A dispatching method and system for automatic guided vehicle AGV

Abstract

A scheduling method and system for an automatic guided vehicle (AGV), which relates to the field of artificial intelligence technology, is used to solve the technical problem of low AGV transportation efficiency when transporting materials across floors in the prior art. The scheduling method includes: after obtaining multiple tasks to be delivered, for each task to be delivered, determining the priority of the task to be delivered according to the relevant parameters of the task to be delivered, wherein the relevant parameters include the task type of the task to be delivered, the pre-set task priority, and at least one of the first time or the second time. The scheduling system determines the elevator entry order of multiple AGVs corresponding to the multiple tasks to be delivered according to the priority of each task to be delivered among the multiple tasks to be delivered, so as to schedule the multiple AGVs according to the elevator entry order of the multiple AGVs. Thus, the AGV scheduling method comprehensively schedules multiple AGVs according to the priorities of multiple tasks to be delivered, and by comprehensively scheduling multiple AGVs, the risk of delivery delay is greatly reduced, and the delivery efficiency of AGVs in cross-floor scenarios is improved.

Description

Technical Field

[0001] The present application relates to the field of artificial intelligence technology, and in particular to a scheduling method and system for an automated guided vehicle (AGV). Background Art

[0002] With the development of the economy and the gradual maturity of artificial intelligence technology, automated guided vehicles (AGVs) are widely used to transport materials in smart manufacturing factory workshops, especially in smart manufacturing factory workshops for electronic equipment (such as mobile phones, computers, etc.). Since factory buildings are often multi-story layouts, production lines and raw materials may be distributed on different floors. Therefore, when AGV transports materials, it is necessary to use elevators to complete cross-floor task scheduling. It can be seen that AGV scheduling technology is a key technology that affects the efficiency of material transportation in the workshop. Summary of the invention

[0003] The embodiment of the present application provides a scheduling method and system for an automated guided vehicle (AGV). After the scheduling method for the AGV obtains a plurality of tasks to be delivered through a scheduling system, for each task to be delivered, the priority of the task to be delivered is determined according to the relevant parameters of the task to be delivered, wherein the relevant parameters include the task type of the task to be delivered, the pre-set task priority, and at least one of the first time or the second time. Then, the scheduling system determines the elevator entry order of the plurality of AGVs corresponding to the plurality of tasks to be delivered according to the priority of each task to be delivered, so as to schedule the plurality of AGVs according to the elevator entry order of the plurality of AGVs. Thus, after the priorities of the plurality of tasks to be delivered are determined in the AGV scheduling method, the plurality of AGVs are scheduled according to the priorities of the plurality of tasks to be delivered. By comprehensively scheduling the plurality of AGVs of all tasks to be delivered, the AGVs corresponding to the tasks to be delivered with high priorities are controlled to be delivered first, thereby greatly reducing the risk of delivery delays and improving the delivery efficiency of AGVs in cross-floor scenarios.

[0004] In order to achieve the above objectives, this application adopts the following technical solutions:

[0005] In a first aspect, an embodiment of the present application provides a scheduling method for an automatic guided vehicle (AGV), comprising:

[0006] Acquire multiple tasks to be delivered; for each task to be delivered, determine the priority of the task to be delivered according to relevant parameters of the task to be delivered; the relevant parameters include: the task type of the task to be delivered, the pre-set task priority, and at least one of the first time or the second time; wherein the task type refers to the type of delivery goods corresponding to the task to be delivered, the pre-set task priority refers to the priority of the task to be delivered pre-set by the material delivery system, the first time refers to the interval between the task order time and the task delivery time, the second time refers to the interval between the current time and the task delivery time, and the task delivery time refers to the pre-set delivery time of the delivery goods of the task to be delivered; determine the elevator entry order of multiple AGVs corresponding to the multiple tasks to be delivered according to the priority of each task to be delivered among the multiple tasks to be delivered; dispatch the multiple AGVs according to the elevator entry order of the multiple AGVs.

[0007] Here, scheduling a plurality of AGVs means that the scheduling system controls the plurality of AGVs to enter the elevator according to the order in which the plurality of AGVs enter the elevator.

[0008] Therefore, after determining the priority of the tasks to be delivered according to the relevant parameters of the tasks to be delivered, multiple AGVs are scheduled according to the priority of each of the multiple tasks to be delivered, thereby realizing comprehensive scheduling of multiple AGVs of all tasks to be delivered, and controlling the AGVs corresponding to the tasks to be delivered with high priority to give priority to delivery, which greatly reduces the risk of delivery delays and improves the delivery efficiency of AGVs in cross-floor scenarios.

[0009] As a possible implementation method, the priority of the tasks to be delivered is determined according to the relevant parameters of the tasks to be delivered, including:

[0010] Obtain the scoring result of each relevant parameter of the task to be delivered; determine the weight value of each relevant parameter according to the scoring result of each relevant parameter of the task to be delivered; normalize the weight value of each relevant parameter to determine the normalized weight of each relevant parameter of the task to be delivered; determine the priority of the task to be delivered according to the normalized weight of each relevant parameter of the task to be delivered.

[0011] Among them, the scoring result of each relevant parameter can be determined by expert scoring method.

[0012] In an embodiment of the present application, the scheduling system can count the voting results of different experts voting on each relevant parameter of the delivery task within a preset period of time (for example, one month, one week, etc.), so as to determine the scoring result of each relevant parameter according to the voting results. For example, the scheduling system can count the voting results of different experts voting on the four relevant parameters of the delivery task type, the pre-set task priority, the task waiting time and the remaining time for task delivery within one month, so as to determine the scoring results of these four relevant parameters according to the voting results. Then, the scheduling system determines the weight values ​​corresponding to the four relevant parameters of the delivery task according to the scoring results.

[0013] Therefore, the scheduling system determines the priority of the task to be delivered according to the weight values ​​of different parameters in the relevant parameters of the task to be delivered, thereby achieving the purpose of more accurately determining the priority of the task.

[0014] As another possible implementation method, according to the scoring result of each relevant parameter of the delivery task, the weight value of each relevant parameter is determined, including:

[0015] Multiply the scoring results of each relevant parameter of the relevant parameters of the task to be delivered to obtain a first product value;

[0016] After determining a first ratio of the Nth power value of the scoring result corresponding to the task type and the first product value, the first ratio is raised to the fourth power to obtain a first weight value; after determining a second ratio of the Nth power value of the scoring result corresponding to a preset task priority and the first product value, the second ratio is raised to the fourth power to obtain a second weight value; after determining a third ratio of the Nth power value of the scoring result corresponding to the first time and the first product value, the third ratio is raised to the fourth power to obtain a third weight value; after determining a fourth ratio of the Nth power value of the scoring result corresponding to the second time and the first product value, the fourth ratio is raised to the fourth power to obtain a fourth weight value.

[0017] The above N is the number of items of the relevant parameters of the task to be delivered. For example, if the relevant parameters include the task type, the preset task priority, the first time and the second time of the task to be delivered, then N is 4. If the relevant parameters include the task type, the preset task priority and the first time of the task to be delivered, then N is 3.

[0018] As another possible implementation, the weight value of each relevant parameter is normalized to determine the normalized weight of each relevant parameter of the delivery task, including:

[0019] Summing the first weight value, the second weight value, the third weight value, and the fourth weight value to obtain a total weight value;

[0020] Determining a normalized weight of the task type according to a ratio of the first weight value to the total weight value;

[0021] Determining a normalized weight of a preset task priority according to a ratio of the second weight value to the total weight value;

[0022] Determining a normalized weight at the first time according to a ratio of the third weight value to the sum of the weight values;

[0023] The normalized weight of the second time is determined according to the ratio of the fourth weight value to the total weight value.

[0024] As another possible implementation, the priority of the task to be delivered is determined according to the normalized weight of each relevant parameter of the task to be delivered, including:

[0025] Determine a second product value of the normalized weight corresponding to the first time and the fifth ratio, and a third product value of the normalized weight corresponding to the second time and the sixth ratio; wherein the fifth ratio refers to the ratio of the first time to the third time, and the third time refers to the average user waiting tolerance time corresponding to the task type; the sixth ratio refers to the ratio of the fourth time to the fifth time, and the fourth time refers to the final delivery time of the task type corresponding to the task to be delivered, and the fifth time refers to the remaining time at the start of the task to be delivered;

[0026] The priority value of the task to be delivered is determined based on the sum of the second product value, the third product value, the normalized weight of the task type and the normalized weight of the pre-set task priority; the priority value is used to represent the priority of the task to be delivered, and the larger the priority value, the higher the priority of the task to be delivered corresponding to the priority value.

[0027] In an embodiment of the present application, when the scheduling system determines the priority value of the task to be delivered, it comprehensively considers the weight value and normalized weight of each relevant parameter of the task to be delivered, thereby achieving the purpose of dynamically adjusting the priorities of multiple tasks to be delivered, thereby achieving the purpose of giving priority to the delivery of tasks to be delivered with high priority.

[0028] As another possible implementation, according to the priority of the tasks to be delivered, the order of entering the elevator of multiple AGVs corresponding to the multiple tasks to be delivered is determined, including:

[0029] According to multiple tasks to be delivered, determine the AGV corresponding to the tasks to be delivered on each floor;

[0030] According to the priority order of the tasks to be delivered from high to low, the order in which multiple AGVs corresponding to the tasks to be delivered on each floor enter the elevator is determined.

[0031] It can be understood that when there are multiple tasks to be delivered on each floor, the scheduling system controls the AGV to prioritize the tasks to be delivered with higher priorities, thus achieving orderly scheduling of multiple AGVs.

[0032] As another possible implementation, after determining the elevator entry order of multiple AGVs corresponding to the tasks to be delivered on each floor in order of priority from high to low, the method further includes:

[0033] Adjust the position of the AGV corresponding to the task to be delivered in the elevator waiting area according to the priority of the task to be delivered from high to low.

[0034] It can be understood that there is a corresponding elevator waiting area at the elevator entrance of each floor, and the AGVs with delivery tasks on that floor wait in the elevator waiting area to enter the elevator. In order to avoid the phenomenon of congestion when AGVs enter the elevator when multiple AGVs are queued in disorder in the elevator waiting area, the dispatching system can adjust the positions of multiple AGVs in the elevator waiting area according to the order of AGVs entering the elevator, thereby improving the efficiency of multiple AGVs entering the elevator.

[0035] As another possible implementation, multiple AGVs are scheduled according to the order in which the multiple AGVs enter the elevator, including:

[0036] If it is determined that there are multiple AGVs waiting to enter the elevator waiting area on the current floor, the AGV with a higher priority for the delivery task will be controlled to enter the elevator first until all AGVs on the current floor have completed entering the elevator or the elevator is full.

[0037] It can be understood that the scheduling system controls the AGVs with high priority for delivery tasks to enter the elevator first, thereby achieving the purpose of giving priority to the delivery of high priority tasks to be delivered.

[0038] As another possible implementation method, the AGV with a high priority for the delivery task is controlled to enter the elevator first, including:

[0039] When the elevator is in the process of going up, if it is determined that there are multiple AGVs waiting to enter the elevator in the elevator waiting area on the current floor, the AGV with a higher destination floor will be controlled to enter the elevator first until all AGVs on the current floor have completed entering the elevator or the elevator is full;

[0040] When the elevator is in the process of descending, if it is determined that there are multiple AGVs waiting to enter the elevator in the elevator waiting area on the current floor, the AGV with a lower destination floor will be controlled to enter the elevator first until all AGVs on the current floor have completed entering the elevator or the elevator is fully loaded.

[0041] It can be understood that, during the elevator's upward process, the dispatching system controls the AGV with a higher target floor to enter the elevator first, and the AGV with a lower target floor to enter the elevator later. Therefore, when the dispatching system controls the AGV to exit the elevator, the AGV with a lower target floor can be controlled to exit the elevator directly, reducing the AGV's exit time and improving the task delivery efficiency.

[0042] Similarly, when the elevator is going down, the dispatching system controls the AGV with a lower target floor to enter the elevator first, and the AGV with a higher target floor to enter the elevator later. Therefore, when the dispatching system controls the AGV to exit the elevator, the AGV with a higher target floor can be controlled to exit the elevator directly, which reduces the AGV's exit time and improves the task delivery efficiency.

[0043] As another possible implementation, before controlling the multiple AGVs to enter the elevator according to the order in which the multiple AGVs enter the elevator, the method further includes:

[0044] If it is determined that there is an AGV in the elevator that will exit at the current floor, the AGV in the elevator is controlled to exit.

[0045] In an embodiment of the present application, when the dispatching system dispatches multiple AGVs, after the elevator stops, the dispatching system first controls the AGV in the elevator to exit the elevator, and then controls the AGV in the elevator waiting area to enter the elevator, thereby avoiding the phenomenon that the AGV in the elevator cannot exit the elevator after the AGV enters the elevator.

[0046] In a second aspect, the present application provides a dispatching system for an automated guided vehicle (AGV), the dispatching system comprising: a data acquisition and processing system, an AGV control system, at least one elevator, and a plurality of AGVs;

[0047] Wherein, the data acquisition and processing system is used to collect the operation data of at least one elevator and multiple AGVs;

[0048] The AGV control system is used to assign delivery tasks to multiple AGVs and dispatch multiple AGVs;

[0049] At least one elevator is used to achieve lifting and lowering and to dock with the AGV;

[0050] Multiple AGVs are used to receive the delivery tasks assigned by the AGV control system, perform transportation work according to the delivery tasks, and complete docking with the elevator.

[0051] In a third aspect, the present application provides an electronic device having the function of implementing the method described in the first aspect. The function can be implemented by hardware or by hardware executing corresponding software. The hardware or software includes one or more modules corresponding to the above functions.

[0052] In a fourth aspect, the present application provides an electronic device comprising: one or more processors; a memory; wherein one or more computer programs are stored in the memory, and the one or more computer programs include instructions, which, when executed by the electronic device, enable the electronic device to execute the AGV scheduling method as described in any one of the above-mentioned first aspects.

[0053] In a fifth aspect, the present application provides a computer-readable storage medium, in which instructions are stored. When the instructions are executed on an electronic device, the electronic device executes the AGV scheduling method as described in any one of the first aspects.

[0054] In a sixth aspect, the present application provides a computer program product, which includes computer instructions. When the computer instructions are executed on an electronic device, the electronic device executes the AGV scheduling method as described in any one of the first aspects.

[0055] It can be understood that the electronic device described in the third and fourth aspects, the computer storage medium described in the fifth aspect, and the computer program product described in the sixth aspect are all used to execute the corresponding methods provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding methods provided above, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] Figure 1 A structural block diagram of an AGV scheduling system provided in an embodiment of the present application;

[0057] Figure 2 A schematic diagram of a flow chart of an AGV scheduling method provided in an embodiment of the present application;

[0058] Figure 3 A schematic diagram of a flow chart of another AGV scheduling method provided in an embodiment of the present application;

[0059] Figure 4 A schematic diagram of a flow chart of another AGV scheduling method provided in an embodiment of the present application;

[0060] Figure 5 An example diagram of an AGV entering and exiting an elevator provided in an embodiment of the present application;

[0061] Figure 6 An example of an AGV scheduling method provided in an embodiment of the present application Figure 1 ;

[0062] Figure 7 A flowchart of another AGV scheduling method provided in an embodiment of the present application;

[0063] Figure 8An example of an AGV scheduling method provided in an embodiment of the present application Figure 2 ;

[0064] Fig. 9 A flowchart of another AGV scheduling method provided in an embodiment of the present application. DETAILED DESCRIPTION

[0065] The technical solution in the embodiment of the present application will be described below in conjunction with the drawings in the embodiment of the present application. In the description of the embodiment of the present application, unless otherwise specified, " / " means or, for example, A / B can mean A or B; "and / or" in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone.

[0066] In the following, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the embodiments of the present application, unless otherwise specified, "plurality" means two or more.

[0067] In the embodiments of the present application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a specific way.

[0068] At present, AGV is widely used in the transportation of materials or finished products between production lines and warehouses. At the same time, AGV also has the function of cross-floor transportation to meet the material transportation needs of multiple floors and multiple areas. When AGV transports materials or finished products across floors, it can interact with the elevator by itself, automatically complete the actions of AGV entering and exiting the elevator, switching floors, etc., effectively solving the problem of cross-floor and multi-area material transportation in the workshop. However, in the related technology, when AGV transports materials across floors, there are problems such as long waiting time for the elevator and congestion at the elevator entrance.

[0069] In the related art, when the dispatching system controls multiple AGVs to enter the elevator, the dispatching system can control the order of multiple AGVs to enter the elevator according to the destination floors corresponding to the multiple AGVs. For example, after the dispatching system traverses the AGVs in the elevator waiting area of ​​each floor, it controls the AGVs with higher destination floors to enter the elevator first. As a result, when the dispatching system controls multiple AGVs to deliver materials, the waiting time of AGVs with lower destination floors is too long.

[0070] In addition, in the related art, when the dispatching system controls multiple AGVs to enter the elevator, the dispatching system can also control the AGV that arrives at the elevator entrance the earliest to enter the elevator first. In the process of the dispatching system controlling the AGV to exit the elevator, the dispatching system may need to control the AGV on the outer layer of the elevator to exit the elevator first, and then, after the dispatching system controls the AGV on the inner layer of the elevator to exit the elevator, the dispatching system controls the AGV on the outer layer of the elevator to enter the elevator again. As a result, when the dispatching system controls multiple AGVs to deliver materials, there are problems such as AGV congestion at the elevator entrance and low delivery efficiency.

[0071] In order to solve the above problems, an embodiment of the present application provides an AGV scheduling method, which first obtains multiple tasks to be delivered, and for each task to be delivered, determines the priority of the task to be delivered according to the relevant parameters of the task to be delivered, wherein the relevant parameters include: the task type of the task to be delivered, the pre-set task priority, and at least one of the first time or the second time. According to the priority of each task to be delivered among the multiple tasks to be delivered, the order of entering the elevator of the multiple AGVs corresponding to the multiple tasks to be delivered is determined, and then, according to the order of entering the elevator of the multiple AGVs, the multiple AGVs are scheduled. Therefore, in the AGV scheduling method, by comprehensively scheduling multiple AGVs of multiple tasks to be delivered, the AGVs corresponding to the tasks to be delivered with high priority are controlled to be delivered first, which greatly reduces the risk of delivery delays and improves the efficiency of task delivery.

[0072] The AGV scheduling method provided in the embodiment of the present application is applied to the AGV scheduling system. The AGV scheduling system is a visualization software system that connects multiple unmanned industrial vehicles for communication and task allocation. When facing multi-floor, multi-scene, and multi-task transportation needs, it can be connected with cross-floor and cross-workshop equipment (such as elevators, rolling shutters) and other facilities through a variety of information protocols to give full play to the cross-scene scheduling capabilities, complete the collaborative management and unified scheduling of resources, and freely switch between various operation scenes to achieve cross-scene, full-process, and trouble-free passage, thereby realizing unmanned loading and unloading and operations within the workshop.

[0073] In an embodiment of the present application, the AGV scheduling system is used to schedule multiple AGVs corresponding to the tasks to be delivered according to the priorities of all the tasks to be delivered.

[0074] Figure 1 This is a structural block diagram of an AGV dispatching system provided in an embodiment of the present application. Figure 1 As shown, the dispatching system may include a data acquisition and processing system, an AGV control system, at least one elevator and multiple AGVs.

[0075] The data acquisition and processing system is used to collect the operation data of at least one elevator and multiple AGVs.

[0076] The AGV control system is used to allocate tasks to be delivered to multiple AGVs, and to dispatch multiple AGVs according to the operation data of at least one elevator and multiple AGVs collected by the data collection and processing system.

[0077] At least one elevator is used to achieve lifting and lowering and to dock with the AGV.

[0078] A plurality of AGVs are used to receive a plurality of delivery tasks assigned by the AGV control system, perform handling operations according to the delivery tasks, and complete docking with the elevator.

[0079] In the embodiments of the present application, multiple AGVs can be located at different locations on different floors, or multiple AGVs can be located at different locations on the same floor, or multiple AGVs can be located at the same location on the same floor, which is not limited here. For example, assuming that the factory workshop has a total of 6 floors, multiple AGVs can be located on the first floor of the workshop, or they can be distributed on any floor of the factory workshop, which is not limited here.

[0080] Figure 2 A flowchart of an AGV scheduling method provided in an embodiment of the present application. Figure 2 As shown, the scheduling method may include the following steps:

[0081] Step 201: The dispatching system selects the operation mode of the elevator.

[0082] The operation modes of the elevator include manual mode and automatic mode. Manual mode means that the elevator moves up and down in response to manual operation. For example, after the 5th floor is manually selected, the elevator moves up to the 5th floor. Automatic mode means that the elevator automatically controls the opening and closing time of the door and automatically selects the floors to be moved up and down without manual intervention.

[0083] In the embodiment of the present application, in order to avoid the waste of manpower when manual cooperation with AGV to transport materials or finished products, and the uncontrollable opening and closing time of the door during entering and exiting the elevator, which is prone to safety accidents such as pinching and crashing, the dispatching system selects the elevator's operating mode as automatic mode.

[0084] Step 202: The dispatching system selects the AGV delivery mode.

[0085] In the embodiment of the present application, the AGV delivery mode may include achievement rate priority and efficiency priority. The achievement rate refers to the degree of conformity between the actual value and the target value, that is, the degree of achieving the target.

[0086] In the embodiment of the present application, the dispatching system may select the AGV delivery mode to prioritize the achievement rate.

[0087] Step 203: The dispatching system pre-processes multiple AGVs at the elevator entrance.

[0088] like Figure 3 As shown, after the dispatching system determines that multiple AGVs have arrived at the elevator entrance, it obtains the state of the elevator waiting area. When the dispatching system determines that the state of the elevator waiting area on a certain floor is in a waiting state, the dispatching system can determine the priority of all the tasks to be delivered after obtaining all the tasks to be delivered. Then, the dispatching system sorts all the tasks to be delivered in the task list according to the priority of all the tasks to be delivered. Among them, the task list includes the AGV elevator exit tasks and elevator entry tasks on all floors at the current moment, and the order of the AGV elevator entry tasks in the task list is sorted from high to low according to the priority of the tasks to be delivered. The dispatching system can adjust the positions of multiple AGVs in the elevator waiting area of ​​the floor according to the priority of all the tasks to be delivered, so that multiple AGVs wait for the elevator to arrive in the elevator waiting area according to the adjusted positions. For example, the dispatching system can control the AGV with a high priority of the task to be delivered to move to the elevator entrance, and control the AGV with a low priority of the task to be delivered to stay away from the elevator entrance. Therefore, the scheduling system adjusts the positions of multiple AGVs in the elevator waiting area on each floor according to the priority of all tasks to be delivered. The AGV with a higher priority of the task to be delivered is closer to the elevator entrance. This not only avoids the problem of multiple AGVs being crowded at the elevator entrance, resulting in a long time for multiple AGVs to enter and exit the elevator, but also improves the efficiency of multiple AGVs entering and exiting the elevator and improves the utilization rate of elevator resources.

[0089] In an embodiment of the present application, the priority of the task to be delivered can be determined by relevant parameters of the task to be delivered, wherein the relevant parameters include but are not limited to the task type of the task to be delivered, a pre-set task priority, a first time or a second time.

[0090] Among them, the task type refers to the type of delivery goods corresponding to the delivery task to be delivered. For example, the task type may include carrying materials, carrying finished products, carrying garbage, going upstairs tasks, going downstairs tasks, etc.

[0091] The pre-set task priority refers to the priority of each task to be delivered pre-set by the delivery system. In the embodiment of the present application, the delivery system can send the delivery information of the material to the scheduling system, for example, the delivery system sends the material delivery time, delivery quantity, delivery priority and other information to the scheduling system.

[0092] The first time is also called the task waiting time, which refers to the interval between the task order time and the task delivery time. The task order time refers to the time when the dispatching system receives the task. For example, the dispatching system receives Task A ordered by the user at 9 am, and requires the delivery time of Task A to be 9 pm. The task waiting time of Task A is 12 hours.

[0093] The second time is also called the remaining time for task delivery, which refers to the interval between the current time and the task delivery time. The task delivery time refers to the pre-set delivery time for the delivery of the goods to be delivered. For example, the task delivery time of the above task A is 9 o'clock in the evening, and the current time is 7 o'clock in the evening, then the remaining time for task delivery of task A is 2 hours.

[0094] Since the various stakeholders of the task have different assessments of the weights of the various relevant parameters of the task priority, in the embodiment of the present application, the scheduling system can use the expert scoring method and the analytic hierarchy process (AHP) to determine the weight values ​​of the four relevant parameters of the task type, the pre-set task priority, the task waiting time and the task delivery remaining time, so as to achieve a baseline evaluation of the weights of the priorities of the tasks to be delivered by various stakeholders. Then, the scheduling system determines the priority of the task to be delivered according to the weights of the four relevant parameters of the task type, the pre-set task priority, the task waiting time and the task delivery remaining time.

[0095] Among them, the expert scoring method refers to first selecting several evaluation items according to the specific requirements of the evaluation object, then formulating evaluation standards based on the evaluation items, hiring several representative experts to give evaluation scores for each item according to this evaluation standard based on their own experience, and then compiling them. The experts in the embodiments of this application refer to stakeholders who are related to the task. For example, the experts can be logistics industrial engineers (IE), AGV equipment managers, logistics business experts, etc., which are not limited here.

[0096] The principle of AHP is to first decompose the phenomenon or problem into relevant factors according to their nature before analyzing it, and then form a multi-level structural model according to the relationship between them. Then, through experience or experts, the relative importance of low-level factors to high-level factors is judged and measured, and the weight ranking is obtained according to the degree of importance, so as to make quantitative analysis and comparison.

[0097] In the embodiment of the present application, the scheduling system first divides all tasks into two groups: upstairs tasks and downstairs tasks. A voting table is set every month, and experts such as logistics IE engineers, AGV equipment managers, and logistics business experts vote. For example, experts vote based on four related parameters: task type, pre-set task priority, task waiting time, and task delivery remaining time, to determine the weight values ​​corresponding to the four related parameters of the delivery task.

[0098] It should be explained that the monthly voting mentioned above is only a possible implementation method. Voting can also be conducted weekly or every ten days. The voting time interval is not limited here. For example, experts can vote every ten days according to the four related parameters of task type, pre-set task priority, task waiting time, and task delivery remaining time to determine the weights of the tasks to be delivered corresponding to these four related parameters. Since the task waiting time and task delivery remaining time of the tasks to be delivered change in real time with time, the scheduling system can set the task waiting time and task delivery remaining time of the tasks to be delivered as dynamic weights to refresh them dynamically according to time. However, after the scheduling system determines the task type and the pre-set task priority, the task type and the pre-set task priority do not change with time. Here, the task type and the pre-set task priority are called fixed weights.

[0099] Then, the dispatching system constructs a weight matrix according to the weights corresponding to the four related parameters, and calculates the normalized weights of each dimension according to the AHP method. The specific calculation process can be seen in the following formulas (1) and (2). The specific formulas are as follows:

[0100]

[0101]

[0102] Among them, s in the above formula i represents the expert group's score for the relevant parameter i, m i represents the weight value of the relevant parameter i, w i represents the normalized weight of the relevant parameter i, i represents the number of relevant parameters for determining the priority of the task to be delivered, and i is a positive integer. For example, in the above embodiment, the priority of the task to be delivered is determined by four relevant parameters: task type, pre-set task priority, task waiting time, and task delivery remaining time. In this case, i is equal to 4.

[0103] In an embodiment of the present application, after the scheduling system determines the normalized weights corresponding to the different relevant parameters of the task to be delivered according to the expert scoring method, it can perform consistency verification on the normalized weights corresponding to the different relevant parameters of the task according to the task execution results of the task to be delivered at intervals of a period of time (for example, every 10 days, 1 month, etc.). For example, assuming that the task type of the task to be delivered is to transport finished products, and the task to be delivered is often not delivered in time, during the expert scoring process, the expert can adjust the score of the task type, and then, when the scheduling system determines the normalized weights corresponding to the different relevant parameters of the task to be delivered according to the expert scoring method, the weight of the relevant parameter of the task type of the task to be delivered will change. Therefore, after the scheduling system performs consistency verification on the weights corresponding to the different relevant parameters of the task to be delivered, it fine-tunes the weights of the different relevant parameters to adjust the priority of the task to be delivered, which is conducive to improving the delivery efficiency of each task to be delivered.

[0104] In an embodiment of the present application, after the scheduling system uses the above formulas (1) and (2) to calculate the normalized weights of various relevant parameters, the scheduling system can use the following formula (3) to calculate the priority of the task to be delivered based on the normalized weights of various relevant parameters.

[0105]

[0106] Among them, P in the above formula (3) i represents the priority of task i, w j represents the weight of the relevant parameter j, w 0 and w 1 They represent the task waiting time and the remaining time for task delivery, respectively. 0 represents the task waiting time, t x represents the average waiting time of users according to the task type, t 1 Indicates the remaining time to start the task, t y Indicates the delivery deadline corresponding to the task type.

[0107] The above-mentioned average waiting time refers to the average waiting time that multiple users can tolerate. For example, the waiting time for user A is 2 hours, the waiting time for user B is 4 hours, and the waiting time for user C is 3 hours. Then the average waiting time for these three users is (2+4+3) / 3=3 hours.

[0108] The remaining time to start a task refers to the time interval between the current time and the start time of the task. For example, if the start time of a task is 3 pm and the current time is 1 pm, the remaining time to start the task is 2 hours.

[0109] The delivery redline time refers to the latest delivery time of each delivery task preset by the scheduling system. For example, assuming that the production line starts at 9 am every day and the delivery task is required to be completed at 8 am, the scheduling system can set the task delivery redline time of a certain task to 7:45 am. In the embodiment of the present application, for different types of delivery tasks, the scheduling system can set different delivery redline times, thereby avoiding the problem that all delivery tasks need to be delivered at the same time, resulting in tight AGV transportation resources.

[0110] It should be explained that the priority P of the task to be delivered i is calculated according to the above formula (3): i After that, P i The larger the value of , the higher the priority of the task to be delivered i. In addition, the priority of the task to be delivered is determined by four related parameters: task type, pre-set task priority, task waiting time, and task delivery remaining time. This is only an exemplary description. That is, the priority of the task to be delivered can also be determined by at least one of the related parameters of task type, pre-set task priority, task waiting time, or task delivery remaining time, or the priority of the task to be delivered can also be determined by other related parameters, which is not limited here.

[0111] In one possible case of the embodiment of the present application, when the task to be delivered is an urgent item, the dispatching system detects that the user adjusts the task type of the task to be delivered to an urgent item in the dispatching system, and the normalized weight corresponding to the relevant parameter of the task type of the task to be delivered is adjusted to 1+w i As a result, the scheduling system adjusts the weight of the task to be delivered, thereby increasing the priority of the task to be delivered and achieving the purpose of timely delivery of materials in emergency situations.

[0112] Step 204 , after the scheduling system determines the order of entering and exiting the elevator for the multiple AGVs, the multiple AGVs are scheduled according to the order of entering and exiting the elevator for the multiple AGVs.

[0113] In the embodiment of the present application, the dispatching system controls the elevator to go back and forth between the highest floor and the lowest floor requested by the user, so that multiple AGVs can complete the delivery task by taking the elevator. That is to say, after the dispatching system determines that the elevator has run to the highest floor requested by the user, the dispatching system controls the elevator to go down, and after the dispatching system determines that the elevator has run to the lowest floor requested by the user, the dispatching system controls the elevator to go up, and so on. In the process of the dispatching system controlling the elevator to go up and down, if the dispatching system determines that there is an AGV waiting in the elevator waiting area on a certain floor, the dispatching system controls the elevator to open the elevator door and notify the AGV waiting in the elevator waiting area on the floor to enter the elevator, so as to achieve the purpose of the delivery task through the dispatching of the AGV.

[0114] For the specific implementation process, please refer to Figure 4 , Figure 4 A flow chart of a method for AGV entering and exiting a ladder provided in an embodiment of the present application, such as Figure 4 As shown, the dispatching system determines that the elevator is in the upward mode after the elevator initialization is completed. That is, the elevator is currently on the bottom floor. Assume that a factory workshop has 6 floors, the elevator is currently on the 1st floor, and the elevator is in the upward mode. After the dispatching system obtains the current task list, it determines that there is an AGV exit task in the current task list. The dispatching system can control multiple AGVs to exit the elevator according to the order of multiple AGVs exiting the elevator in the current task list. The dispatching system can control the AGVs on the outer layer of the elevator to exit the elevator first, and then control the AGVs on the inner layer of the elevator to exit the elevator.

[0115] In the embodiment of the present application, when there are multiple AGVs in the elevator, the dispatching system can control the multiple AGVs to exit the elevator in the order from the outer layer to the inner layer and from right to left (the concept of the inner layer and the outer layer is based on the side closer to the lane as the outer layer). Figure 5 As shown, Figure 5 Two elevator space layouts are shown in Figure 5 The elevator space layout of (A) is 4 cells. Figure 5 The elevator space layout in (B) is 9 cells. Figure 5 There are 4 AGVs in the elevator (A). The dispatching system can control AGVs with sequence numbers 3 and 4 to exit the elevator first, and then control AGVs with sequence numbers 1 and 2 to exit the elevator. Figure 5 There are 9 AGVs in the elevator (B). The dispatching system can control AGVs with sequence numbers 7, 8 and 9 to exit the elevator first, then control AGVs with sequence numbers 4, 5 and 6 to exit the elevator, and then control AGVs with sequence numbers 1, 2 and 3 to exit the elevator.

[0116] Here, the dispatching system can control multiple AGVs in the same row to exit the elevator at the same time. Figure 5 In the elevator (A), AGVs 3 and 4 exit the elevator at the same time, and AGVs 1 and 2 can also exit the elevator at the same time. Thus, the dispatching system controls multiple AGVs to exit the elevator at the same time, saving the exit time of multiple AGVs and improving the distribution efficiency.

[0117] Above Figure 5 The elevator space layout shown in the figure is only an exemplary description. The actual elevator space layout can be determined according to the actual situation. For example, the elevator space layout can also be 16 cells, 25 cells, etc. In addition, the specific shape of the elevator can also be rectangular, circular, semicircular, etc. The specific shape of the elevator and the elevator space layout are not limited in the embodiments of the present application.

[0118] Continue with Figure 4This application is introduced. When the dispatching system determines that all AGVs on the current floor in the current task list have completed the elevator exit, the dispatching system determines whether there is an AGV elevator entry task on the current floor. When the dispatching system determines that there are multiple AGVs waiting to enter the elevator in the elevator waiting area on the current floor, after obtaining the task list, the dispatching system can determine the corresponding AGV elevator entry order according to the priority of each task to be delivered in the task list, and the dispatching system controls the AGVs in the elevator waiting area on the current floor to enter the elevator to the maximum extent.

[0119] In an embodiment of the present application, during the process of the dispatching system controlling the elevator to go up and down floors, after the dispatching system determines that all AGV exiting tasks and AGV entering tasks of the elevator on the current floor are completed, the dispatching system obtains the AGV exiting tasks and AGV entering tasks of the next floor. For example, assuming that the elevator is currently on the 1st floor and the elevator is in the upward mode, when the dispatching system determines that all AGV exiting tasks and AGV entering tasks of the elevator on the 1st floor are completed, the dispatching system can obtain the AGV exiting tasks and AGV entering tasks when the elevator is on the 2nd floor. After the dispatching system traverses all floors, the dispatching system controls the elevator to reach the top floor, at which point the elevator is in the downward mode.

[0120] It should be explained that when the dispatching system controls the elevator to go up and down floors, when there is an AGV entry task on a certain floor, the elevator will not stop at that floor and wait for the arrival of the AGV, but all the AGVs waiting to enter the elevator on that floor will wait for the elevator to arrive in the elevator waiting area. Therefore, the dispatching system can first obtain all the AGV entry tasks on the current floor in the task list, arrange them according to the task priority, and the AGVs corresponding to the prioritized delivery tasks will enter the elevator waiting area in advance according to the estimated arrival time of the elevator. As a result, after the dispatching system controls the elevator to arrive at the floor with the elevator entry task, the AGV located in the elevator waiting area enters the elevator directly, avoiding the problem of the elevator waiting for the AGV to arrive at the elevator entrance, resulting in a lot of time wasted. This not only improves the resource utilization of the elevator, but also improves the delivery efficiency of the task.

[0121] In one possible scenario, the dispatching system determines that there is an AGV entering the elevator task on a certain floor in the task list, but the AGV does not enter the elevator waiting area in advance of the estimated arrival time of the elevator. If the dispatching system determines that the estimated arrival time of the AGV at the elevator waiting area is within the elevator waiting time, then when the dispatching system determines that the AGV arrives at the elevator waiting area during the elevator waiting time, the dispatching system controls the AGV to enter the elevator directly, thereby saving the time for the AGV to wait for the next elevator to reach the floor. Among them, the elevator waiting time refers to the time interval between the opening and closing of the elevator door when the elevator stops at a certain floor. The elevator waiting time is the time preset by the dispatching system. For example, the dispatching system presets the elevator waiting time to 3 seconds, 5 seconds, etc. The elevator waiting time is not specifically limited here.

[0122] For example, Figure 6 An example diagram of AGV scheduling is shown, such as Figure 6 As shown in the figure, it is assumed that the factory workshop has 6 floors in total, the elevator is currently on the 1st floor, and there is no AGV in the elevator. Figure 6 Elevator 601 in the task list. After the dispatch system obtains all pending delivery tasks in the task list, it determines that all current pending delivery tasks include: 1 pallet from the 1st floor to the 6th floor, 1 pallet from the 1st floor to the 5th floor, 1 pallet from the 1st floor to the 2nd floor, 1 pallet from the 2nd floor to the 1st floor, 1 pallet from the 3rd floor to the 5th floor, 1 pallet from the 3rd floor to the 6th floor, and 1 pallet from the 4th floor to the 1st floor. Among them, 1 pallet from the 1st floor to the 6th floor means that the AGV transports 1 pallet of materials from the 1st floor to the 6th floor.

[0123] The dispatching system controls the AGVs corresponding to the delivery tasks on each floor to arrive at the elevator waiting area on each floor, and adjusts the positions of the AGVs in the elevator waiting area on each floor. For example, the dispatching system controls the AGV that transports 1 pallet of materials from the 1st floor to the 6th floor, the AGV that transports 1 pallet of materials from the 1st floor to the 5th floor, and the AGV that transports 1 pallet of materials from the 1st floor to the 2nd floor to arrive at the elevator waiting area on the 1st floor, and adjusts the positions of these 3 AGVs in the elevator waiting area to determine the order in which these 3 AGVs enter the elevator.

[0124] like Figure 6 As shown in the figure, the dispatching system determines that the elevator is currently on the 1st floor and there is no AGV in the elevator. The dispatching system controls the AGV in the elevator waiting area on the 1st floor to enter the elevator. The dispatching system first controls the AGV that transports 1 pallet of materials from the 1st floor to the 6th floor to enter the elevator, then controls the AGV that transports 1 pallet of materials from the 1st floor to the 5th floor to enter the elevator, and finally controls the AGV that transports 1 pallet of materials from the 1st floor to the 2nd floor to enter the elevator. After the dispatching system controls all AGVs in the elevator waiting area on the 1st floor to enter the elevator, the positions of the AGVs inside the elevator are as follows: Figure 6 Elevator 602 in.

[0125] It needs to be explained that Figure 6 The elevator space layout is 4 grids, and AGVs can have two-way lanes when entering and exiting the elevator. In other words, the dispatching system can control the AGV that transports 1 pallet of materials from the 1st floor to the 6th floor and the AGV that transports 1 pallet of materials from the 1st floor to the 5th floor to enter the elevator at the same time, thereby saving the time for multiple AGVs to enter the elevator and improving the efficiency of material distribution.

[0126] When the dispatching system controls the elevator to go up, when the elevator stops at a certain floor, the dispatching system controls the AGV in the elevator to exit first, and then controls the AGV in the elevator waiting area to enter. Figure 6 As shown in the figure, when the dispatching system controls the elevator to go up to the second floor, the dispatching system controls the AGV in the elevator to transport a pallet of materials from the first floor to the second floor. After the AGV exits the elevator, the position of the AGV inside the elevator is as follows: Figure 6 Elevator 603.

[0127] It should be explained that when the dispatching system controls the elevator to go up, if there are AGVs waiting in the elevator waiting area for going down, the dispatching system does not control the AGVs to enter the elevator. For example, when the dispatching system controls the elevator to reach the 2nd floor, the AGV in the elevator waiting area on the 2nd floor that is transporting 1 pallet of materials from the 2nd floor to the 1st floor does not enter the elevator, so as not to affect the AGVs in the elevator that are destined for the 5th and 6th floors to exit the elevator.

[0128] In an embodiment of the present application, when the scheduling system determines that there is no AGV entering the elevator on the 2nd floor based on the tasks to be delivered in the task list, the scheduling system determines that there is an AGV waiting to enter the elevator in the elevator waiting area on the 3rd floor, and the scheduling system continues to control the elevator to go up to the 3rd floor. When the scheduling system determines that the elevator stops on the 3rd floor, the scheduling system controls the AGV that transports 1 pallet of materials from the 3rd floor to the 5th floor and the AGV that transports 1 pallet of materials from the 3rd floor to the 6th floor to enter the elevator. Since the two AGVs in the inner cells of the elevator arrive at the 5th and 6th floors respectively when the elevator arrives at the 3rd floor, when the scheduling system controls the AGV that transports 1 pallet of materials from the 3rd floor to the 5th floor and the AGV that transports 1 pallet of materials from the 3rd floor to the 6th floor to enter the elevator, the scheduling system can control the AGVs with the same destination floor to be arranged on the same side of the elevator. After the scheduling system controls the AGV that transports 1 pallet of materials from the 3rd floor to the 5th floor and the AGV that transports 1 pallet of materials from the 3rd floor to the 6th floor to enter the elevator, the AGVs inside the elevator are arranged as follows: Figure 6 Elevator 604 in.

[0129] The dispatching system determines that there is an elevator exit task with the destination floor being the 5th floor in the task list, and the dispatching system controls the elevator to continue to go up to the 5th floor. When the dispatching system determines that the elevator stops at the 5th floor, the dispatching system controls the AGV that transports 1 pallet of materials from the 3rd floor to the 5th floor to exit the elevator first, and controls the AGV that transports 1 pallet of materials from the 1st floor to the 5th floor to exit the elevator later. At this time, the AGVs inside the elevator are arranged as follows: Figure 6 Elevator 605 in the list. The dispatching system determines that there is an elevator exit task for the 6th floor in the task list, and the dispatching system controls the elevator to continue to go up to the 6th floor. When the dispatching system determines that the elevator stops at the 6th floor, the dispatching system controls the AGV that transports 1 pallet of materials from the 3rd floor to the 6th floor to exit the elevator first, and controls the AGV that transports 1 pallet of materials from the 1st floor to the 6th floor to exit the elevator later. At this time, there is no AGV in the elevator.

[0130] The dispatching system determines that the floor the elevator is currently on is the highest floor, and the dispatching system switches the elevator's operating mode to the down mode. The dispatching system determines that there is a distribution task of transporting 1 pallet of materials from the 4th floor to the 1st floor in the task list. After the dispatching system controls the elevator to stop at the 4th floor, the dispatching system controls the AGV that transports 1 pallet of materials from the 4th floor to the 1st floor to enter the elevator. Then, the dispatching system controls the elevator to go down. The dispatching system determines that there is a distribution task of transporting 1 pallet of materials from the 2nd floor to the 1st floor in the task list. After the dispatching system controls the elevator to stop at the 2nd floor, the dispatching system controls the AGV that transports 1 pallet of materials from the 2nd floor to the 1st floor to enter the elevator. Then, the dispatching system controls the elevator to go down to the 1st floor. When the dispatching system determines that the elevator stops at the 1st floor, the dispatching system can control the AGV that transports 1 pallet of materials from the 4th floor to the 1st floor and the AGV that transports 1 pallet of materials from the 2nd floor to the 1st floor to exit the elevator at the same time, so as to improve the efficiency of multiple AGVs exiting the elevator and save task delivery time.

[0131] It needs to be explained that the above Figure 6 The elevator space layout shown in the figure is only described as an example, and the elevator space layout is not limited in the embodiments of the present application. Figure 6 The tasks to be delivered in the task list are only described as examples. The specific tasks to be delivered in the task list depend on the actual delivery scenario and are not limited here. Figure 6 The multiple AGVs for distributing materials can be AGVs of the same model or AGVs of different models, which is not limited here. When the AGVs for distributing materials are AGVs of different models, the floor space of the AGVs of different models is smaller than the area of ​​the elevator cell.

[0132] Combine the following Figures 7 to 9 The process of the above dispatching system controlling the AGV to enter the elevator is introduced in detail. Figure 7 A schematic diagram of a process of AGV entering the ladder is shown, as Figure 7 As shown, the dispatching system determines that the AGV is ready to enter the elevator in the elevator waiting area. The dispatching system first checks the destination floor of the elevator inner cell to determine whether to control the AGV in the elevator waiting area to enter the elevator.

[0133] In the first possible case, when the dispatching system controls the elevator to go up, if the dispatching system determines that the destination floor of the AGV in the inner cell of the elevator is lower than the destination floor of the AGV in the elevator waiting area, the dispatching system controls the AGV in the elevator waiting area to enter the elevator, which will affect the AGV in the inner cell whose destination floor is a low floor to exit the elevator. In this case, the dispatching system controls the AGV whose destination floor is a high floor to continue waiting in the elevator waiting area. The AGV does not enter the elevator during the up and down process of the elevator, and waits for the next round to enter.

[0134] For example, Figure 8As shown in (A), assume that the elevator is currently on the 2nd floor, and there are 2 AGVs in the inner cell of the elevator, one of which transports 1 pallet of materials from the 1st floor to the 4th floor, and the other transports 1 pallet of materials from the 1st floor to the 3rd floor. The dispatching system determines that there is an AGV in the elevator waiting area on the 2nd floor that transports 1 pallet of materials from the 2nd floor to the 6th floor. Since the dispatching system determines that the destination floors of the AGVs in the two inner cells are lower than the destination floor of the AGV in the elevator waiting area, if the dispatching system controls the AGV in the elevator waiting area that transports 1 pallet of materials from the 2nd floor to the 6th floor to enter the elevator, it will affect the AGV in the inner cell to exit the elevator. Therefore, the dispatching system controls the AGV with the destination floor of the 6th floor to continue waiting in the elevator waiting area, and the AGV waits for the next round of entry.

[0135] In the second possible case, when the dispatching system controls the elevator to go up, if the dispatching system determines that the destination floor of the AGV in the inner cell of the elevator is not lower than the destination floor of the AGV in the elevator waiting area, the dispatching system controls the AGV in the elevator waiting area to enter the elevator.

[0136] For example, Figure 8 As shown in (B), assume that the elevator is currently on the 2nd floor, and there are 2 AGVs in the inner cell of the elevator, one of which transports 1 pallet of materials from the 1st floor to the 4th floor, and the other transports 1 pallet of materials from the 1st floor to the 3rd floor. The dispatching system determines that there is an AGV in the elevator waiting area on the 2nd floor that transports 1 pallet of materials from the 2nd floor to the 3rd floor. Since the dispatching system determines that the destination floors of the AGVs in the two inner cells are not lower than the destination floor of the AGV in the elevator waiting area, the dispatching system can directly control the AGV that transports 1 pallet of materials from the 2nd floor to the 3rd floor to enter the elevator.

[0137] In the third possible case, when the dispatching system controls the elevator to go down, if the dispatching system determines that the destination floor of the AGV in the inner cell of the elevator is higher than the destination floor of the AGV in the elevator waiting area, the dispatching system controls the AGV in the elevator waiting area to enter the elevator. This will affect the AGV in the inner cell whose destination floor is a high floor to exit the elevator. In this case, the dispatching system controls the AGV whose destination floor is a low floor to continue waiting in the elevator waiting area. The AGV does not enter the elevator during the up and down process of the elevator, and waits for the next round to enter.

[0138] For example, Figure 8As shown in (C), assume that the elevator is currently on the 5th floor, and there are 2 AGVs in the inner cell of the elevator, one of which transports 1 pallet of materials from the 6th floor to the 4th floor, and the other transports 1 pallet of materials from the 6th floor to the 3rd floor. The dispatching system determines that there is an AGV in the elevator waiting area on the 5th floor that transports 1 pallet of materials from the 5th floor to the 2nd floor. Since the dispatching system determines that the destination floors of the AGVs in the two inner cells are higher than the destination floor of the AGV in the elevator waiting area, if the dispatching system controls the AGV in the elevator waiting area that transports 1 pallet of materials from the 5th floor to the 2nd floor to enter the elevator, it will affect the AGV in the inner cell to exit the elevator. Therefore, the dispatching system controls the AGV with the destination floor of the 2nd floor to continue waiting in the elevator waiting area, and the AGV waits for the next round of entry.

[0139] In the fourth possible case, when the dispatching system controls the elevator to go down, if the dispatching system determines that the destination floor of the AGV in the inner cell of the elevator is not higher than the destination floor of the AGV in the elevator waiting area, the dispatching system controls the AGV in the elevator waiting area to enter the elevator.

[0140] For example, Figure 8 As shown in (D), suppose the elevator is currently on the 5th floor, and there are 2 AGVs in the inner cell of the elevator, one of which transports 1 pallet of materials from the 6th floor to the 4th floor, and the other transports 1 pallet of materials from the 6th floor to the 3rd floor. The dispatching system determines that there is an AGV in the elevator waiting area on the 5th floor that transports 1 pallet of materials from the 5th floor to the 4th floor. Since the dispatching system determines that the destination floors of the AGVs in the two inner cells are not higher than the destination floor of the AGV in the elevator waiting area, the dispatching system can directly control the AGV that transports 1 pallet of materials from the 5th floor to the 4th floor to enter the elevator.

[0141] Continue to see Figure 7 This application is introduced. The dispatching system checks the destination floor of the elevator inner cell. When the AGV in the elevator waiting area is determined to enter the elevator, the dispatching system controls the AGV to enter the elevator to the maximum extent. When the dispatching system determines that there are multiple AGVs in the elevator waiting area on the same floor, the dispatching system adjusts the order of the multiple AGVs in the elevator waiting area and the directions of the multiple AGVs according to the priorities of the tasks to be delivered corresponding to the multiple AGVs.

[0142] In the embodiment of the present application, when the dispatching system determines that there are multiple AGVs in the elevator waiting area on the same floor, the dispatching system can sort the positions of the multiple AGVs in the elevator waiting area according to the priority of the tasks to be delivered from high to low. Here, the dispatching system adjusts the position of the AGV with a high priority of the task to be delivered to the elevator entrance. After the dispatching system controls multiple AGVs to complete entering the elevator, the dispatching system controls the elevator to continue operating.

[0143] In one possible case, when the dispatching system determines that there are multiple AGVs waiting to enter the elevator in the elevator waiting area on the same floor, if the dispatching system determines that the number of free cells in the elevator is less than the number of multiple AGVs on the same floor, the dispatching system controls the AGV with a higher priority for the task to be delivered to enter the elevator, and controls the AGV with a lower priority for the task to be delivered to continue waiting in the elevator waiting area.

[0144] For example, suppose the dispatch system determines that there are 3 AGVs waiting to enter the elevator in the elevator waiting area on the 2nd floor. When the dispatch system controls the elevator to stop on the 2nd floor, the dispatch system determines that there are only 2 empty cells in the elevator. In this case, the dispatch system controls the 2 AGVs with the highest priority of the tasks to be delivered in the elevator waiting area on the 2nd floor to enter the elevator, and controls the AGV with the lowest priority of the tasks to be delivered to continue waiting in the elevator waiting area.

[0145] In the embodiment of the present application, the dispatching system can adjust the directions of multiple AGVs to face the elevator entrance. When the dispatching system controls the elevator to reach the floor where the AGV is located, the dispatching system can control the AGV to enter the elevator directly, thereby saving the time of the dispatching system to adjust the AGV at the elevator entrance and improving the distribution efficiency of the task.

[0146] The method for the above dispatching system to control AGV to maximize elevator entry can be found in Fig. 9 Provide a detailed introduction.

[0147] In an embodiment of the present application, the process of the scheduling system controlling multiple AGVs to enter the elevator can be likened to stacking things on a shelf. The scheduling system can control multiple AGVs to be stacked in the elevator in order from left to right and from inner to outer layers to make full use of the internal space of the elevator and improve the space utilization rate of the elevator.

[0148] Still Figure 5 As shown in the figure, the scheduling system can control AGVs with serial numbers 1 and 2 to enter the elevator first, and then control AGVs with serial numbers 3 and 4 to enter the elevator. Similarly, the scheduling system can control AGVs with serial numbers 1 and 2 to enter the elevator at the same time, and can also control AGVs with serial numbers 3 and 4 to exit the elevator at the same time, thereby saving the time for multiple AGVs to enter the elevator and improving the delivery efficiency of multiple tasks.

[0149] In the embodiment of the present application, the dispatch system determines the occupied areas of AGVs of different models based on the sum of the long side of the AGV and the safety distance threshold, and then stores the occupied areas of AGVs of different models in the model list. The safety distance threshold refers to the minimum distance between two AGVs. For example, the safety distance threshold can be 5 cm or 8 cm, which is not limited here. The above model list is used to store the model information of AGVs of different models and the corresponding occupied areas. In addition, as Figure 5As shown, the dispatching system can also cut the entire elevator into multiple cells consisting of equal rectangles according to the vertical height constraint. Thus, when the dispatching system controls the movement of the AGV that transports materials inside the elevator, the dispatching system can accurately locate the position of the AGV according to the position of the cells in the elevator and accurately dispatch the AGV to the destination cell, solving the problem of mixed dispatching of AGVs of different manufacturers and different models in the process of cross-floor distribution tasks. For example, the elevator space layout can be 4 cells, 9 cells, and so on. In the embodiment of the present application, the dispatching system can set the car area matrix of each hoist or elevator equipment according to the elevator equipment model.

[0150] It should be explained that the types of tasks to be delivered are different, and the models of AGVs corresponding to each task type may be different, in order to solve the mixed scheduling problem of AGVs of different manufacturers and models in cross-floor material handling. For example, the AGV corresponding to the task type of the task to be delivered is model A for handling finished products, and the AGV corresponding to the task type of the task to be delivered is model B for handling garbage. Model A and model B can be the same model or different models, and there is no limitation here.

[0151] In the embodiment of the present application, the dispatching system determines the vehicle type information corresponding to the task type of each AGV elevator entry task according to the task list of the tasks to be delivered, and then determines the occupied area corresponding to the vehicle type information of different AGVs from the vehicle type list. Then, after the dispatching system initializes the elevator matrix list, the dispatching system adjusts the value of each element in the elevator matrix list according to the order of AGV elevator entry until the AGVs on the same floor have completed the elevator entry or the elevator car is full.

[0152] Still Fig. 9 As shown, the dispatching system initializes the matrix list of the elevator according to the cell division of the elevator, and after assigning all elements in the matrix list to 0, the dispatching system obtains the matrix list.

[0153] Still Figure 6 For example, the scheduling system determines Figure 6 The elevator in has 4 cells and there is no AGV in the elevator. The dispatch system can initialize a 2*2 matrix list and assign all elements in the matrix list to 0. For example, the matrix list initialized by the dispatch system is matrix list A, and

[0154] After that, the scheduling system controls the first AGV corresponding to the delivery task on a certain floor in the task list to enter the elevator. The scheduling system can control the AGV to enter from the lower left corner, move upward, and then move to the cell in the upper left corner. After the scheduling system determines that the AGV enters the elevator to the cell in the upper left corner, the scheduling system can assign the element a in the matrix list A to [x, y, w, h], where x and y are the coordinates of the cell in the upper left corner, for example, x and y are the longitude and latitude of the cell in the upper left corner, and w and h are the width and height of the first AGV, respectively. Then, the scheduling system controls the next AGV to enter the elevator. The scheduling system determines whether the next AGV intersects with the first AGV, that is, the scheduling system determines whether the two AGVs can be arranged side by side in two adjacent cells in the elevator. If the scheduling system determines that the next AGV does not intersect with the first AGV, the scheduling system controls the next AGV to move upward and right to control the AGV to enter the elevator. After the scheduling system determines that the AGV has completed entering the elevator, it updates the matrix list. Then, the dispatching system traverses all the tasks to be delivered in the task list until all AGVs in the elevator waiting area on that floor have entered the elevator or the elevator car is full.

[0155] Still Figure 6 For example, when the dispatching system controls the AGV that transports 1 pallet of materials from the 1st floor to the 6th floor in the elevator waiting area on the first floor to enter the elevator, the dispatching system can control the AGV to enter from the lower left corner, move upward, and then move to the cell in the upper left corner. After the dispatching system determines that the AGV enters the elevator to the cell in the upper left corner, the dispatching system can assign the element a in the matrix A to [x1, y1, w1, h1]. Among them, x1 and y1 are the longitude and latitude of the cell in the upper left corner, and w1 and h1 are the width and height of the AGV that transports 1 pallet of materials from the 1st floor to the 6th floor, respectively. When the dispatching system controls the AGV that transports 1 pallet of materials from the 1st floor to the 5th floor to enter the elevator, the dispatching system controls the AGV to be placed in the cell in the upper right corner. After the dispatching system determines that the AGV enters the elevator to the cell in the upper right corner, the dispatching system can assign the element b in the matrix A to [x2, y2, w2, h2]. Among them, x2 and y2 are the longitude and latitude of the cell in the upper right corner, and w2 and h2 are the width and height of the AGV that transports 1 pallet of material from the 1st floor to the 5th floor. When the scheduling system controls the AGV that transports 1 pallet of material from the 1st floor to the 2nd floor to enter the elevator, the scheduling system controls the AGV to be placed in the cell in the lower right corner. After the scheduling system determines that the AGV enters the elevator to the cell in the lower right corner, the scheduling system can assign the element d in the matrix A to [x3, y3, w3, h3]. Among them, x3 and y3 are the longitude and latitude of the cell in the lower right corner, and w3 and h3 are the width and height of the AGV that transports 1 pallet of material from the 1st floor to the 2nd floor. The scheduling system determines that all AGVs in the elevator waiting area on the 1st floor have completed entering the elevator.

[0156] In the embodiment of the present application, after the dispatching system determines that a certain AGV in the elevator waiting area of ​​a certain floor has completed entering the elevator, the task identifier of the to-be-delivered task corresponding to the AGV in the task list can be marked as 1. Thus, the dispatching system can determine whether the AGV corresponding to the to-be-delivered task in the task list has completed entering the elevator by querying the task identifier in the task list.

[0157] Step 205: the dispatching system controls multiple AGVs to stand by.

[0158] In the embodiment of the present application, after the dispatching system determines that the AGV corresponding to the task to be delivered in the task list has completed the delivery, the dispatching system can control multiple AGVs to stand by in the waiting area. Then, the dispatching system controls multiple AGVs on standby in the waiting area to deliver materials according to the task to be delivered in the task list.

[0159] In summary, the dispatching system determines the AGV exit and enter tasks corresponding to multiple tasks to be delivered on each floor in the task list. After determining the priority of multiple tasks to be delivered in the task list based on the relevant parameters of the tasks to be delivered, the dispatching system determines the order of AGVs entering and exiting the elevators corresponding to the multiple tasks to be delivered based on the priority of each task to be delivered. Then, the dispatching system dispatches multiple AGVs based on the order of AGVs entering and exiting the elevators corresponding to the tasks to be delivered. As a result, the dispatching system comprehensively dispatches multiple AGVs based on the priorities of multiple tasks to be delivered, which not only reduces transportation costs, but also improves the transportation efficiency of multiple AGVs in scenarios across floors and multiple elevators.

[0160] Compared with the related art, when multiple AGVs transport materials or finished products across floors, the scheduling system controls the entry of multiple AGVs into the elevator according to the time when the multiple AGVs arrive at the elevator entrance or the target floors corresponding to the multiple AGVs, resulting in problems such as long waiting time for the elevator and congestion at the elevator entrance during the AGV entry and exit. In this application, the scheduling system comprehensively schedules multiple AGVs for all delivery tasks, and controls AGVs with high-priority delivery tasks to enter the elevator first, which greatly reduces the risk of delivery delays and improves the delivery efficiency of AGVs in cross-floor scenarios.

[0161] It is understandable that, in order to realize the above functions, the above-mentioned electronic devices, etc. include hardware structures and / or software modules corresponding to the execution of each function. Those skilled in the art should easily realize that, in combination with the units and algorithm steps of each example described in the embodiments disclosed herein, the embodiments of the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the embodiments of the present invention.

[0162] The embodiment of the present application can divide the functional modules of the above-mentioned electronic device etc. according to the above-mentioned method example. For example, each functional module can be divided corresponding to each function, or two or more functions can be integrated into one processing module. The above-mentioned integrated module can be implemented in the form of hardware or in the form of software functional modules. It should be noted that the division of modules in the embodiment of the present invention is schematic and is only a logical function division. There may be other division methods in actual implementation.

[0163] In the case of dividing each functional module according to each function, a possible composition diagram of the electronic device involved in the above embodiment, the electronic device may include: a display unit, a transmission unit and a processing unit, etc. It should be noted that all relevant contents of each step involved in the above method embodiment can be referred to the functional description of the corresponding functional module, and will not be repeated here.

[0164] The embodiment of the present application also provides an electronic device, including one or more processors and one or more memories. The one or more memories are coupled to the one or more processors, and the one or more memories are used to store computer program codes, and the computer program codes include computer instructions. When the one or more processors execute the computer instructions, the electronic device executes the above-mentioned related method steps to implement the AGV scheduling method in the above-mentioned embodiment.

[0165] An embodiment of the present application further provides a computer-readable storage medium, in which computer instructions are stored. When the computer instructions are executed on an electronic device, the electronic device executes the above-mentioned related method steps to implement the AGV scheduling method in the above-mentioned embodiment.

[0166] An embodiment of the present application further provides a computer program product, which includes computer instructions. When the computer instructions are executed on an electronic device, the electronic device executes the above-mentioned related method steps to implement the AGV scheduling method in the above-mentioned embodiment.

[0167] In addition, an embodiment of the present application also provides a device, which can specifically be a chip, component or module, and the device may include a connected processor and memory; wherein the memory is used to store computer execution instructions, and when the device is running, the processor can execute the computer execution instructions stored in the memory so that the device executes the AGV scheduling method executed by the electronic device in the above-mentioned method embodiments.

[0168] Among them, the electronic device, computer-readable storage medium, computer program product or device provided in this embodiment is used to execute the corresponding method provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding method provided above, and will not be repeated here.

[0169] Through the description of the above implementation methods, technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above functional modules is used as an example. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device and unit described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0170] Each functional unit in each embodiment of the present application can be integrated into a processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The above integrated unit can be implemented in the form of hardware or in the form of software functional units.

[0171] If the integrated unit is implemented in the form of 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 the embodiment of the present application is essentially 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, and the computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as flash memory, mobile hard disk, read-only memory, random access memory, disk or optical disk.

[0172] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions within the technical scope disclosed in the present application shall be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A method for dispatching an automatic guided vehicle (AGV), characterized in that: The method comprises: Get multiple tasks to be delivered; For each task to be delivered, the priority of the task to be delivered is determined according to relevant parameters of the task to be delivered; the relevant parameters include: the task type of the task to be delivered, the pre-set task priority, and at least one of the first time or the second time; wherein the task type refers to the type of delivery goods corresponding to the task to be delivered, the pre-set task priority refers to the priority of the task to be delivered pre-set by the dispatching system, the first time refers to the interval between the task order time and the task delivery time, the second time refers to the interval between the current time and the task delivery time, and the task delivery time refers to the pre-set delivery time of the delivery goods of the task to be delivered; According to the priority of each of the multiple tasks to be delivered, determining the order of entering the elevator of the multiple AGVs corresponding to the multiple tasks to be delivered; the step of determining the order of entering the elevator of the multiple AGVs corresponding to the multiple tasks to be delivered according to the priority of the tasks to be delivered includes: Determine, according to the plurality of tasks to be delivered, the AGV corresponding to the task to be delivered on each floor; Determine the order of entering the elevator of the multiple AGVs corresponding to the tasks to be delivered on each floor according to the priority of the tasks to be delivered from high to low; Controlling the multiple AGVs to enter the elevator according to the order in which the multiple AGVs enter the elevator and the destination floors of the AGVs parked in the elevator; Among them, during the upward process of the elevator, the multiple AGVs are controlled to enter the elevator according to the entry order of the multiple AGVs and the destination floors of the AGVs parked in the elevator, including: if it is determined that there are multiple AGVs waiting to enter the elevator in the elevator waiting area on the current floor, determine the first AGV with the highest priority of the task to be delivered and the second AGV with a lower priority than the first AGV among the multiple AGVs; if the destination floor of the first AGV is higher than the destination floor of the AGV parked in the inner cell of the elevator, control the first AGV to stay in the elevator waiting area on the current floor; if the destination floor of the second AGV is lower than the destination floor of the AGV parked in the inner cell of the elevator, control the second AGV to enter the elevator.

2. The method according to claim 1, characterized in that Determining the priority of the task to be delivered according to the relevant parameters of the task to be delivered includes: Obtaining the scoring result of each relevant parameter of the task to be delivered; Determine the weight value of each relevant parameter according to the scoring result of each relevant parameter of the delivery task; Normalizing the weight value of each relevant parameter to determine the normalized weight of each relevant parameter of the task to be delivered; The priority of the task to be delivered is determined according to the normalized weight of each relevant parameter of the task to be delivered.

3. The method according to claim 2, characterized in that Determining the weight value of each relevant parameter according to the scoring result of each relevant parameter of the task to be delivered includes: Multiplying the scoring results of each relevant parameter in the relevant parameters of the task to be delivered to obtain a first product value; After determining a first ratio of the Nth power value of the scoring result corresponding to the task type to the first product value, the first ratio is raised to the fourth power to obtain a first weight value; wherein N is the number of items of the relevant parameters; After determining the second ratio of the Nth power value of the scoring result corresponding to the preset task priority and the first product value, the second ratio is raised to the fourth power to obtain a second weight value; after determining the third ratio of the Nth power value of the scoring result corresponding to the first time and the first product value, the third ratio is raised to the fourth power to obtain a third weight value; after determining the fourth ratio of the Nth power value of the scoring result corresponding to the second time and the first product value, the fourth ratio is raised to the fourth power to obtain a fourth weight value.

4. The method according to claim 2 or 3, characterized in that: The normalizing the weight value of each relevant parameter to determine the normalized weight of each relevant parameter of the task to be delivered includes: Summing the first weight value, the second weight value, the third weight value, and the fourth weight value to obtain a total weight value; Determining a normalized weight of the task type according to a ratio of the first weight value to the sum of the weight values; Determining a normalized weight of the preset task priority according to a ratio of the second weight value to the sum of the weight values; Determining a normalized weight of the first time according to a ratio of the third weight value to the sum of the weight values; A normalized weight of the second time is determined according to a ratio of the fourth weight value to the sum of the weight values.

5. The method according to any one of claims 2 to 4, characterized in that: Determining the priority of the task to be delivered according to the normalized weight of each relevant parameter of the task to be delivered includes: Determine a second product value of the normalized weight corresponding to the first time and the fifth ratio, and a third product value of the normalized weight corresponding to the second time and the sixth ratio; wherein the fifth ratio refers to the ratio of the first time to the third time, and the third time refers to the average user waiting tolerance time corresponding to the task type; the sixth ratio refers to the ratio of the fourth time to the fifth time, and the fourth time refers to the final delivery time of the task type corresponding to the task to be delivered, and the fifth time refers to the remaining time at the start of the task to be delivered; The priority value of the task to be delivered is determined based on the sum of the second product value, the third product value, the normalized weight of the task type and the normalized weight of the pre-set task priority; the priority value is used to represent the priority of the task to be delivered, and the larger the priority value, the higher the priority of the task to be delivered corresponding to the priority value.

6. The method according to claim 1, characterized in that After determining the order of entering the elevator of the plurality of AGVs corresponding to the tasks to be delivered on each floor in order of priority from high to low, the method further includes: According to the priority order of the tasks to be delivered from high to low, the position of the AGV corresponding to the tasks to be delivered in the elevator waiting area is adjusted.

7. The method according to any one of claims 1 to 6, characterized in that: The step of controlling the plurality of AGVs to enter the elevator according to the order in which the plurality of AGVs enter the elevator comprises: If it is determined that there are multiple AGVs waiting to enter the elevator in the elevator waiting area of ​​the current floor, the AGV with a high priority for the task to be delivered is controlled to enter the elevator first until all the AGVs on the current floor have completed entering the elevator or the elevator is fully loaded.

8. The method according to claim 7, characterized in that The controlling the AGV with a high priority for the delivery task to enter the elevator first comprises: When the elevator is in the process of ascending, if it is determined that there are multiple AGVs waiting to enter the elevator in the elevator waiting area on the current floor, the AGV with a higher destination floor is controlled to enter the elevator first until all AGVs on the current floor have completed entering the elevator or the elevator is fully loaded; When the elevator is in the process of descending, if it is determined that there are multiple AGVs waiting to enter the elevator in the elevator waiting area on the current floor, the AGV with a lower destination floor is controlled to enter the elevator first until all AGVs on the current floor have completed entering the elevator or the elevator is fully loaded.

9. The method according to any one of claims 1 to 8, characterized in that: Before controlling the plurality of AGVs to enter the elevator according to the order in which the plurality of AGVs enter the elevator, the method further comprises: If it is determined that there is an AGV in the elevator that is leaving the elevator at the current floor, the AGV in the elevator is controlled to leave the elevator.

10. A dispatching system for an automatic guided vehicle (AGV), characterized in that: The system includes: a data acquisition and processing system, an AGV control system, at least one elevator and a plurality of AGVs; Wherein, the data acquisition and processing system is used to collect the operation data of the at least one elevator and the plurality of AGVs; The AGV control system is used to assign the delivery tasks to the multiple AGVs and schedule the multiple AGVs; At least one elevator is used to achieve lifting and lowering and dock with the AGV; After receiving the delivery tasks assigned by the AGV control system, the multiple AGVs perform the handling work according to the delivery tasks and complete the docking with the elevator; The scheduling system is used to: Acquire a plurality of the tasks to be delivered; for each task to be delivered, determine the priority of the task to be delivered according to the relevant parameters of the task to be delivered; the relevant parameters include: the task type of the task to be delivered, the pre-set task priority, and at least one of the first time or the second time; wherein the task type refers to the type of delivery goods corresponding to the task to be delivered, the pre-set task priority refers to the priority of the task to be delivered pre-set by the delivery system, the first time refers to the interval between the task order time and the task delivery time, the second time refers to the interval between the current time and the task delivery time, and the task delivery time refers to the pre-set delivery time of the delivery goods of the task to be delivered; According to the priority of each of the multiple tasks to be delivered, determining the order of entering the elevator of the multiple AGVs corresponding to the multiple tasks to be delivered; the step of determining the order of entering the elevator of the multiple AGVs corresponding to the multiple tasks to be delivered according to the priority of the tasks to be delivered includes: Determine, according to the plurality of tasks to be delivered, the AGV corresponding to the task to be delivered on each floor; Determine the order of entering the elevator of the multiple AGVs corresponding to the tasks to be delivered on each floor according to the priority of the tasks to be delivered from high to low; Controlling the multiple AGVs to enter the elevator according to the order in which the multiple AGVs enter the elevator and the destination floors of the AGVs parked in the elevator; Among them, during the upward process of the elevator, the multiple AGVs are controlled to enter the elevator according to the entry order of the multiple AGVs and the destination floors of the AGVs parked in the elevator, including: if it is determined that there are multiple AGVs waiting to enter the elevator in the elevator waiting area on the current floor, determine the first AGV with the highest priority of the task to be delivered and the second AGV with a lower priority than the first AGV among the multiple AGVs; if the destination floor of the first AGV is higher than the destination floor of the AGV parked in the inner cell of the elevator, control the first AGV to stay in the elevator waiting area on the current floor; if the destination floor of the second AGV is lower than the destination floor of the AGV parked in the inner cell of the elevator, control the second AGV to enter the elevator.

11. An electronic device, characterized in that: include: one or more processors; Memory; Wherein, one or more computer programs are stored in the memory, and the one or more computer programs include instructions. When the instructions are executed by the electronic device, the electronic device executes the AGV scheduling method as described in any one of claims 1-9.

12. A computer-readable storage medium, wherein instructions are stored in the computer-readable storage medium, characterized in that: When the instruction is executed on the electronic device, the electronic device executes the AGV dispatching method according to any one of claims 1 to 9.

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