Multi-brand agv scheduling system and method based on digital twinning technology

Abstract

The application discloses a multi-brand AGV scheduling system and method based on digital twin technology, and the AGV database is constructed in advance to store AGV information, so that the multi-brand AGV can be matched with the AGV information in the AGV database according to the attribute information after the communication connection is established, thereby greatly reducing the need for manual intervention in communication control. The work site, AGV and target object are connected through digital twin technology to establish a digital virtual model, realizing intuitive monitoring and high simulation monitoring of the work site. The running instruction is divided into more than one running instruction segment that can be executed by the AGV independently, so that when the AGV needs to modify the instruction during the work process, the subsequent instruction replacement can be performed without interfering with the current operation of the AGV, avoiding work accidents caused by the interruption of the AGV due to instruction response. The scheme is reliable, flexible and efficient.

Description

Technical Field

[0001] This invention relates to the fields of AGV control technology, digital twin technology, and cargo transfer technology, and particularly to a multi-brand AGV scheduling system and method based on digital twin technology. Background Technology

[0002] Automated Guided Vehicles (AGVs) are industrial vehicles that load goods automatically or manually, travel automatically along a set route or tow a cargo trolley to a designated location, and then load and unload goods automatically or manually. Due to their convenient control and high operational stability, they are widely used in automated warehousing systems. However, because there are many brands and models of AGVs, and the specifications and weights of different objects to be transferred vary, different AGVs are usually configured in logistics and warehousing systems to improve the reliability and cost-effectiveness of equipment configuration. Currently, most control systems rely on manual input and debugging of AGV data to establish communication between the AGVs and the control center before they are put into service. This method is not only time-consuming and labor-intensive for workplaces with high AGV usage, but also has low efficiency in establishing AGV communication control, thus limiting the flexibility of AGV scheduling in the workplace.

[0003] In addition, with the increasingly widespread application of digital twin technology, establishing digital twin models in workplaces such as production workshops and warehouses to improve the intuitiveness and flexibility of back-end monitoring has become a hot technical topic. However, in warehousing and transfer systems, most current digital twin modeling focuses on modeling fixed objects. There is little literature on digital twin modeling of objects with movement, such as AGVs and items to be transferred. Especially in terms of simulation accuracy, there are still many limitations and shortcomings. Therefore, for workplaces such as factory workshops and warehouse transfer sites, how to improve the convenience and reliability of scheduling and control of different AGVs in the workplace, and at the same time provide reliable reference information for digital twin modeling of the workplace, is a topic with positive practical significance. Summary of the Invention

[0004] In view of this, the purpose of this invention is to propose a multi-brand AGV scheduling system and method based on digital twin technology that is reliable, efficient, and flexible.

[0005] To achieve the above-mentioned technical objectives, the technical solution adopted by this invention is as follows:

[0006] A multi-brand AGV scheduling method based on digital twin technology, comprising:

[0007] S01. Construct an AGV database, which stores information on AGVs of different brands and models;

[0008] S02. Obtain workplace information, and extract, classify, and digital twin model the workplace information based on the workplace information.

[0009] S03. Establish a communication connection with the AGV in the work area, obtain its attribute information, then match the attribute information with the AGV information in the AGV database, match the AGV information that meets the matching requirements with the AGV, and then build a digital twin model of the AGV in the work area based on the AGV information. At the same time, mark the working status of the AGV.

[0010] S04. Receive the work task, and obtain the current location information and target location information of the target object corresponding to the work task, as well as the specifications and weight of the target object;

[0011] S05. Based on the current location information, specifications and weight of the target object, determine the working status and task-taking capacity of the AGV in the work area, and output the judgment results.

[0012] S06. Obtain the judgment result, select the AGV that meets the preset requirements according to the preset conditions, perform path planning in the work site based on the current position information and AGV information of the AGV, and generate path planning information.

[0013] S07. Based on the path planning information and AGV information, allocate running instructions to the AGV and generate running instruction information.

[0014] S08. Send the path planning information and operation instruction information to the AGV, so that the AGV can perform the corresponding work tasks according to the path planning information and operation instruction information.

[0015] As one possible implementation, further, in this solution S01, the AGV vehicle information includes one or more of the following: brand, model, specifications, carrying capacity parameters, carrying object specification parameters, walking parameters, working accuracy, power supply method, and communication interaction parameters.

[0016] As one possible implementation, further, in this solution S02, the work site information includes one or more of the following: equipment location information, equipment space occupancy information, goods temporary storage area information, goods temporary storage carrier information, walking passage area information, walking passage specification information, goods warehousing area information, and goods warehousing carrier information.

[0017] As one possible implementation, further, in this solution S03, the attribute information includes one or more of the AGV vehicle's brand, model, and communication interaction parameters.

[0018] As a preferred implementation option, this solution S03 preferably includes:

[0019] S031. Establish a communication connection with the AGV in the work area and obtain its attribute information;

[0020] S032. Match the attribute information with the AGV information in the AGV database, match the AGV information that meets the matching requirements with the AGV, and proceed to S033. If there is no AGV information that meets the matching requirements, proceed to S034.

[0021] S033. Output preset control commands to the AGV, monitor the AGV's work record after receiving the control commands, and compare it with the control commands to obtain the comparison results.

[0022] When the comparison results meet the preset requirements, the communication control and information correspondence of the AGV are completed, and the process proceeds to S035.

[0023] When the comparison result does not meet the preset requirements, a communication control and information correspondence failure message is returned, and the process proceeds to S034.

[0024] S034. Manually input the AGV information into the AGV database and associate it with the AGV. Then, output preset control commands to the AGV, monitor the work record of the AGV after receiving the control commands, and debug the AGV according to the work record to ensure that the correspondence between the work record executed by the AGV and the control command meets the preset requirements, so as to complete the control access debugging of the AGV and the correspondence of the AGV information.

[0025] S035. Based on the AGV vehicle information, establish a digital twin model of the AGV vehicle in the work area of ​​the digital twin modeling, and mark the working status of the AGV vehicle.

[0026] As a preferred implementation option, in this solution S035, when establishing the digital twin model of the AGV vehicle, the position coordinates of the AGV vehicle are monitored in real time. At the same time, the AGV vehicle's coding information is identified. When the AGV vehicle's coding information is empty, a unique coding value is assigned to it, and the coding of different AGV vehicles is different. The coding of the AGV vehicle is also associated with the AGV vehicle information in the AGV database.

[0027] In S035, the initial working status of the AGV is marked as working standby;

[0028] In S08, when the path planning information and operation instruction information are sent to the AGV, the working status of the AGV is also marked as task execution.

[0029] In S08, when the AGV completes its work task, the AGV's working status is marked as "working standby". If it does not receive path planning information and / or running instruction information within a preset time, it will travel to a preset area in the work site to work standby according to preset conditions.

[0030] As a preferred implementation option, preferably, in this scheme S04, the target object is the item to be transferred;

[0031] S04 also includes: mapping the current position information and target position information of the target object to the work site of the digital twin modeling to generate corresponding coordinate position information;

[0032] S04 also includes: establishing a corresponding digital twin model in the digital twin modeling workspace based on the specifications of the target object.

[0033] As a preferred implementation option, this solution S05 preferably includes:

[0034] S051. Using the current position coordinates of the target object in the work area of ​​the digital twin model as the center, obtain the working status information of the AGVs within the preset range, and then retrieve the coding information of the AGVs whose working status is on standby.

[0035] S052. Retrieve the AGV information corresponding to the AGV car waiting to work from the AGV database according to the coding information, and match the AGV car information with the specifications and weight of the target object according to the preset requirements, and output the judgment result.

[0036] The judgment result is used to indicate whether the corresponding AGV has the task acceptance capability for the target object.

[0037] As a preferred implementation option, in the work task described in this solution, the target object is placed in a temporary storage area in the work site in a preset state before transfer, and its surface is marked with marking information for identifying the target object; the target location information is the goods storage area information in the work site.

[0038] As a preferred implementation option, the walking passage area information described in this solution is preferably used to record the walking passage area in the work site, and the walking passage area includes at least two parallel one-way walking passages with different walking directions.

[0039] As a preferred implementation option, this solution S06 preferably includes:

[0040] S061. Obtain the judgment result and select the AGV vehicle that has the task acceptance capability and whose current position is closest to the current position of the target object as the task assignment object;

[0041] S062. Based on the current location information of the task allocation object, its corresponding AGV information and the current location information of the target object, perform path planning for the task allocation object and generate the first path planning information for the AGV to travel to the target object. The first path planning information includes the AGV's travel trajectory, speed, acceleration and the AGV's position and expected time point in the travel trajectory.

[0042] S063. Based on the AGV information and the current location information, target location information, specifications, weight, and work site information of the target object, perform path planning for the task allocation object and generate second path planning information for the AGV to transport the target object to the target location. The second path planning information includes the AGV's travel trajectory, speed, acceleration, and the AGV's position and expected time point in the travel trajectory.

[0043] S064. Compare the first path planning information and the second path planning information with the path planning information corresponding to the AGV vehicle whose current working status is marked as "task execution", and output the comparison result.

[0044] S065. Obtain the comparison results.

[0045] When the comparison result indicates that there is no travel interference, the first path planning information and the second path planning information are combined to form path planning information;

[0046] When the comparison result indicates that there is a travel interference, one or more parameters of the travel trajectory, speed, and acceleration set for the AGV in the first path planning information and / or the second path planning information are adjusted according to preset conditions, so that there is no travel interference between the first path planning information and the second path planning information and the path planning information corresponding to the AGV currently marked as executing a task. Then, the first path planning information and the second path planning information are combined to form path planning information.

[0047] As a preferred implementation option, this solution S07 preferably includes:

[0048] S071. Obtain path planning information, and generate initial running instructions for AGV operation based on preset conditions, combined with AGV information, target object current location information, target location information, and work site information.

[0049] S072. According to preset conditions, the initial running instruction is divided into more than one running instruction segment that can be executed by the AGV vehicle alone. Then, the expected execution time of each running instruction segment is marked. The more than one running instruction segment is arranged in chronological order and associated with the assigned AGV vehicle coding information to generate the running instruction.

[0050] In S08, when the AGV performs its corresponding work tasks based on path planning information and operation instructions, it also establishes virtual models of the AGV and the target object in the digital twin modeling work area.

[0051] Based on the above, the present invention also provides a multi-brand AGV scheduling system based on digital twin technology, which includes:

[0052] The server is used to build the AGV database, which stores information about AGVs of different brands and models.

[0053] The digital twin modeling unit is used to acquire workplace information, extract and classify workplace information, and create digital twin models based on the workplace information.

[0054] The AGV control unit is used to establish a communication connection with the AGV vehicles in the work area, obtain their attribute information, and then match the attribute information with the AGV vehicle information in the AGV database. It matches the AGV vehicle information that meets the matching requirements with the AGV vehicle, and then builds a digital twin model of the AGV vehicle in the digital twin modeling work area based on the AGV vehicle information. At the same time, it marks the working status of the AGV vehicle.

[0055] The task receiving unit is used to receive work tasks, obtain the current location information and target location information of the target object corresponding to the work task, as well as the specifications and weight of the target object;

[0056] The AGV scheduling unit is used to determine the working status and task-taking capacity of AGVs in the work area based on the current location information, specifications and weight of the target object, and output the judgment results.

[0057] The route planning unit is used to obtain the judgment result, select the AGV that meets the preset requirements according to the preset conditions, and perform path planning in the work site based on the current position information and AGV information of the AGV to generate path planning information.

[0058] The instruction generation unit is used to allocate running instructions to the AGV based on path planning information and AGV information, and generate running instruction information.

[0059] The data transmission unit is used to send path planning information and operation instructions to the AGV, enabling the AGV to perform corresponding work tasks based on the path planning information and operation instructions.

[0060] Based on the above, the present invention also provides a computer-readable storage medium storing at least one instruction, at least one program, code set, or instruction set, wherein the at least one instruction, at least one program, code set, or instruction set is loaded and executed by a processor to implement the multi-brand AGV scheduling method based on digital twin technology described above.

[0061] Compared with the prior art, the present invention, by adopting the above technical solution, has the following advantages: The ingenious solution stores AGV information by pre-constructing an AGV database. This allows AGVs from multiple brands to establish communication connections and then match their attribute information with the pre-stored AGV information in the database for information association, thereby greatly reducing the need for manual intervention in communication control. Furthermore, the solution uses digital twin technology to establish digital virtual models of the work site, AGVs, and target objects, achieving intuitive and highly realistic monitoring of the work site. Additionally, by dividing the running instructions into multiple segments that can be executed independently by the AGVs, the solution allows subsequent instruction replacements to be made without interfering with the current operation of the AGVs during operation, preventing work accidents caused by interrupted instruction responses. This solution is not only reliable and flexible in implementation but also has the advantage of high scheduling efficiency. Attached Figure Description

[0062] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0063] Figure 1 This is a simplified implementation flowchart of the scheduling method of the present invention;

[0064] Figure 2 This is a simplified schematic diagram of the work site mentioned in the scheduling method of this invention;

[0065] Figure 3 This is a simplified connection diagram of the unit modules of the scheduling system of the present invention. Detailed Implementation

[0066] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be particularly noted that the following embodiments are for illustrative purposes only and do not limit the scope of the invention. Similarly, the following embodiments are only some, not all, embodiments of the present invention, and all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0067] like Figure 1 As shown in the figure, this embodiment provides a multi-brand AGV scheduling method based on digital twin technology, which includes:

[0068] S01. Construct an AGV database, which stores information on AGVs of different brands and models;

[0069] S02. Obtain workplace information, and extract, classify, and digital twin model the workplace information based on the workplace information.

[0070] S03. Establish a communication connection with the AGV in the work area, obtain its attribute information, then match the attribute information with the AGV information in the AGV database, match the AGV information that meets the matching requirements with the AGV, and then build a digital twin model of the AGV in the work area based on the AGV information. At the same time, mark the working status of the AGV.

[0071] S04. Receive the work task, and obtain the current location information and target location information of the target object corresponding to the work task, as well as the specifications and weight of the target object;

[0072] S05. Based on the current location information, specifications and weight of the target object, determine the working status and task-taking capacity of the AGV in the work area, and output the judgment results.

[0073] S06. Obtain the judgment result, select the AGV that meets the preset requirements according to the preset conditions, perform path planning in the work site based on the current position information and AGV information of the AGV, and generate path planning information.

[0074] S07. Based on the path planning information and AGV information, allocate running instructions to the AGV and generate running instruction information.

[0075] S08. Send the path planning information and operation instruction information to the AGV, so that the AGV can perform the corresponding work tasks according to the path planning information and operation instruction information.

[0076] In this solution, by pre-setting AGV information in the AGV database, when establishing a communication connection with a new AGV, the system can retrieve the corresponding AGV information from the database by obtaining the AGV's attribute information and using it as an index keyword. This further enables the acquisition of other AGV information, significantly reducing the workload and demand for manual intervention. Regarding the AGV information, in S01 of this solution, the AGV information includes at least one of the following: brand, model, specifications, carrying capacity parameters, carrying object specification parameters, walking parameters, working accuracy, power supply method, and communication interaction parameters. The communication interaction parameters include the SDK key for communication control with the AGV or other interaction key information used to establish communication control, etc. This method allows for the generation of corresponding and executable running instructions based on different AGVs when generating running instructions. Correspondingly, in S03, the attribute information includes at least one of the following: AGV brand, model, and communication interaction parameters.

[0077] refer to Figure 2 Regarding work site information, in this solution S02, the work site information includes one or more of the following: equipment location information, equipment space occupancy information, goods temporary storage area information, goods temporary storage carrier information, walking channel area information, walking channel specification information, goods warehousing area information, and goods warehousing carrier information. Among them, equipment location information and equipment space occupancy information are used to indicate the space occupancy of non-animals in the work site. This allows for the establishment of a better route when planning the AGV path, combining the specifications of the target object with the walking channel area information and walking channel specification information, especially in terms of distance control from non-animals. In addition, goods temporary storage area information, goods temporary storage carrier information, goods warehousing area information, and goods warehousing carrier information are used to indicate the specific location of the target object before transfer and the target location to be transferred to, respectively.

[0078] To facilitate communication and control with AGVs and to identify AGVs capable of task allocation, solution S03 includes:

[0079] S031. Establish a communication connection with the AGV in the work area and obtain its attribute information;

[0080] S032. Match the attribute information with the AGV information in the AGV database, match the AGV information that meets the matching requirements with the AGV, and proceed to S033. If there is no AGV information that meets the matching requirements, proceed to S034.

[0081] S033. Output preset control commands to the AGV, monitor the AGV's work record after receiving the control commands, and compare it with the control commands to obtain the comparison results.

[0082] When the comparison results meet the preset requirements, the communication control and information correspondence of the AGV are completed, and the process proceeds to S035.

[0083] When the comparison result does not meet the preset requirements, a communication control and information correspondence failure message is returned, and the process proceeds to S034.

[0084] S034. Manually input the AGV information into the AGV database and associate it with the AGV. Then, output preset control commands to the AGV, monitor the work record of the AGV after receiving the control commands, and debug the AGV according to the work record to ensure that the correspondence between the work record executed by the AGV and the control command meets the preset requirements, so as to complete the control access debugging of the AGV and the correspondence of the AGV information.

[0085] S035. Based on the AGV vehicle information, establish a digital twin model of the AGV vehicle in the work area of ​​the digital twin modeling, and mark the working status of the AGV vehicle.

[0086] The ingenious aspect of step S03 in this solution is that it adaptively selects between automated processing or manual intervention to debug the AGV by controlling and docking the AGV. This ensures that the AGV has high control accuracy and compatibility after intervention. At the same time, a digital twin model of the AGV that has completed communication docking is established in the digital twin modeling work site. This allows the digital twin modeling work site to not only have fixed objects (such as equipment, shelves and other fixed buildings and structures) but also moving objects (AGVs, etc.), making the simulation of the data twin more realistic and intuitive.

[0087] As a preferred implementation option, in this solution S035, when establishing the digital twin model of the AGV vehicle, the position coordinates of the AGV vehicle are monitored in real time. At the same time, the AGV vehicle's coding information is identified. When the AGV vehicle's coding information is empty, a unique coding value is assigned to it, and the coding of different AGV vehicles is different. The coding of the AGV vehicle is also associated with the AGV vehicle information in the AGV database.

[0088] In S035, the initial working status of the AGV is marked as working standby.

[0089] This solution assigns codes to AGVs that have completed communication integration, which facilitates unique identification of AGVs and corresponding control commands, enabling unified and batch management.

[0090] Accordingly, in S08 of this solution, when the path planning information and operation instruction information are sent to the AGV, the working status of the AGV is also marked as task execution. At the same time, in S08 of this solution, when the AGV completes its work task, the working status of the AGV is marked as work standby, and if it does not receive path planning information and / or operation instruction information within a preset time, it will travel to a preset area in the work site to work standby according to preset conditions.

[0091] To further improve the simulation accuracy, in S04 of this solution, the target object is the item to be transferred; at the same time, S04 also includes: mapping the current position information and target position information of the target object to the work site of the digital twin modeling to generate corresponding coordinate position information.

[0092] S04 also includes: establishing a corresponding digital twin model in the digital twin modeling workspace based on the specifications of the target object.

[0093] When AGVs are from multiple brands, they may have different workload capacities. Directly assigning tasks based on work status has limitations; that is, the weight and specifications of the target object corresponding to a task may not be handled by some AGVs. To improve the reliability of task allocation, as a preferred implementation option, this solution S05 includes:

[0094] S051. Using the current position coordinates of the target object in the work area of ​​the digital twin model as the center, obtain the working status information of the AGVs within the preset range, and then retrieve the coding information of the AGVs whose working status is on standby.

[0095] S052. Retrieve the AGV information corresponding to the AGV car waiting to work from the AGV database according to the coding information, and match the AGV car information with the specifications and weight of the target object according to the preset requirements, and output the judgment result.

[0096] The judgment result is used to indicate whether the corresponding AGV has the task acceptance capability for the target object.

[0097] To further improve the accuracy and reliability of the AGV's journey to the target object's current location and the target location, as a preferred implementation option, the target object in this solution is placed in a pre-set temporary storage area in the work area before transfer, and its surface is marked with identification information for the target object; the target location information is the goods storage area information in the work area; by marking the target object's surface with identification information, workers or other external transfer equipment can easily confirm the correspondence between the target object and the AGV, avoiding the target object being transferred incorrectly.

[0098] Regarding the AGV's travel path, in order to minimize interference in the travel trajectories of different AGVs when performing work tasks, and to avoid travel path blockage, as a preferred implementation option, the travel path area information described in this solution is used to record the travel path area in the work area, and the travel path area includes at least two parallel unidirectional travel paths with different travel directions; by setting multiple travel paths with unidirectional travel, the problem of channel blockage caused by different AGVs moving towards each other can be reduced.

[0099] In terms of path planning, as a preferred implementation option, this solution S06 includes:

[0100] S061. Obtain the judgment result and select the AGV vehicle that has the task acceptance capability and whose current position is closest to the current position of the target object as the task assignment object;

[0101] S062. Based on the current location information of the task allocation object, its corresponding AGV information and the current location information of the target object, perform path planning for the task allocation object and generate the first path planning information for the AGV to travel to the target object. The first path planning information includes the AGV's travel trajectory, speed, acceleration and the AGV's position and expected time point in the travel trajectory.

[0102] S063. Based on the AGV information and the current location information, target location information, specifications, weight, and work site information of the target object, perform path planning for the task allocation object and generate second path planning information for the AGV to transport the target object to the target location. The second path planning information includes the AGV's travel trajectory, speed, acceleration, and the AGV's position and expected time point in the travel trajectory.

[0103] S064. Compare the first path planning information and the second path planning information with the path planning information corresponding to the AGV vehicle whose current working status is marked as "task execution", and output the comparison result.

[0104] S065. Obtain the comparison results.

[0105] When the comparison result indicates that there is no travel interference, the first path planning information and the second path planning information are combined to form path planning information;

[0106] When the comparison result indicates that there is a travel interference, one or more parameters of the travel trajectory, speed, and acceleration set for the AGV in the first path planning information and / or the second path planning information are adjusted according to preset conditions, so that there is no travel interference between the first path planning information and the second path planning information and the path planning information corresponding to the AGV currently marked as executing a task. Then, the first path planning information and the second path planning information are combined to form path planning information.

[0107] Regarding instruction allocation, as a preferred implementation option, this scheme S07 preferably includes:

[0108] S071. Obtain path planning information, and generate initial running instructions for AGV operation based on preset conditions, combined with AGV information, target object current location information, target location information, and work site information.

[0109] S072. According to preset conditions, the initial running instruction is divided into more than one running instruction segment that can be executed by the AGV vehicle alone. Then, the expected execution time of each running instruction segment is marked. The more than one running instruction segment is arranged in chronological order and associated with the assigned AGV vehicle coding information to generate the running instruction.

[0110] In S08, when the AGV performs its corresponding work tasks based on path planning information and operation instructions, it also establishes virtual models of the AGV and the target object in the digital twin modeling work area.

[0111] The ingenious aspect of this solution is that it divides the operating instructions into multiple segments and arranges them in chronological order. This allows for convenient replacement of individual operating instruction segments when subsequent adjustments to the AGV's control instructions are needed. This avoids the problem of interrupting the AGV's execution by replacing or refreshing the entire control instructions. This method allows for convenient modification of the operating instructions without interfering with the AGV's operation.

[0112] refer to Figure 3 As shown, based on the above, this embodiment also provides a multi-brand AGV scheduling system based on digital twin technology, which includes:

[0113] The server is used to build the AGV database, which stores information about AGVs of different brands and models.

[0114] The digital twin modeling unit is used to acquire workplace information, extract and classify workplace information, and create digital twin models based on the workplace information.

[0115] The AGV control unit is used to establish a communication connection with the AGV vehicles in the work area, obtain their attribute information, and then match the attribute information with the AGV vehicle information in the AGV database. It matches the AGV vehicle information that meets the matching requirements with the AGV vehicle, and then builds a digital twin model of the AGV vehicle in the digital twin modeling work area based on the AGV vehicle information. At the same time, it marks the working status of the AGV vehicle.

[0116] The task receiving unit is used to receive work tasks, obtain the current location information and target location information of the target object corresponding to the work task, as well as the specifications and weight of the target object;

[0117] The AGV scheduling unit is used to determine the working status and task-taking capacity of AGVs in the work area based on the current location information, specifications and weight of the target object, and output the judgment results.

[0118] The route planning unit is used to obtain the judgment result, select the AGV that meets the preset requirements according to the preset conditions, and perform path planning in the work site based on the current position information and AGV information of the AGV to generate path planning information.

[0119] The instruction generation unit is used to allocate running instructions to the AGV based on path planning information and AGV information, and generate running instruction information.

[0120] The data transmission unit is used to send path planning information and operation instructions to the AGV, enabling the AGV to perform corresponding work tasks based on the path planning information and operation instructions.

[0121] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0122] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) or processor to execute all or part of the steps of the methods of various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0123] The above description is only a part of the embodiments of the present invention and does not limit the scope of protection of the present invention. Any equivalent device or equivalent process transformation made based on the content of the present invention specification and drawings, or direct or indirect application in other related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. A multi-brand AGV scheduling method based on digital twin technology, characterized in that, It includes: S01. Construct an AGV database, which stores information on AGVs of different brands and models; S02. Obtain workplace information, and extract, classify, and digital twin model the workplace information based on the workplace information. S03. Establish a communication connection with the AGV in the work area, obtain its attribute information, then match the attribute information with the AGV information in the AGV database, match the AGV information that meets the matching requirements with the AGV, and then build a digital twin model of the AGV in the work area based on the AGV information. At the same time, mark the working status of the AGV. S04. Receive the work task, and obtain the current location information and target location information of the target object corresponding to the work task, as well as the specifications and weight of the target object; S05. Based on the current location information, specifications and weight of the target object, determine the working status and task-taking capacity of the AGV in the work area, and output the judgment results. S06. Obtain the judgment result, select the AGV that meets the preset requirements according to the preset conditions, perform path planning in the work site based on the current position information and AGV information of the AGV, and generate path planning information. S07. Based on the path planning information and AGV information, allocate running instructions to the AGV and generate running instruction information. S08. Send the path planning information and operation instruction information to the AGV, so that the AGV can perform the corresponding work tasks according to the path planning information and operation instruction information; S03 includes: S031. Establish a communication connection with the AGV vehicle in the work area and obtain its attribute information, wherein the attribute information includes one or more of the AGV vehicle's brand, model and communication interaction parameters. S032. Match the attribute information with the AGV information in the AGV database, match the AGV information that meets the matching requirements with the AGV, and proceed to S033. If there is no AGV information that meets the matching requirements, proceed to S034. S033. Output preset control commands to the AGV, monitor the AGV's work record after receiving the control commands, compare it with the control commands, and obtain the comparison results. When the comparison results meet the preset requirements, the communication control and information correspondence of the AGV are completed, and the process proceeds to S035. When the comparison result does not meet the preset requirements, a communication control and information correspondence failure message is returned, and the process proceeds to S034. S034. Manually input the AGV information into the AGV database and associate it with the AGV. Then, output preset control commands to the AGV, monitor the work record of the AGV after receiving the control commands, and debug the AGV according to the work record to ensure that the correspondence between the work record executed by the AGV and the control command meets the preset requirements, so as to complete the control access debugging of the AGV and the correspondence of the AGV information. S035. Based on the AGV vehicle information, establish a digital twin model of the AGV vehicle in the work area of ​​the digital twin modeling, and mark the working status of the AGV vehicle.

2. The multi-brand AGV scheduling method based on digital twin technology as described in claim 1, characterized in that, In S01, the AGV information includes one or more of the following: brand, model, specifications, carrying capacity parameters, carrying object specification parameters, walking parameters, working accuracy, power supply method, and communication interaction parameters. In S02, the work site information includes one or more of the following: equipment location information, equipment space occupancy information, goods temporary storage area information, goods temporary storage carrier information, walking passage area information, walking passage specification information, goods warehousing area information, and goods warehousing carrier information.

3. The multi-brand AGV scheduling method based on digital twin technology as described in claim 2, characterized in that, In S035, when establishing the digital twin model of the AGV, the position coordinates of the AGV are monitored in real time. At the same time, the AGV's coding information is identified. When the AGV's coding information is empty, a unique code is assigned to it, and the codes of different AGVs are different. The AGV's code is also associated with the AGV information in the AGV database. In S035, the initial working status of the AGV is marked as working standby; In S08, when the path planning information and operation instruction information are sent to the AGV, the working status of the AGV is also marked as task execution. In S08, when the AGV completes its work task, the AGV's working status is marked as "working standby". If it does not receive path planning information and / or running instruction information within a preset time, it will travel to a preset area in the work site to work standby according to preset conditions.

4. The multi-brand AGV scheduling method based on digital twin technology as described in claim 3, characterized in that, In S04, the target object is the item to be transferred; S04 also includes: mapping the current position information and target position information of the target object to the work site of the digital twin modeling to generate corresponding coordinate position information; S04 also includes: establishing a corresponding digital twin model in the digital twin modeling workspace based on the specifications of the target object.

5. The multi-brand AGV scheduling method based on digital twin technology as described in claim 4, characterized in that, S05 includes: S051. Using the current position coordinates of the target object in the work area of ​​the digital twin model as the center, obtain the working status information of the AGVs within the preset range, and then retrieve the coding information of the AGVs whose working status is on standby. S052. Retrieve the AGV information corresponding to the AGV car waiting to work from the AGV database according to the coding information, and match the AGV car information with the specifications and weight of the target object according to the preset requirements, and output the judgment result. The judgment result is used to indicate whether the corresponding AGV has the task acceptance capability for the target object.

6. The multi-brand AGV scheduling method based on digital twin technology as described in claim 5, characterized in that, In the work task, the target object is placed in a temporary storage area in the work site in a preset state before transfer, and its surface is marked with marking information for identifying the target object; the target location information is the goods storage area information in the work site. The walking passage area information is used to record the walking passage area in the work site, and the walking passage area includes at least two parallel one-way walking passages with different walking directions. S06 includes: S061. Obtain the judgment result and select the AGV vehicle that has the task acceptance capability and whose current position is closest to the current position of the target object as the task assignment object; S062. Based on the current location information of the task allocation object, its corresponding AGV information and the current location information of the target object, perform path planning for the task allocation object and generate the first path planning information for the AGV to travel to the target object. The first path planning information includes the AGV's travel trajectory, speed, acceleration and the AGV's position and expected time point in the travel trajectory. S063. Based on the AGV information and the current location information, target location information, specifications, weight, and work site information of the target object, perform path planning for the task allocation object and generate second path planning information for the AGV to transport the target object to the target location. The second path planning information includes the AGV's travel trajectory, speed, acceleration, and the AGV's position and expected time point in the travel trajectory. S064. Compare the first path planning information and the second path planning information with the path planning information corresponding to the AGV vehicle whose current working status is marked as "task execution", and output the comparison result. S065. Obtain the comparison results. When the comparison result indicates that there is no travel interference, the first path planning information and the second path planning information are combined to form path planning information; When the comparison result indicates that there is a travel interference, one or more parameters of the travel trajectory, speed, and acceleration set for the AGV in the first path planning information and / or the second path planning information are adjusted according to preset conditions, so that there is no travel interference between the first path planning information and the second path planning information and the path planning information corresponding to the AGV currently marked as executing a task. Then, the first path planning information and the second path planning information are combined to form path planning information.

7. The multi-brand AGV scheduling method based on digital twin technology as described in claim 6, characterized in that, S07 includes: S071. Obtain path planning information, and generate initial running instructions for AGV operation based on preset conditions, combined with AGV information, target object current location information, target location information, and work site information. S072. According to preset conditions, the initial running instruction is divided into more than one running instruction segment that can be executed by the AGV vehicle alone. Then, the expected execution time of each running instruction segment is marked. The more than one running instruction segment is arranged in chronological order and associated with the assigned AGV vehicle coding information to generate the running instruction. In S08, when the AGV performs its corresponding work tasks based on path planning information and operation instructions, it also establishes virtual models of the AGV and the target object in the digital twin modeling work area.

8. A multi-brand AGV scheduling system based on digital twin technology, which applies the multi-brand AGV scheduling method based on digital twin technology as described in any one of claims 1 to 7, characterized in that, It includes: The server is used to build the AGV database, which stores information about AGVs of different brands and models. The digital twin modeling unit is used to acquire workplace information, extract and classify workplace information, and create digital twin models based on the workplace information. The AGV control unit is used to establish a communication connection with the AGV vehicles in the work area, obtain their attribute information, and then match the attribute information with the AGV vehicle information in the AGV database. It matches the AGV vehicle information that meets the matching requirements with the AGV vehicle, and then builds a digital twin model of the AGV vehicle in the digital twin modeling work area based on the AGV vehicle information. At the same time, it marks the working status of the AGV vehicle. The task receiving unit is used to receive work tasks, obtain the current location information and target location information of the target object corresponding to the work task, as well as the specifications and weight of the target object; The AGV scheduling unit is used to determine the working status and task-taking capacity of AGVs in the work area based on the current location information, specifications and weight of the target object, and output the judgment results. The route planning unit is used to obtain the judgment result, select the AGV that meets the preset requirements according to the preset conditions, and perform path planning in the work site based on the current position information and AGV information of the AGV to generate path planning information. The instruction generation unit is used to allocate running instructions to the AGV based on path planning information and AGV information, and generate running instruction information. The data transmission unit is used to send path planning information and operation instructions to the AGV, enabling the AGV to perform corresponding work tasks based on the path planning information and operation instructions.

9. A computer-readable storage medium, characterized in that: The storage medium stores at least one instruction, at least one program, code set, or instruction set, wherein the at least one instruction, at least one program, code set, or instruction set is loaded and executed by a processor to implement the multi-brand AGV scheduling method based on digital twin technology as described in any one of claims 1 to 7.

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