Traffic control method based on AGV scheduling system

Abstract

The present application relates to the technical field of AGV, and particularly relates to a traffic control method based on an AGV scheduling system, comprising the following steps: S1, building an AGV scheduling system, a database, a server interface and configuring an AGV interface, configuring a site and a control area; S2, monitoring an AGV vehicle state in real time; S3, the IO1 interface is used as a connection mark between the AGV vehicle and the AGV scheduling system; the IO2 interface is used as a mark for restarting the AGV vehicle; S4, the AGV vehicle and the AGV scheduling system adopt a handshake mechanism of the AGV interface to control start and stop of the AGV vehicle; S5, a missed control processing mechanism is triggered, start and stop processing is performed on the AGV vehicle, and a control area state is updated; S6, an AGV vehicle with a maximum target function value is selected, and a start instruction is sent to the AGV vehicle. The present application provides a traffic control method based on an AGV scheduling system, which is used for managing a start sequence of multiple AGV vehicles when the AGV vehicles are controlled, improving carrying efficiency of the AGV vehicles, and solving a missed control phenomenon caused by network delay or congestion of the AGV scheduling system.

Description

TECHNICAL FIELD

[0001] The present application relates to the AGV technical field, specifically relates to a traffic control method based on AGV scheduling system. BACKGROUND

[0002] With the continuous rise of labor costs and the advent of the industrial 4.0 era, using AGV (Automated Guided Vehicle) to replace traditional manual handling has become a trend, especially in the fields of PCBA factory, military industry, medicine, aerospace, etc. AGV not only can improve the handling efficiency, but also can bring industrial upgrading to some extent, and is especially popular in secret units. In large factories, multiple AGVs are usually used for joint handling. In the handling process, traffic congestion caused by route intersection will inevitably occur. Therefore, traffic control is needed at the intersection and special areas. At present, AGVs can be divided into several categories according to navigation methods, such as magnetic navigation AGV, two-dimensional code AGV, laser AGV, and visual AGV. Among them, two-dimensional code AGV and visual AGV can establish a grid map, and the navigation path can be changed at any time when traffic control is needed, so as to allow AGVs with higher priority to pass. However, magnetic navigation AGV and laser AGV cannot change the navigation path to control traffic because their routes are fixed and many of them are single lanes. There are mainly two common methods for this type of traffic control. The first method is that AGV groups broadcast communication to each other and use the "first-in first-out" principle for control. Although this control method is simple, it will cause the phenomenon of missed control due to communication delay, signal packet, etc. Not only does this increase the communication pressure of the controller and reduce the scalability, but it also cannot balance the relationship between task priority, AGV power, and waiting time. The second method is to use the AGV scheduling system to monitor the state landmarks of AGVs in real time for control. The start and stop of AGVs are all judged by the AGV scheduling system. When the network is congested or the system is paralyzed, the AGVs are in a state of loss of control, and when they pass through the controlled area, they may collide with other AGVs. SUMMARY

[0003] The purpose of the present application is to provide a traffic control method based on AGV scheduling system to manage the start order of multiple AGVs when they are controlled, improve the handling efficiency of AGVs, and solve the missed control phenomenon caused by network delay or congestion of the AGV scheduling system.

[0004] The purpose of the present application is achieved by the following technical solution: a traffic control method based on AGV scheduling system, comprising the following steps:

[0005] S1, build AGV scheduling system and database, configure server interface and AGV interface, configure site and control area, the site includes ordinary site, control site and release site;

[0006] S2, real-time monitoring AGV car state information, and update to database;

[0007] S3, AGV car is equipped with two AGV interfaces, two AGV interfaces are IO1 interface and IO2 interface respectively;The IO1 interface is used as the connection mark between AGV car and AGV scheduling system;The IO2 interface is used as the mark of restarting AGV car;

[0008] S4, AGV car and AGV scheduling system adopt the mechanism of AGV interface handshake to control the start and stop of AGV car, AGV scheduling system controls the start and stop of AGV car when the connection network is normal, and AGV car controls the start and stop of AGV car when the connection network is abnormal;

[0009] S5, AGV scheduling system real-time monitoring and recording AGV car current site, and comparing AGV car current site with the first site in the current remaining navigation path site, if it is not consistent, then trigger the control area state update processing mechanism, and the control area state update processing mechanism is started and stopped to AGV car;

[0010] S6, AGV scheduling system defines task priority level in control area and establishes traffic control target function, calculates the target function value of all AGV cars to be started in the control area, selects the AGV car with the maximum target function value, and sends the start instruction to the AGV car.

[0011] The application further sets that, in step S3, the control between AGV car and AGV scheduling system is carried out through IO1 interface and IO2 interface, and the control method comprises the following steps:

[0012] A1, AGV scheduling system inputs high level signal to IO1 interface every heartbeat period, and AGV car real-time monitors the level value of IO1 interface, when IO1 interface is high level, it indicates that the current AGV car and AGV scheduling system connection is normal;

[0013] A2, when IO1 interface is low level, AGV car counts the heartbeat number of AGV scheduling system, when AGV car detects that IO1 interface is low level in three heartbeat periods, AGV car is temporarily defined, and low level is written to IO2 interface, and network reconnection is started, and AGV car is connected with AGV scheduling system again.

[0014] The application further sets that, in step S4, the mechanism of handshake comprises the following steps:

[0015] The AGV scheduling system monitors the level value of the IO2 interface in real time, when the IO1 interface is high, it indicates that the AGV vehicle is running normally, when the IO1 interface is low, it indicates that the AGV vehicle is in suspension, if the AGV vehicle is in an uncontrolled state, the AGV scheduling system sends a start instruction to the AGV vehicle to continue to perform the carrying task, and writes high level to the IO2 interface.

[0016] The application is further provided that, in step S5, the leakage control processing mechanism comprises the following steps:

[0017] B1, if the current site of the AGV vehicle does not belong to the site in the navigation path, that is, the AGV vehicle has deviated, a stop instruction is sent to the AGV vehicle;

[0018] B2, if the current site of the AGV vehicle belongs to the site in the navigation path, leakage control processing is performed, all missed sites are screened to form a missed site set, and the sites in the missed site set are processed in turn;

[0019] B3, if the currently processed missed site is a normal site, the site is filtered out, if the currently processed missed site is a control site, the control area where the control site is located is not controlled, if the currently processed missed site is a release site, and only the AGV vehicle enters the control area, the control of the control area is released, if other AGV vehicles are controlled by the AGV vehicle, the AGV vehicle to be started is selected according to step S6.

[0020] The application is further provided that, in step S6, the AGV scheduling system defines the task priority level in the control area, which comprises the following steps:

[0021] C1, N (N>1) AGV vehicles enter the same control area in turn, M AGV vehicles are being controlled, A=(a1, a2, …a m ) is used to represent that when the first AGV vehicle enters the control area, the other M AGV vehicles entering the control area need to be all suspended, and N-M=1, wherein a m represents the mth (m∈[1, M]) AGV vehicle;

[0022] C2, when M=1, the second AGV vehicle is directly started;

[0023] C3, when M>1, define the task priority level coefficient, a total of three levels, represented by P=(P1, P2, P3), and the coefficient needs to satisfy 0

[0024] C4, the task priority level coefficient of all AGV cars in the control area is calculated by the formula P=(p1, p2,...p m ), wherein p m mth AGV task priority coefficient, the formula is as follows:

[0025] The application further provides that, in step S6, the traffic control target function includes the following steps:

[0026] D1, calculate the control waiting time T=(t1, t2,...t m ) of all AGV cars in the control area, wherein t m mth AGV has waited in the control area, and calculate the time waiting weight ω m of each AGV, wherein ω m mth AGV time waiting weight, the calculation formula is

[0027] D2, calculate the power weight C=(c1, c2,...c m ) of all AGV cars in the control area, wherein e m mth AGV current power value, c m mth AGV power weight, the calculation formula is

[0028] D3, establish the traffic control target function f m , wherein f m mth AGV task priority coefficient, μ represents the networking factor, the calculation formula is

[0029] The application further provides that, obtain the target function value set F=(f1, f2,...f m ) of all AGV cars in the control area, and utilize the formula max(f1, f2,...f m ) to obtain the AGV number corresponding to the maximum target function value in the target function value set F, the AGV scheduling system sends a start instruction to the selected AGV car, and when the AGV car reaches the release point, the process of step S5 is repeated.

[0030] Advantages of the present application:

[0031] 1. In the case of network delay, congestion or network disconnection, the AGV scheduling system and the AGV interface of the AGV vehicle determine whether the current AGV vehicle is in an offline state through the mechanism of mutual handshaking, so as to avoid the off-line AGV vehicle from entering the traffic control area and colliding with other normally running AGV vehicles;

[0032] 2. The present application monitors whether the AGV vehicle misses reading the navigation station in real time, and performs a missing control process, that is, starts, pauses and updates the state of the AGV vehicle in the control area, so as to solve the problem that when the AGV vehicle misses reading the station, the AGV vehicle deviates or enters other control areas, causing collision with other AGV vehicles or the control area being controlled dead;

[0033] 3. Unlike the traditional traffic control method of "first in, first out", the present application introduces a task priority coefficient, a time waiting weight, a power weight and a networking factor, establishes a traffic control target function to balance the relationship among the priority of the task, the waiting time of the AGV and the power, so as to effectively solve the problem that the AGV is out of power due to being controlled for too long in the control area, and avoid the phenomenon that the task with high priority or the AGV with long waiting time is controlled for a longer time. BRIEF DESCRIPTION OF DRAWINGS

[0034] The application is further described by using the accompanying drawings, but the embodiments in the drawings do not constitute any limitation on the present application. Other drawings can be obtained by those skilled in the art without creative labor on the basis of the following drawings.

[0035] Figure 1 is a step flow chart of the present application;

[0036] Figure 2 is a frame schematic diagram of the AGV scheduling system of the present application;

[0037] Figure 3 is a traffic control schematic diagram of the present application at the intersection. DETAILED DESCRIPTION

[0038] The present application is further described in combination with the following embodiments.

[0039] From Figure 1 and Figure 3 It can be seen that the traffic control method based on the AGV scheduling system according to the present embodiment comprises the following steps:

[0040] S1, build AGV scheduling system and database, configure server interface and AGV interface, configure site and control area, the site includes ordinary site, control site and release site; as shown in the accompanying drawings, Figure 3 The control site is LM1, LM2, LM3 and LM4, and the release site is LM5 and LM6.

[0041] S2, AGV scheduling system monitors the state information (landmark number, coordinate, power, IO information, etc.) of AGV fleet in real time through AGV interface, and updates to the database;

[0042] S3, AGV car is provided with two AGV interfaces, and the two AGV interfaces are IO1 interface and IO2 interface; the IO1 interface is used as the connection mark between AGV car and AGV scheduling system; the IO2 interface is used as the mark for restarting AGV car;

[0043] In order to solve the phenomenon of AGV network interruption and loss of control, the following method is adopted: AGV car reserves at least two IO interfaces for AGV scheduling system, wherein IO1 is used as the connection mark between AGV scheduling system and AGV car, and IO2 is used as the mark for restarting AGV car. When IO1 interface = 1, it indicates that the connection state is normal, and when IO1 interface = 0, it indicates that the connection state is abnormal; when IO2 interface = 1, it indicates that the scheduling system does not need to start AGV car, and when IO2 interface = 0, if the AGV car is not in the control area, AGV scheduling system needs to send start instruction to the AGV car.

[0044] S4, AGV car and AGV scheduling system adopt AGV interface to control the start and stop of AGV car through the mechanism of mutual handshaking, AGV scheduling system controls the start and stop of AGV car when the connection network is normal, and AGV car controls the start and stop of AGV car when the connection network is abnormal; through the method of bidirectional handshaking, not only the problem of AGV car missing control caused by network delay or congestion is solved, but also the phenomenon of AGV car out of control and collision with other AGV cars does not occur when passing through the traffic control area.

[0045] S5, AGV scheduling system monitors and records the current site of AGV car in real time, compares the current site of AGV car with the first site in the remaining navigation path site, if they are not consistent, the missing control processing mechanism is triggered, the start and stop of AGV car are processed, and the control area state is updated;

[0046] To solve the AGV vehicle missing reading site phenomenon caused by site coincidence or network delay, when A-Star or ant colony algorithm is used to plan the navigation path, it is necessary to ensure that the sites in the control area passed through are in the navigation path. The AGV scheduling system monitors and records the current site of the AGV vehicle in real time, and compares the current site of the AGV vehicle with the first site in the remaining navigation path site. If they are not consistent, the missing control processing mechanism is triggered.

[0047] S6, the AGV scheduling system defines the task priority level in the control area and establishes a traffic control target function, calculates the target function value of all AGV vehicles to be started in the control area, selects the AGV vehicle with the maximum target function value, and sends a start instruction to the AGV vehicle.

[0048] In the case of network delay, congestion or network disconnection, the AGV scheduling system and the AGV interface of the AGV vehicle judge whether the current AGV vehicle is in an offline state through the handshake mechanism of each other, to avoid the off-line AGV vehicle entering the traffic control area and colliding with other normally running AGV vehicles;

[0049] The embodiment monitors whether the AGV vehicle misses reading the navigation site in real time, and performs missing control processing, that is, the AGV vehicle entering the control area is started, paused and the control area state is updated, to solve the phenomenon that when the AGV vehicle misses reading the site, the AGV vehicle deviates or enters other control areas, causing collision with other AGV vehicles or the control area being controlled dead;

[0050] Unlike the traditional traffic control method of the "first-in first-out" principle, the embodiment introduces a task priority coefficient, a time waiting weight, a power weight and a networking factor, establishes a traffic control target function to balance the relationship between the priority of the task, the waiting time of the AGV and the power, which can effectively solve the phenomenon that the AGV is controlled for too long in the control area and the power is exhausted, and can avoid the phenomenon that the task with high priority or the AGV with long waiting time is controlled for a longer time.

[0051] The traffic control method based on the AGV scheduling system in the embodiment, in step S3, the AGV vehicle and the AGV scheduling system control through the IO1 interface and the IO2 interface, and the control method includes the following steps:

[0052] A1, the AGV scheduling system inputs a high level signal to the IO1 interface every heartbeat period, and the AGV vehicle monitors the level value of the IO1 interface in real time. When the IO1 interface is high, it means that the current AGV vehicle and the AGV scheduling system are connected normally;

[0053] A2, when the IO1 interface is low, the AGV vehicle counts the number of heartbeats of the AGV scheduling system, when the AGV vehicle detects that the IO1 interface is low for three heartbeats, the AGV vehicle is temporarily suspended, and a low level is written to the IO2 interface, and the network is reconnected to connect the AGV vehicle with the AGV scheduling system.

[0054] The traffic control method based on the AGV scheduling system in the embodiment comprises the following steps in step S4:

[0055] The AGV scheduling system monitors the level of the IO2 interface in real time, when the IO1 interface is high, it indicates that the AGV vehicle is running normally; when the IO1 interface is low, it indicates that the AGV vehicle is temporarily suspended, if the AGV vehicle is in the uncontrolled state, the AGV scheduling system sends a start instruction to the AGV vehicle to continue the carrying task, and writes a high level to the IO2 interface.

[0056] The traffic control method based on the AGV scheduling system in the embodiment comprises the following steps in step S5:

[0057] B1, if the current site of the AGV vehicle does not belong to the site in the navigation path, that is, the AGV vehicle has deviated, a stop instruction is sent to the AGV vehicle;

[0058] B2, if the current site of the AGV vehicle belongs to the site in the navigation path, the leak control processing is performed, all the missed sites are screened to form a missed site set, and the sites in the missed site set are processed in turn;

[0059] B3, if the current processing missed site belongs to an ordinary site, the site is filtered out, if the current processing missed site belongs to a control site, the control area where the control site is located is not controlled; if the current processing missed site belongs to a release site, and only the AGV vehicle enters the control area, the control of the control area is released, if other AGV vehicles are controlled by the AGV vehicle, the AGV vehicle to be started is selected according to step S6.

[0060] The traffic control method based on the AGV scheduling system in the embodiment comprises the following steps in step S6, in which the AGV scheduling system defines the task priority level in the control area:

[0061] C1, N (N>1) AGV vehicles enter the same control area in turn, and M AGV vehicles are being controlled, A=(a1, a2, … a m ) is used to represent that when the first AGV vehicle enters the control area, the other M AGV vehicles entering the control area need to be temporarily suspended, and N-M=1, wherein am represents the mth(m∈[1, M]) AGV;

[0062] C2, when M = 1, then directly start the second AGV car;

[0063] C3, when M > 1, define the task priority level coefficient, a total of three levels, represented by P = (P1, P2, P3), and the coefficient needs to satisfy 0 < P1 < P2 < P3 < 1, wherein P1 represents the lowest priority of the first task; P2 represents the second priority of the task, i.e. the task needs to be executed in priority compared to the ordinary task; P3 represents the third task, which belongs to the highest priority task;

[0064] C4, calculate the task priority coefficient P = (p1, p2, … p m ) of all AGV cars in the control area through the formula of the task priority level coefficient, wherein p m represents the task priority coefficient of the mth AGV, and the formula is as follows:

[0065] Specifically, as shown in the accompanying drawings Figure 3 , when the network condition is good, 5 AGV cars enter the same control area in turn, wherein the entering order of the AGV cars into the control area is represented by A = (a1, a2, … a5), i.e. the No. 1 AGV car is the first to enter the control area and normally travels, the No. 2, No. 3, No. 4 and No. 5 AGV cars are the last to enter the control area, and the No. 5 AGV car is the last to enter the control area, and all are controlled to be suspended, when the No. 1 AGV car reaches the release point LM6, the method of selecting the AGV being controlled to start is as follows:

[0066] C2, since M = 4, skip this step;

[0067] C3, define the task priority level coefficient, a total of three levels, represented by P = (P1, P2, P3), and the coefficient needs to satisfy 0 < P1 < P2 < P3 < 1, wherein P1 represents the lowest priority of the first task, i.e. the most ordinary task; P2 represents the second priority of the task, i.e. the task needs to be executed in priority compared to the ordinary task; P3 represents the third task, which belongs to the highest priority task, i.e. the emergency handling task inserted manually;

[0068] C4, calculate the task priority coefficient P = (p1, p2, … p4) of all AGV cars in the control area through the formula of the task priority level coefficient, assuming that the task priority coefficient of the AGV entering the control area is P = (0.5, 0.5, 0.8, 0.3), and the formula is as follows: It should be noted that, in order to ensure that AGVs with higher task priority have priority passage, the coefficients for tasks with higher priority should be set as high as possible.

[0069] The traffic control method based on an AGV scheduling system described in this embodiment includes the following steps in step S6:

[0070] D1. Calculate the control waiting time T = (t1, t2, ... t) for all AGVs within the controlled area. m ), where t m Let represent the waiting time of the m-th AGV within the controlled area, and calculate the waiting time weight ω for each AGV. m , where ω m The time waiting weight of the m-th AGV is represented by the formula: Assuming the waiting time for an AGV entering the controlled area is T = (10, 15, 20, 30), the waiting time weight for each AGV is calculated as (ω1, ω2, ... ω4) = (0.13, 0.2, 0.27, 0.4).

[0071] D2. Calculate the power weight C = (c1, c2, ... c) of all AGVs within the controlled area. m ), where e m c represents the current power value of the m-th AGV. m The power weight of the m-th AGV is represented by the formula: Assuming the battery levels of the AGVs entering the controlled area are (0.5, 0.8, 0.9, 0.3), the battery weight C for each AGV is calculated as (0.26, 0.16, 0.15, 0.43).

[0072] D3. Establish the traffic control objective function f m , where f m Let μ represent the task priority coefficient of the m-th AGV, and μ represent the networking factor. The calculation formula is:

[0073] Since the network state is good, the traffic control target function value of all AGVs in the control area is calculated according to all the formulas, that is, the set F=(f1, f2, …f4)=(0.89, 0.86, 1.22, 1.13), thus the starting order of the AGVs should be No. 3, No. 4, No. 1 and No. 2 AGVs in turn, and it can be concluded that No. 3 AGV starts first. Finally, the AGV scheduling system sends a starting instruction to No. 3 AGV, and when No. 3 AGV reaches the release point, the above process is repeated. As can be seen from the traffic control method shown in the example, although the order of the AGVs entering the control area is (a1, a2, …a4), when a1 leaves the control area, the starting order is (a3, a4, a1, a2), and the task priority, AGV power and waiting time are comprehensively considered, and the relationship among the three is effectively balanced. It should be noted that when the last AGV reaches the release point, the control state of the control area is released.

[0074] The traffic control method based on the AGV scheduling system described in the embodiment obtains the target function value set F=(f1, f2, …f m ) of all AGVs in the control area, and uses the formula max(f1, f2, …f m ) to obtain the AGV number corresponding to the maximum target function value in the target function value set F, and the AGV scheduling system sends a starting instruction to the selected AGV, and when the AGV reaches the release point, the process of step S5 is repeated.

[0075] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, and are not limited to the protection scope of the present application. Although the present application has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present application can be modified or replaced by equivalents without departing from the essence and scope of the technical solutions of the present application.

Claims

1. A traffic control method based on an AGV scheduling system, characterized in that: The method comprises the following steps: S1, building an AGV scheduling system and a database, configuring a server interface and an AGV interface, configuring a site and a control area, the site comprising a normal site, a control site and a release site; S2, monitoring the state information of the AGV in real time and updating to the database; S3, the AGV is provided with two AGV interfaces, the two AGV interfaces being an IO1 interface and an IO2 interface respectively; the IO1 interface is used as a connection mark between the AGV and the AGV scheduling system; the IO2 interface is used as a mark for restarting the AGV; S4, the AGV and the AGV scheduling system adopt a handshake mechanism of the AGV interface to control the start and stop of the AGV, the AGV scheduling system controls the start and stop of the AGV when the connection network is normal, and the AGV controls the start and stop of the AGV when the connection network is abnormal; S5, the AGV scheduling system monitors and records the current site of the AGV in real time, compares the current site of the AGV with the first site in the remaining navigation path sites, if they are not consistent, a control area missing processing mechanism is triggered to process the start and stop of the AGV, and the state of the control area is updated; S6, the AGV scheduling system defines a task priority level in the control area and establishes a traffic control target function, calculates the target function value of all AGVs to be started in the control area, selects the AGV with the maximum target function value, and sends a start instruction to the AGV; In step S5, the control area missing processing mechanism comprises the following steps: B1, if the current site of the AGV does not belong to the site in the navigation path, i.e. the AGV has deviated, a stop instruction is sent to the AGV; B2, if the current site of the AGV belongs to the site in the navigation path, a control area missing processing is performed, all missed sites are selected to form a missed site set, and the sites in the missed site set are processed in turn; B3, if the currently processed missed site belongs to a normal site, the site is filtered out, if the currently processed missed site belongs to a control site, the control area where the control site is located is not controlled, if the currently processed missed site belongs to a release site and only the AGV enters the control area, the control of the control area is released, if other AGVs are controlled by the AGV, the AGV to be started is selected according to step S6.

2. The traffic control method based on the AGV dispatching system according to claim 1, characterized in that: In step S3, the AGV and the AGV scheduling system are controlled through the IO1 interface and the IO2 interface, and the control method comprises the following steps: A1, the AGV scheduling system inputs a high level signal to the IO1 interface every other heartbeat period, and the AGV monitors the level value of the IO1 interface in real time, when the IO1 interface is high, it indicates that the current AGV and the AGV scheduling system are connected normally; A2, when IO1 interface is low, AGV car statistics AGV scheduling system heartbeat times, when AGV car detects that AGV scheduling system is in three heartbeat period, IO1 interface is low, AGV car is temporary, and writes low to IO2 interface, simultaneously starts network reconnection, reconnection AGV car with AGV scheduling system.

3. The traffic control method based on the AGV dispatching system according to claim 1, characterized in that: In step S4, the mechanism of handshaking with each other includes the following steps: AGV scheduling system system real-time monitoring IO2 interface level value, when IO1 interface is high, indicates that the AGV car is running normally;When IO1 interface is low, it indicates that the AGV car is in suspension, if the AGV car is in uncontrolled state, AGV scheduling system sends start instruction to the AGV car, continues to execute the carrying task, and writes high to IO2 interface.

4. The traffic control method based on the AGV dispatching system according to claim 1, characterized in that: In step S6, AGV scheduling system defines task priority level in the control area, including the following steps: C1, N M AGV vehicles are being controlled, and the first AGV vehicle enters the same control area, the other M AGV vehicles need to be all suspended, and that is, when the first AGV vehicle enters the control area, the other M AGV vehicles entering the control area need to be all suspended, and 1, wherein indicates the first AGV vehicle; and AGV vehicle; C2, when 1, then directly start the second AGV car; C3, when the task priority level grade coefficient is defined, there are three grades in total, represented by , and the coefficient needs to satisfy , wherein represents the first-level task with the lowest task priority; represents the second-level task with the task priority, i.e., the task that needs to be executed with priority compared to the ordinary task; represents the third-level task, which is the task with the highest priority; C4. Calculate the task priority coefficient of all AGVs in the control area by the formula of task priority coefficient level coefficient wherein, represents the first The task priority coefficient of the AGV at the station, the formula is as follows: ​ 5. The traffic control method based on the AGV dispatching system according to claim 4, characterized in that: In step S6, the traffic control target function is established, including the following steps: D1, calculate the control waiting time of all AGV vehicles in the control area wherein, denotes the first time that the AGV has waited in the control area, and calculates the time waiting weight of each AGV wherein, denotes the time waiting weight of the mth AGV, and the calculation formula is ​ D2, the power weight of all AGVs in the control area wherein, represents the first AGV current power value, represents the first AGV power weight, the calculation formula is ​ D3, establish traffic control objective function wherein, indicates the first the task priority coefficient of the AGV, indicates the networking factor, and the calculation formula is .

6. The traffic control method based on the AGV dispatching system according to claim 5, characterized in that: get the objective function value set of all AGV vehicles in the regulated area and get the objective function value set of the maximum objective function value in the objective function value set corresponding to the AGV number, and the AGV scheduling system sends a start instruction to the selected AGV vehicle. When the AGV vehicle reaches the release point, the process of step S5 is repeated.

Images