, enabling multiple AGV groups to use the same channel to perform tasks within a limited number of channels, thereby improving channel utilization and reducing the waiting time for AGVs to complete tasks. At the same time, the AGV scheduling system monitors the overall operating status, ensuring system operating efficiency and improving the performance of the AGV scheduling system.

[0161] Optionally, the AGV in this application may be adopted. Figure 10The directional antenna is configured as shown. In scenarios where AGVs work collaboratively, a directional antenna can be used to control the signal coverage area to ensure signal reception for internal communication within the AGV group. Within this signal coverage area, the internal communication signal of the AGV group is less susceptible to interference. For example, the communication distance between the first AGV and the second AGV is fixed (e.g., 0.5 meters to 1 meter), and the arrangement is fixed (e.g., one in front of the other). The output power is controlled to achieve the shortest safe distance between the AGV groups.

[0162] It should be noted that this application does not limit the method of configuring directional antennas in the aforementioned AGV group. Considering the cost of implementing the solution, a directional antenna can be configured on one side of the AGV; or, considering the performance of the AGV scheduling system, directional antennas can be configured at the front and rear of the AGV respectively, which helps to accelerate the connection between AGV groups.

[0163] The foregoing primarily describes the solutions of the embodiments of this application from a methodological perspective. It is understood that, in order to achieve the above-described functions, the computer device includes at least one of the hardware structures and software modules corresponding to the execution of each function. Those skilled in the art should readily recognize that, based on the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein, this application can be implemented in hardware or a combination of hardware and computer software. Whether a function is executed in hardware or by computer software driving hardware depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0164] This application embodiment can divide a computer device into functional units based on the above method examples. For example, each function can be divided into its own functional units, or two or more functions can be integrated into one processing unit. The integrated unit can be implemented in hardware or as a software functional unit. It should be noted that the unit division in this application embodiment is illustrative and only represents one logical functional division; other division methods may be used in actual implementation.

[0165] For example, Figure 11 A possible structural diagram of the main control device involved in the above embodiments is shown. The main control device 90 includes a receiving unit 901, a processing unit 902, and a sending unit 903. The receiving unit 901 is used to receive a task for moving an object from a starting position to an ending position. For example, Figure 3The step S301 is shown. Processing unit 902 is used to determine a first AGV group for carrying the object to be moved, the first AGV group including a first AGV and a second AGV; processing unit 902 is also used to determine the target travel path of the first AGV group based on the starting position and the ending position; processing unit 902 is also used to allocate a first channel to the first AGV group; wherein, the first channel is used for communication between the first AGV and the second AGV; the distance between the first AGV group and the second AGV group is greater than a threshold, and the AGVs in the second AGV group communicate with each other through the first channel. For example, Figure 3 The steps S302-S304 are shown. The sending unit 903 is used to send a first instruction message to the first AGV group. The first instruction message instructs the first AGV group to communicate through a first channel and complete the task according to the target travel path. For example, Figure 3 The step S305 is shown.

[0166] Optionally, the receiving unit 901 is further configured to receive a task completion message sent by the first AGV; wherein the task completion message is used to instruct the first AGV group to complete the task. For example, Figure 7 S704 is shown. The sending unit 903 is also configured to send a release connection message to the first AGV, which instructs the first AGV group to disconnect. For example, Figure 7 The S705 shown.

[0167] Optionally, the receiving unit 901 is further configured to receive an error message sent by the first AGV, which indicates that the first AGV group cannot communicate normally. The sending unit 903 is further configured to send a second indication message to the first AGV, which instructs the first AGV group to switch to a second channel for communication.

[0168] Optionally, the second channel satisfies any of the following conditions: the second channel is an idle channel; or, the second channel is used for communication between the third AGV groups; or the distance between the third AGV group and the first AGV group is greater than a threshold.

[0169] Optionally, the receiving unit 901 is further configured to receive an abnormal message sent by the first AGV, the abnormal message indicating that the first AGV group cannot communicate normally; the sending unit 903 is further configured to send a third instruction message to the first AGV, the third instruction message indicating that the first AGV group adjusts the target driving path.

[0170] Optionally, the processing unit 902 is specifically configured to allocate an idle channel to the first AGV group when there is an idle channel, and allocate a first channel to the first AGV group when there is no idle channel.

[0171] Optionally, the main control device 90 also includes a storage unit 904. The storage unit 904 is used to store computer-executed instructions, and other units in the main control device can perform corresponding actions according to the computer-executed instructions stored in the storage unit 904.

[0172] For a detailed description of the above-mentioned optional methods, please refer to the foregoing method embodiments, which will not be repeated here. Furthermore, the explanation of any of the main control devices 90 provided above, as well as the description of their beneficial effects, can be found in the corresponding method embodiments described above, and will not be repeated here.

[0173] As an example, combined Figure 2 The functions implemented by some or all of the receiving unit 901, processing unit 902, transmitting unit 903, and storage unit 904 in the main control device 90 can be achieved through... Figure 2 Processor 201 in the middle executes Figure 2 The program code in memory 202 is used for implementation. The receiving unit 901 can also be implemented via... Figure 2 The receiving unit in the communication interface 203 is implemented, and the transmitting unit 903 can also be implemented through... Figure 2 The sending unit in the communication interface 203 is implemented.

[0174] When dividing each function into modules according to its corresponding function. Figure 12 The diagram illustrates a possible structure of the AGV involved in the above embodiments. This AGV can be any one of the AGVs in an AGV group. For example... Figure 12 As shown, AGV 100 includes a receiving unit 1001 and a processing unit 1002. The receiving unit 1001 is used to receive a first instruction message sent by the master control device. The first instruction message instructs a first AGV group to communicate through a first channel and complete the task according to the target travel path. The first AGV group includes a first AGV and a second AGV. The first channel is used for communication between the first AGV and the second AGV. The distance between the first AGV group and the second AGV group is greater than a threshold, and the AGVs in the second AGV group communicate with each other through the first channel. The task instructs the object to be moved from its starting position to its destination position. For example, Figure 7 The step S701 is shown. Processing unit 1002 is used to establish a connection with the second AGV on the first channel. The processing unit is also used to complete the task according to the target travel path. For example... Figure 7 The steps S702-S703 are shown.

[0175] Optionally, the AGV further includes a sending unit 1003 for sending a task completion message to the main control device; wherein the task completion message is used to instruct the first AGV group to complete the task. For example, Figure 7The step S704 is shown. The receiving unit 1001 is further configured to receive a release connection message sent by the master control device, which indicates that the first AGV and the second AGV are disconnected. For example, Figure 7 The step S705 shown is illustrated. The sending unit 1003 is further configured to send a release connection request to the second AGV, which is used to release the connection between the first AGV and the second AGV. For example, Figure 7 Step S706 is shown.

[0176] Optionally, the AGV further includes a sending unit 1003, used to send a first data packet to the second AGV according to a preset period. The receiving unit 1001 is also used to receive a second data packet fed back by the second AGV; wherein the first data packet and the second data packet are used to adjust the driving parameters of the first AGV group.

[0177] Optionally, the processing unit 1002 is further configured to calculate the packet loss rate of the second data packet. The sending unit 1003 is further configured to send an abnormal message to the master control device when the packet loss rate is greater than a first threshold. The abnormal message is used to indicate that the first AGV group cannot communicate normally.

[0178] Optionally, the receiving unit 1001 is further configured to receive a second instruction message sent by the master control device, the second instruction message being used to instruct the first AGV group to switch to the second channel for communication. Alternatively, it may receive a third instruction message sent by the master control device, the third instruction message being used to instruct the first AGV group to adjust its target travel path.

[0179] Optionally, the second channel satisfies any of the following conditions: the second channel is an idle channel; or, the second channel is used for communication between the third AGV groups; or the distance between the third AGV group and the first AGV group is greater than a threshold.

[0180] Optionally, the AGV100 also includes a storage unit 1004. The storage unit 1004 is used to store computer-executed instructions, and other units in the AGV can perform corresponding actions according to the computer-executed instructions stored in the storage unit 1004.

[0181] For a detailed description of the above-mentioned optional methods, please refer to the foregoing method embodiments, which will not be repeated here. Furthermore, the explanation of any of the AGV100 provided above and the description of its beneficial effects can be found in the corresponding method embodiments described above, which will not be repeated here.

[0182] As an example, combined Figure 2 The functions implemented by some or all of the receiving unit 1001, processing unit 1002, transmitting unit 1003, and storage unit 1004 in AGV100 can be achieved through... Figure 2 Processor 201 in the middle executes Figure 2The program code in the memory 202 is used for implementation. The receiving unit 1001 can also be implemented through... Figure 2 The receiving unit in the communication interface 203 is implemented, and the transmitting unit 1003 can also be implemented through... Figure 2 The sending unit in the communication interface 203 is implemented.

[0183] This application also provides a computer-readable storage medium storing a computer program that, when run on a computer, causes the computer to perform the methods executed by any of the computer devices described above.

[0184] For explanations of the relevant content and descriptions of the beneficial effects in any of the computer-readable storage media provided above, please refer to the corresponding embodiments described above, which will not be repeated here.

[0185] This application also provides a chip. This chip integrates a control circuit for implementing the functions of the aforementioned main control device 90 or AGV 100, and one or more ports. Optionally, the functions supported by this chip can be referred to above, and will not be repeated here. Those skilled in the art will understand that all or part of the steps of the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium. The aforementioned storage medium can be a read-only memory, random access memory, etc. The aforementioned processing unit or processor can be a central processing unit, a general-purpose processor, an application-specific integrated circuit (ASIC), a microprocessor (digital signal processor, DSP), a field-programmable gate array (FPGA), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof.

[0186] This application also provides a computer program product containing instructions that, when executed on a computer, cause the computer to perform any of the methods described in the above embodiments. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the flow or function according to the embodiments of this application is generated. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, computer instructions may be transmitted from one website, computer, server, or data center to another via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium may be any available medium that a computer can access or may include one or more data storage devices such as servers or data centers that can be integrated with the medium. The available medium may be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., SSD), etc.

[0187] It should be noted that the devices for storing computer instructions or computer programs provided in the embodiments of this application, such as but not limited to the memory, computer-readable storage medium and communication chip, are all non-transitory.

[0188] In the above embodiments, implementation can be achieved, in whole or in part, through software, hardware, firmware, or any combination thereof. When implemented using software programs, implementation can be, in whole or in part, in the form of a computer program product. This computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the flow or function according to the embodiments of this application is generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, computer instructions can be transmitted from one website, computer, server, or data center to another via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium accessible to a computer or a data storage device containing one or more servers, data centers, etc., that can be integrated with the medium. The available media can be magnetic media (e.g., floppy disks, hard disks, magnetic tapes), optical media (e.g., DVDs), or semiconductor media (e.g., solid-state disks, SSDs).

[0189] Although this application has been described herein in conjunction with various embodiments, those skilled in the art, by reviewing the accompanying drawings, the disclosure, and the appended claims, will understand and implement other variations of the disclosed embodiments in carrying out the claimed application. In the claims, the word "comprising" does not exclude other components or steps, and "a" or "an" does not exclude multiple instances. A single processor or other unit can implement several functions listed in the claims. While different dependent claims may recite certain measures, this does not mean that these measures cannot be combined to produce good results.

[0190] Although this application has been described in conjunction with specific features and embodiments, it is obvious that various modifications and combinations can be made thereto without departing from the spirit and scope of this application. Accordingly, this specification and drawings are merely exemplary illustrations of this application as defined by the appended claims, and are considered to cover any and all modifications, variations, combinations, or equivalents within the scope of this application. Clearly, those skilled in the art can make various alterations and modifications to this application without departing from the spirit and scope of this application. Thus, if such modifications and modifications of this application fall within the scope of the claims of this application and their equivalents, this application is also intended to include such modifications and modifications.

Claims

1. A collaborative scheduling method for automated guided vehicles (AGVs), characterized in that, Applied to a main control device, the method includes: Receive a task, the task being used to move an object from a starting position to an ending position; A first AGV group is determined to carry the object to be moved, the first AGV group including a first AGV and a second AGV; The target travel path of the first AGV group is determined based on the starting position and the ending position. A first channel is allocated to the first AGV group; wherein the first channel is used for communication between the first AGV and the second AGV; the distance between the first AGV group and the second AGV group is greater than a threshold, and the AGVs in the second AGV group communicate with each other through the first channel; Send a first instruction message to the first AGV group. The first instruction message is used to instruct the first AGV group to communicate through the first channel and complete the task according to the target travel path. The first AGV is the master device, and the second AGV is the slave device. The master device communicates with the master control device on behalf of the first AGV group. The first AGV is used to send a first data packet to the second AGV according to a preset period and to receive a second data packet fed back by the second AGV. The first data packet and the second data packet are used to adjust the driving parameters of the first AGV group. Assigning a first channel to the first AGV group includes: The intersection point is determined based on the target driving path, and the channel used by the AGV group that exits the mutual interference risk area where the intersection point is located is used as the first channel; the intersection point is used to represent the intersection point of the target driving path with the driving paths of other AGV groups, and the mutual interference risk area is the area formed by the first AGV group as the center and the threshold as the radius, or it is the area where the first AGV group and the AGV group that has occupied the channel may have channel mutual interference during driving, predicted based on the position information and driving speed of the AGV group occupying the channel, the preset driving speed of the first AGV group, and the target driving path; The method further includes: If it is predicted that the first AGV group and the second AGV group will have the mutual interference risk area during the driving process, the target driving path of the first AGV group will be adjusted or the driving time of the first AGV group will be delayed to avoid the mutual interference risk area that may exist during the driving process.

2. The method according to claim 1, characterized in that, The method further includes: Receive a task completion message sent by the first AGV; wherein the task completion message is used to instruct the first AGV group to complete the task; Send a release connection message to the first AGV, the release connection message being used to instruct the first AGV group to disconnect the communication connection.

3. The method according to claim 1, characterized in that, The method further includes: Receive an error message sent by the first AGV, the error message indicating that the first AGV group cannot communicate normally; A second instruction message is sent to the first AGV, which instructs the first AGV group to switch to the second channel for communication.

4. The method according to claim 3, characterized in that, The second channel satisfies any one of the following conditions: The second channel is an idle channel; or, the second channel is used for communication between the third AGV groups; the distance between the third AGV group and the first AGV group is greater than a threshold.

5. The method according to claim 1, characterized in that, The method further includes: receiving an abnormal message sent by the first AGV, the abnormal message being used to indicate that the first AGV group cannot communicate normally; A third instruction message is sent to the first AGV, the third instruction message being used to instruct the first AGV group to adjust the target travel path.

6. The method according to any one of claims 1-3, characterized in that, The allocation of the first channel to the first AGV group includes: If there is an available channel, allocate an idle channel to the first AGV group; In the absence of an available channel, the first channel is allocated to the first AGV group.

7. A method for collaborative scheduling of automated guided vehicles (AGVs), characterized in that, Applied to a first AGV, the method includes: The system receives a first instruction message from the main control device. This message instructs a first AGV group to communicate via a first channel and complete a task according to a target travel path. The first AGV group includes a first AGV and a second AGV. The first channel is used for communication between the first AGV and the second AGV. The distance between the first AGV group and the second AGV group is greater than a threshold, and the AGVs in the second AGV group communicate with each other via the first channel. The task instructs the system to move an object from a starting position to an ending position. Establish a connection between the first channel and the second AGV; Complete the task according to the target driving path; The first AGV is the master device, and the second AGV is the slave device. The master device communicates with the master control device on behalf of the first AGV group. The first AGV is used to send a first data packet to the second AGV according to a preset period and to receive a second data packet fed back by the second AGV. The first data packet and the second data packet are used to adjust the driving parameters of the first AGV group. The first channel is the channel used by the AGV group that has exited the mutual interference risk area where the target driving path is located, determined by the main control device based on the intersection point. The intersection point is used to represent the intersection point of the target driving path with the driving paths of other AGV groups. The mutual interference risk area is the area formed by the first AGV group as the center and the threshold as the radius, or it is the area where the first AGV group and the AGV group in the occupied channel may have channel mutual interference during driving, predicted based on the position information and driving speed of the AGV group in the occupied channel, the preset driving speed of the first AGV group, and the target driving path. If it is predicted that the first AGV group and the second AGV group will have the mutual interference risk area during the driving process, the main control device will adjust the target driving path of the first AGV group or delay the driving time of the first AGV group to avoid the mutual interference risk area that may exist during the driving process.

8. The method according to claim 7, characterized in that, The method further includes: Send a task completion message to the main control device; wherein the task completion message is used to instruct the first AGV group to complete the task; The system receives a release connection message sent by the main control device, the release connection message being used to indicate that the first AGV and the second AGV are disconnected; Send a release connection request to the second AGV, the release connection request being used to release the connection between the first AGV and the second AGV.

9. The method according to claim 7, characterized in that, The method further includes: Send the first data packet to the second AGV according to a preset cycle; Receive a second data packet from the second AGV; wherein the first data packet and the second data packet are used to adjust the driving parameters of the first AGV group.

10. The method according to claim 7, characterized in that, The method further includes: Calculate the packet loss rate of the second data packet; When the packet loss rate is greater than the first threshold, an abnormal message is sent to the main control device. The abnormal message is used to indicate that the first AGV group cannot communicate normally.

11. The method according to claim 10, characterized in that, The method further includes: The system receives a second instruction message sent by the main control device, the second instruction message being used to instruct the first AGV group to switch to the second channel for communication. Alternatively, the system may receive a third instruction message sent by the main control device, the third instruction message being used to instruct the first AGV group to adjust the target driving path.

12. The method according to claim 11, characterized in that, The second channel satisfies any one of the following conditions: The second channel is an idle channel; or, the second channel is used for communication between the third AGV groups; the distance between the third AGV group and the first AGV group is greater than the threshold.

13. A master control device, characterized in that, include: A receiving unit is used to receive a task, the task being to move an object from a starting position to an ending position. The processing unit is configured to determine a first AGV group for carrying the object to be moved, the first AGV group including a first AGV and a second AGV; The processing unit is further configured to determine the target travel path of the first AGV group based on the starting position and the ending position; The processing unit is further configured to allocate a first channel to the first AGV group; wherein the first channel is used for communication between the first AGV and the second AGV; the distance between the first AGV group and the second AGV group is greater than a threshold, and the AGVs in the second AGV group communicate with each other through the first channel; The sending unit is used to send a first instruction message to the first AGV group, the first instruction message being used to instruct the first AGV group to communicate through the first channel and complete the task according to the target travel path; The first AGV is the master device, and the second AGV is the slave device. The master device communicates with the master control device on behalf of the first AGV group. The first AGV is used to send a first data packet to the second AGV according to a preset period and to receive a second data packet fed back by the second AGV. The first data packet and the second data packet are used to adjust the driving parameters of the first AGV group. Assigning a first channel to the first AGV group includes: The intersection point is determined based on the target driving path, and the channel used by the AGV group that exits the mutual interference risk area where the intersection point is located is used as the first channel; the intersection point is used to represent the intersection point of the target driving path with the driving paths of other AGV groups, and the mutual interference risk area is the area formed by the first AGV group as the center and the threshold as the radius, or it is the area where the first AGV group and the AGV group that has occupied the channel may have channel mutual interference during driving, predicted based on the position information and driving speed of the AGV group occupying the channel, the preset driving speed of the first AGV group, and the target driving path; If it is predicted that the first AGV group and the second AGV group will have the mutual interference risk area during the driving process, the target driving path of the first AGV group will be adjusted or the driving time of the first AGV group will be delayed to avoid the mutual interference risk area that may exist during the driving process.

14. An automated guided vehicle (AGV), characterized in that, include: A receiving unit is configured to receive a first instruction message sent by a master control device. The first instruction message instructs a first AGV group to communicate via a first channel and complete a task according to a target travel path. The first AGV group includes a first AGV and a second AGV. The first channel is used for communication between the first AGV and the second AGV. The distance between the first AGV group and the second AGV group is greater than a threshold, and the AGVs in the second AGV group communicate with each other via the first channel. The task instructs the object to be moved to be moved from a starting position to an ending position. A processing unit is configured to establish a connection between the second AGV and the first channel; The processing unit is also configured to complete the task according to the target driving path; The first AGV is the master device, and the second AGV is the slave device. The master device communicates with the master control device on behalf of the first AGV group. The first AGV is used to send a first data packet to the second AGV according to a preset period and to receive a second data packet fed back by the second AGV. The first data packet and the second data packet are used to adjust the driving parameters of the first AGV group. The first channel is the channel used by the AGV group that has exited the mutual interference risk area where the target driving path is located, determined by the main control device based on the intersection point. The intersection point is used to represent the intersection point of the target driving path with the driving paths of other AGV groups. The mutual interference risk area is the area formed by the first AGV group as the center and the threshold as the radius, or it is the area where the first AGV group and the AGV group in the occupied channel may have channel mutual interference during driving, predicted based on the position information and driving speed of the AGV group in the occupied channel, the preset driving speed of the first AGV group, and the target driving path. If it is predicted that the first AGV group and the second AGV group will have the mutual interference risk area during the driving process, the main control device will adjust the target driving path of the first AGV group or delay the driving time of the first AGV group to avoid the mutual interference risk area that may exist during the driving process.

15. A master control device, characterized in that, include: processor; The processor is connected to a memory for storing computer execution instructions, and the processor executes the computer execution instructions stored in the memory to enable the processor to implement the method as described in any one of claims 1-6.

16. An automated guided vehicle (AGV), characterized in that, include: processor; The processor is connected to a memory for storing computer execution instructions, and the processor executes the computer execution instructions stored in the memory to enable the processor to implement the method as described in any one of claims 7-12.

17. An AGV scheduling system, characterized in that, include: The main control device as described in claim 13 and the automated guided vehicle (AGV) as described in claim 14; Alternatively, the main control device as described in claim 15 and the automated guided vehicle (AGV) as described in claim 16.

18. A computer-readable storage medium, characterized in that, Used to store computer instructions that, when executed on a computer, cause the computer to perform the method according to any one of claims 1-12.

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