Agv intelligent transfer system and method for metal smelting, electronic device and storage medium

Abstract

This invention discloses an intelligent AGV transfer system, method, electronic device, and storage medium for metal metallurgy, relating to the field of intelligent control technology. The server auctions off tasks to be assigned and publishes them to each AGV. The target AGV calculates the estimated first transportation cost for completing its local tasks based on the layout diagram and local task list, and calculates the estimated second transportation cost for both the local tasks and the tasks to be assigned based on the layout diagram, local task list, and tasks to be assigned. It then calculates the bid value based on the first and second transportation costs. The server assigns tasks to be assigned according to the auction rules and the bid value. By combining the target AGV's own first transportation cost with the second transportation cost considering the entire transfer system, and the server assigns tasks to be assigned based on the auction rules and the bid values ​​of each AGV, multi-objective optimization is achieved, avoiding uneven task load and improving the overall efficiency of the transfer system.

Description

Technical Field

[0001] This invention relates to the field of intelligent control technology, specifically to an AGV intelligent transfer system, method, electronic device, and storage medium for metal metallurgy. Background Technology

[0002] In warehousing and logistics, Automated Guided Vehicles (AGVs) are commonly used to move goods. The number of moving tasks is usually dynamically generated, characterized by randomness, high task density, and high timeliness requirements. Setting a reasonable task allocation strategy can effectively shorten the time for AGVs to complete the total tasks, speed up the AGV's response to tasks, and improve the overall efficiency of the system.

[0003] Existing scheduling systems typically employ centralized task allocation schemes, with a fixed number of tasks. This makes them unable to quickly respond to scenarios where tasks arrive dynamically, and the computational complexity increases with the number of tasks. Secondly, the optimization objectives are relatively singular, with little research into multi-objective optimization. This can lead to uneven task loads, resulting in some AGVs having too many or too few tasks, thus increasing the time required for all AGVs to complete all tasks. Summary of the Invention

[0004] The purpose of this invention is to solve the problems mentioned above in the background art, and to propose an AGV intelligent transfer system, method, electronic device and storage medium for metal metallurgy.

[0005] A first aspect of this invention provides an intelligent AGV transfer system for metallurgy, comprising a server and multiple AGV terminals; the target AGV terminal is any one of the multiple AGV terminals, and the local data of the target AGV terminal includes a layout map of the target area and a local task list; wherein:

[0006] The server is used to auction off the unassigned tasks for transporting metal materials within the target area and publish them to each AGV terminal.

[0007] The target AGV is used to acquire local data, calculate the estimated first transportation cost for completing the local task based on the layout diagram and the local task list, calculate the estimated second transportation cost for completing the local task and the task to be assigned based on the layout diagram, the local task list and the task to be assigned, calculate the bidding value based on the first transportation cost and the second transportation cost, and send the bidding value to the server.

[0008] The server is also used to allocate the tasks to be assigned according to the bidding rules and the bidding values ​​of each AGV terminal.

[0009] A second aspect of this invention also provides an intelligent transfer method for AGVs used in metallurgy, applied to a server, the method comprising:

[0010] The process involves auctioning off unassigned tasks for transporting metal materials within a target area and publishing the auction to each AGV terminal. This allows the target AGV terminal to acquire local data, including a layout map of the target area and a local task list. Based on the layout map and the local task list, a first estimated transportation cost for completing the local task is calculated. Based on the layout map, the local task list, and the unassigned tasks, a second estimated transportation cost for both the local task and the unassigned tasks is calculated. A bid value is then calculated based on the first and second transportation costs and sent to the server. The target AGV terminal can be any one of multiple AGV terminals.

[0011] The tasks to be assigned are allocated according to the bidding rules and the bidding value of each AGV terminal.

[0012] A third aspect of this invention also provides an intelligent transfer method for AGVs used in metallurgy, applied to a target AGV end, wherein the local data at the target AGV end includes a layout map of the target area and a local task list; the method includes:

[0013] Receive auction information sent by the server; the auction information is an assignment task for transporting metal materials within the target area;

[0014] Acquire local data and calculate the estimated first transportation cost for completing the local task based on the layout diagram and the local task list;

[0015] Calculate the estimated second transportation cost for completing the local tasks and the tasks to be assigned based on the layout diagram, the local task list, and the tasks to be assigned.

[0016] The bidding value is calculated based on the first transportation cost and the second transportation cost, and the bidding value is sent to the server so that the server can allocate the tasks to be assigned according to the bidding rules and the bidding values ​​of each AGV terminal.

[0017] Optionally, the layout diagram records multiple metal material placement points, multiple charging points, and the path length between each placement point and the charging point within the target area; the local data also includes the current position of the target AGV end; the local task list includes multiple transportation tasks and multiple charging tasks with a determined execution order, and both transportation tasks and charging tasks include the starting point position of the task.

[0018] The estimated first transportation cost for completing local tasks, calculated based on the layout diagram and the local task list, includes:

[0019] Map the local task list to the layout diagram to determine the metal material placement points and / or charging points that the target AGV will pass through in sequence to obtain the first path;

[0020] The minimum travel cost of the first path is determined using a preset path planning algorithm and used as the first transportation cost.

[0021] Optionally, the local data also includes the current battery level of the target AGV; the estimated second transportation cost for completing the local tasks and the tasks to be assigned, calculated based on the layout diagram, the local task list, and the tasks to be assigned, includes:

[0022] Based on the current power level of the target AGV, determine the remaining power level of the target AGV when the local task list is completed. Based on the remaining power level and the task to be assigned, determine the charging task during the execution of the task to be assigned. Add the task to be assigned and the charging task to the local task list to obtain a simulated task list.

[0023] The simulated task list is mapped to the layout diagram to determine the metal material placement points and / or charging points that the target AGV will pass through in sequence to obtain the second path.

[0024] The minimum travel cost of the second path is determined using a preset route planning algorithm and used as the second transportation cost.

[0025] Optionally, before calculating the bid value based on the first transportation cost and the second transportation cost and sending the bid value to the server, the method further includes:

[0026] Calculate the cost weight of the task to be assigned based on the task information of the task to be assigned;

[0027] The bidding value is calculated based on the first transportation cost and the second transportation cost as follows:

[0028] P=αm2+(1-α)m1

[0029] Where P is the bidding value, α is the cost weight, m1 is the first transportation cost, and m2 is the second transportation cost.

[0030] Optionally, the task information for the task to be assigned includes the weight of the metal material and the task completion deadline;

[0031] The cost weight of the task to be assigned is calculated based on the task information of the task to be assigned as follows:

[0032]

[0033] Where T is the time elapsed from the current moment to the task completion deadline, and G is the weight of the metal material. The average time for the target AGV to execute each task. The average weight transported by the target AGV for each task.

[0034] According to a fourth aspect of the present invention, an electronic device is also provided, including a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other through the communication bus.

[0035] Memory, used to store computer programs;

[0036] When a processor executes a program stored in memory, it implements any of the steps described above.

[0037] In a fifth aspect of the present invention, a computer-readable storage medium is also provided, wherein a computer program is stored therein, and when the computer program is executed by a processor, it implements any of the steps of the method described above.

[0038] The beneficial effects of this invention are:

[0039] This invention provides an intelligent AGV transfer system for metal metallurgy, including a server and multiple AGV terminals. The target AGV terminal is any one of the multiple AGV terminals, and its local data includes a layout map of the target area and a local task list. The server is used to auction off the tasks to be assigned for transporting metal materials within the target area and publish this auction to each AGV terminal. The target AGV terminal acquires local data, calculates the estimated first transportation cost for completing the local task based on the layout map and local task list, calculates the estimated second transportation cost for completing both the local task and the assigned task based on the layout map, local task list, and assigned tasks, calculates the bidding value based on the first and second transportation costs, and sends the bidding value to the server. The server is also used to allocate the assigned tasks according to the auction rules and the bidding values ​​of each AGV terminal. By combining the target AGV terminal's own first transportation cost with the second transportation cost considering the entire transfer system to calculate the bidding value, and the server allocates the assigned tasks according to the auction rules and the bidding values ​​of each AGV terminal, multi-objective optimization is achieved, avoiding uneven task load and improving the overall efficiency of the transfer system. Attached Figure Description

[0040] The invention will now be further described with reference to the accompanying drawings.

[0041] Figure 1 A flowchart of an intelligent AGV transfer method for metal metallurgy applied to a server, provided as an embodiment of the present invention;

[0042] Figure 2A flowchart of an intelligent transfer method for AGVs used in metallurgy, applied to the target AGV end, is provided as an embodiment of the present invention;

[0043] Figure 3 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention. Detailed Implementation

[0044] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0045] This invention provides an intelligent AGV transfer system for metallurgy, including a server and multiple AGV terminals; the target AGV terminal is any one of the multiple AGV terminals, and the local data of the target AGV terminal includes a layout map of the target area and a local task list; wherein:

[0046] The server is used to auction off the tasks to be assigned for transporting metal materials within the target area and publish them to each AGV terminal.

[0047] The target AGV end is used to acquire local data, calculate the first estimated transportation cost for completing local tasks based on the layout diagram and local task list, calculate the second estimated transportation cost for completing local tasks and tasks to be assigned based on the layout diagram, local task list and tasks to be assigned, calculate the bidding value based on the first and second transportation costs, and send the bidding value to the server.

[0048] The server is also used to allocate tasks to be assigned based on the bidding rules and the bidding values ​​of each AGV terminal.

[0049] Based on the embodiments of the present invention, a metal metallurgical AGV intelligent transfer system applied to a server is provided. The target AGV calculates the bidding value by combining the first transportation cost of the target AGV itself with the second transportation cost considering the entire transfer system. The server allocates the tasks to be assigned according to the bidding rules and the bidding values ​​of each AGV, realizing multi-objective optimization, avoiding uneven task load, and improving the overall efficiency of the transfer system.

[0050] Based on the same inventive concept, this invention also provides an intelligent AGV transfer method for metal metallurgy applied to servers. See [link to relevant documentation]. Figure 1 , Figure 1 A flowchart of an intelligent AGV transfer method for metal metallurgy applied to a server, provided as an embodiment of the present invention, is included.

[0051] S101, auction off the unassigned tasks for transporting metal materials within the target area and publish them to each AGV terminal; so that the target AGV terminal can obtain local data, including the layout map of the target area and the local task list, calculate the first estimated transportation cost for completing the local task based on the layout map and the local task list, calculate the second estimated transportation cost for completing the local task and the unassigned task based on the layout map, the local task list and the unassigned tasks, calculate the bidding value based on the first transportation cost and the second transportation cost, and send the bidding value to the server;

[0052] S102, allocate tasks to be assigned according to the bidding rules and the bidding value of each AGV terminal.

[0053] The target AGV end can be any one of multiple AGV ends.

[0054] Based on the embodiments of the present invention, a smart transfer method for AGVs used in metallurgy applied to a server is provided. The target AGV calculates the bidding value by combining the first transportation cost of the target AGV itself with the second transportation cost considering the entire transfer system. The server allocates tasks to be assigned according to the bidding rules and the bidding values ​​of each AGV, realizing multi-objective optimization, avoiding uneven task load, and improving the overall efficiency of the transfer system.

[0055] Based on the same inventive concept, this invention also provides an intelligent transfer method for AGVs used in metal metallurgy, applied to the target AGV end. See [link to relevant documentation]. Figure 2 , Figure 2 This is a flowchart illustrating an intelligent transfer method for AGVs used in metallurgy, applied to a target AGV. The local data at the target AGV end includes a layout map of the target area and a local task list; the method includes:

[0056] S201, Receive auction information sent by the server; the auction information is an assignment task for transporting metal materials within the target area.

[0057] S202, Obtain local data and calculate the estimated first transportation cost for completing the local task based on the layout diagram and the local task list.

[0058] S203, calculate the estimated second transportation cost for completing the local tasks and the tasks to be assigned based on the layout diagram, the local task list, and the tasks to be assigned.

[0059] S204, calculate the bidding value based on the first transportation cost and the second transportation cost, and send the bidding value to the server so that the server can allocate the tasks to be assigned according to the bidding rules and the bidding value of each AGV terminal.

[0060] Based on the embodiments of the present invention, a smart transfer method for AGVs used in metallurgy applied to a server is provided. The target AGV calculates the bidding value by combining the first transportation cost of the target AGV itself with the second transportation cost considering the entire transfer system. The server allocates tasks to be assigned according to the bidding rules and the bidding values ​​of each AGV, realizing multi-objective optimization, avoiding uneven task load, and improving the overall efficiency of the transfer system.

[0061] In one implementation, the bidding rule can be to assign the task to be assigned to the AGV with the lowest bid value.

[0062] In one embodiment, the layout diagram records multiple metal material placement points, multiple charging points, and the path length between each placement point and the charging point within the target area; the local data also includes the current position of the target AGV end; the local task list includes multiple transportation tasks and multiple charging tasks with a determined execution order, and both transportation tasks and charging tasks include the starting point position of the task.

[0063] Step S202 includes:

[0064] Step 1: Map the local task list to the layout diagram to determine the metal material placement points and / or charging points that the target AGV will pass through in sequence to obtain the first path.

[0065] Step 2: Use a preset path planning algorithm to determine the minimum travel cost of the first path as the first transportation cost.

[0066] In one implementation, the preset path planning algorithm can be set according to the actual situation, and is not limited here. For example, the preset path planning algorithm can be Dijkstra's algorithm, A* algorithm, D* algorithm, artificial potential field method, PRM algorithm, RRT algorithm, neural network algorithm, ant colony algorithm, and genetic algorithm, etc.

[0067] In one embodiment, the local data also includes the current battery level of the target AGV; step S203 includes:

[0068] Step 1: Determine the remaining power of the target AGV when the local task list is completed based on the current power level of the target AGV. Determine the charging tasks during the execution of the assigned tasks based on the remaining power level and the tasks to be assigned. Add the assigned tasks and the charging tasks to the local task list to obtain the simulated task list.

[0069] Step 2: Map the simulated task list to the layout diagram and determine the metal material placement points and / or charging points that the target AGV will pass through in sequence to obtain the second path.

[0070] Step 3: Use a preset route planning algorithm to determine the minimum travel cost of the second route as the second transportation cost.

[0071] In one embodiment, prior to S204, the method further includes:

[0072] Calculate the cost weight of the task to be assigned based on the task information of the task to be assigned;

[0073] The bidding value is calculated based on the first and second transportation costs as follows:

[0074] P=αm2+(1-α)m1 (1)

[0075] Where P is the bidding value, α is the cost weight, m1 is the first transportation cost, and m2 is the second transportation cost.

[0076] In one embodiment, the task information for the task to be assigned includes the weight of the metal material and the task completion deadline;

[0077] The cost weight of the task to be assigned is calculated based on the task information of the task to be assigned as follows:

[0078]

[0079] Where T is the time elapsed from the current moment to the task completion deadline, and G is the weight of the metal material. The average time for the target AGV to execute each task. The average weight transported by the target AGV in performing each task.

[0080] In one implementation, the cost weight is a positive number less than 1. The smaller the cost weight, the greater the impact of the weight of the metal material relative to the duration of the task completion period on the cost weight. In this case, the first transportation cost has a greater impact when calculating the bidding value, which can balance the average load of each AGV end and extend the service life of each AGV end.

[0081] The larger the cost weight, the greater the impact of the task completion period on the cost weight relative to the weight of the metal material. In this case, the second transportation cost has a greater impact when calculating the bidding value, which can balance the average working time of each AGV and avoid uneven task load.

[0082] This invention also provides an electronic device, such as... Figure 3 As shown, it includes a processor 301, a communication interface 302, a memory 303, and a communication bus 304, wherein the processor 301, the communication interface 302, and the memory 303 communicate with each other through the communication bus 304.

[0083] Memory 303 is used to store computer programs;

[0084] When the processor 301 executes the program stored in the memory 303, it implements any of the AGV intelligent transfer methods in the above embodiments.

[0085] The communication bus mentioned in the above electronic devices can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. This communication bus can be divided into address bus, data bus, control bus, etc. For ease of illustration, only one thick line is used to represent it in the diagram, but this does not mean that there is only one bus or one type of bus.

[0086] The communication interface is used for communication between the aforementioned electronic devices and other devices.

[0087] The memory may include random access memory (RAM) or non-volatile memory (NVM), such as at least one disk storage device. Optionally, the memory may also be at least one storage device located remotely from the aforementioned processor.

[0088] The processors mentioned above can be general-purpose processors, including central processing units (CPUs), network processors (NPs), etc.; they can also be digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0089] In another embodiment of the present invention, a computer-readable storage medium is also provided, which stores a computer program that, when executed by a processor, implements the steps of any of the above-described AGV intelligent transfer methods for metallurgy.

[0090] In another embodiment of the present invention, a computer program product containing instructions is also provided, which, when run on a computer, causes the computer to execute any of the AGV intelligent transfer methods for metallurgy described above.

[0091] In the above embodiments, implementation can be achieved entirely or partially through software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented entirely or partially in the form of a computer program product. 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 processes or functions described in the embodiments of the present invention are 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, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center 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 that a computer can access or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid state disk (SSD)).

[0092] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0093] The various embodiments in this specification are described in a related manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, the descriptions of devices, electronic devices, and storage media are relatively simple because they are fundamentally similar to the method embodiments; relevant parts can be referred to the descriptions of the method embodiments.

[0094] The foregoing has provided a detailed description of one embodiment of the present invention, but this description is merely a preferred embodiment and should not be construed as limiting the scope of the invention. All equivalent variations and modifications made within the scope of the claims of this invention should still fall within the patent coverage of this invention.

Claims

1. An AGV intelligent transfer system for metal metallurgy, characterized in that, It includes a server and multiple AGV terminals; the target AGV terminal is any one of the multiple AGV terminals, and the local data of the target AGV terminal includes a layout map of the target area and a local task list; wherein: The server is used to auction off the tasks to be assigned for transporting metal materials within the target area and publish them to each AGV terminal. The target AGV is used to acquire local data, calculate the estimated first transportation cost for completing the local task based on the layout diagram and the local task list, calculate the estimated second transportation cost for completing the local task and the task to be assigned based on the layout diagram, the local task list and the task to be assigned, calculate the bidding value based on the first transportation cost and the second transportation cost, and send the bidding value to the server. The server is also used to allocate the tasks to be assigned according to the bidding rules and the bidding values ​​of each AGV terminal; Before calculating the bid value based on the first transportation cost and the second transportation cost, and sending the bid value to the server, the process further includes: Calculate the cost weight of the task to be assigned based on the task information of the task to be assigned; The bidding value is calculated based on the first transportation cost and the second transportation cost as follows: P=αm2+(1-α)m1 Where P is the bidding value, α is the cost weight, m1 is the first transportation cost, and m2 is the second transportation cost; The task information for the tasks to be assigned includes the weight of the metal material and the task completion deadline; The cost weight of the task to be assigned is calculated based on the task information of the task to be assigned as follows: Where T is the time elapsed from the current moment to the task completion deadline, and G is the weight of the metal material. The average time for the target AGV to execute each task. The average weight transported by the target AGV for each task.

2. A transfer method for the AGV intelligent transfer system for metal metallurgy as described in claim 1, characterized in that, Applied to a server, the method includes: The process involves auctioning off unassigned tasks for transporting metal materials within a target area and publishing the auction to each AGV terminal. This allows the target AGV terminal to acquire local data, including a layout map of the target area and a local task list. Based on the layout map and the local task list, a first estimated transportation cost for completing the local task is calculated. Based on the layout map, the local task list, and the unassigned tasks, a second estimated transportation cost for both the local task and the unassigned tasks is calculated. A bid value is then calculated based on the first and second transportation costs and sent to the server. The target AGV terminal can be any one of multiple AGV terminals. The tasks to be assigned are allocated according to the bidding rules and the bidding value of each AGV terminal.

3. A transfer method for the AGV intelligent transfer system for metal metallurgy as described in claim 1, characterized in that, Applied to the target AGV end, the local data of the target AGV end includes a layout map of the target area and a local task list; the method includes: Receive auction information sent by the server; the auction information is an assignment task for transporting metal materials within the target area; Acquire local data and calculate the estimated first transportation cost for completing the local task based on the layout diagram and the local task list; Calculate the estimated second transportation cost for completing the local tasks and the tasks to be assigned based on the layout diagram, the local task list, and the tasks to be assigned. The bidding value is calculated based on the first transportation cost and the second transportation cost, and the bidding value is sent to the server so that the server can allocate the tasks to be assigned according to the bidding rules and the bidding values ​​of each AGV terminal.

4. The intelligent transfer method of AGV for metal metallurgy according to claim 3, characterized in that, The layout diagram records multiple metal material placement points, multiple charging points, and the path length between each placement point and the charging point within the target area; the local data also includes the current position of the target AGV; the local task list includes multiple transportation tasks and multiple charging tasks with a determined execution order, and both transportation and charging tasks include the starting point position of the task. The estimated first transportation cost for completing local tasks, calculated based on the layout diagram and the local task list, includes: Map the local task list to the layout diagram to determine the metal material placement points and / or charging points that the target AGV will pass through in sequence to obtain the first path; The minimum travel cost of the first path is determined using a preset path planning algorithm and used as the first transportation cost.

5. The intelligent transfer method for AGVs used in metal metallurgy according to claim 4, characterized in that, The local data also includes the current battery level of the target AGV; the estimated second transportation cost for completing the local tasks and the tasks to be assigned, calculated based on the layout diagram, the local task list, and the tasks to be assigned, includes: Based on the current power level of the target AGV, determine the remaining power level of the target AGV when the local task list is completed. Based on the remaining power level and the task to be assigned, determine the charging task during the execution of the task to be assigned. Add the task to be assigned and the charging task to the local task list to obtain a simulated task list. The simulated task list is mapped to the layout diagram to determine the metal material placement points and / or charging points that the target AGV will pass through in sequence to obtain the second path. The minimum travel cost of the second path is determined using a preset route planning algorithm and used as the second transportation cost.

6. An electronic device, characterized in that, It includes a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other through the communication bus; Memory, used to store computer programs; When a processor executes a program stored in memory, it implements the steps of the method of claim 2, or any one of claims 3-5.

7. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the steps of the method described in claim 2, or any one of claims 3-5.

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