Automatic Guided Vehicle (AVR) Dispatch Method and Device

Abstract

This invention provides an AGV scheduling method and apparatus, comprising: whenever a new controlled area is generated, performing the following operations: for each task to be executed, prohibiting the planned path of the task to be executed from including the new controlled area; for each first AGV with unassigned tasks within the new controlled area, instructing the first AGV to leave the new controlled area; for each currently executing task, if the current position of the second AGV executing the current task is within the new controlled area, instructing the second AGV to leave the new controlled area; if the current position of the third AGV executing the current task is outside the new controlled area, prohibiting the third AGV from entering the new controlled area. The AGV scheduling method and apparatus of this invention not only improves the efficiency of manual operations but also minimizes the impact on existing AGV operations, maintaining warehouse operational efficiency.

Description

Technical Field

[0001] This invention relates to AGVs, and more particularly to an automated guided vehicle (AGV) scheduling method and apparatus. Background Technology

[0002] AGVs (Automated Guided Vehicles) are intelligent tools for transporting materials and are widely used in automated warehousing and sorting systems. AGVs can perform point-to-point automated storage and retrieval operations according to instructions, and are characterized by precision, flexibility, information technology, reduced logistics time, reduced product damage, and reduced investment costs.

[0003] In related technologies, once a situation requiring manual operation occurs in the warehouse, such as adding a new storage area or repairing the AGV's moving surface, all AGVs will be stopped and manually moved away from the manual operation area. However, the moving robots may continue to move due to delay errors or cause sudden accidents due to sudden braking. Moreover, this method is inefficient and consumes a lot of time and manpower. Summary of the Invention

[0004] In view of this, the present invention provides an automated guided vehicle (AGV) scheduling method and apparatus to solve the problem of how to clear AGVs in a newly controlled area (manual operation area and manual entry path).

[0005] In one embodiment, an automated guided vehicle (AGV) scheduling method is provided, comprising:

[0006] Whenever a new control zone is created, perform the following actions:

[0007] For each pending task, the planned path for that task must not include new controlled areas;

[0008] For each first AGV with an unassigned task in the new controlled area, instruct that first AGV to leave the new controlled area;

[0009] For each currently executing task, if the current position of the second AGV executing the current task is within the new controlled area, instruct the second AGV to leave the new controlled area; if the current position of the third AGV executing the current task is outside the new controlled area, prohibit the third AGV from entering the new controlled area.

[0010] In another embodiment, a non-transitory computer-readable storage medium is provided, which stores instructions that, when executed by a processor, cause the processor to perform the steps in the above-described automated guided vehicle (AGV) scheduling method.

[0011] In another embodiment, an automated guided vehicle (AGV) scheduling device is provided, including a processor and the aforementioned non-transitory computer-readable storage medium.

[0012] The Automated Guided Vehicle (AGV) scheduling method and apparatus provided by this invention, compared with the prior art, only stops the operation of AGVs associated with the new controlled area. It does not require all AGVs to stop working, nor does it require manual relocation of AGVs. Therefore, the method of this invention not only improves the efficiency of manual operations, but also minimizes the impact on the original AGV operations, thus maintaining the overall work efficiency of the warehouse. Attached Figure Description

[0013] The following figures are for illustrative and explanatory purposes only and do not limit the scope of the invention:

[0014] Figure 1 This is a flowchart illustrating the AGV scheduling method of the present invention.

[0015] Figure 2 This is a schematic diagram of the automatic guided vehicle (AGV) scheduling device of the present invention. Detailed Implementation

[0016] To make the objectives, technical solutions, and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments.

[0017] When an existing AGV control system or server receives a new order, it creates a task to be executed for that order: Pi (task execution location, task type, priority, task generation time, planned path (optional), others), where i represents the order number, the task execution location includes the origin and destination, the planned path is generated based on the origin and destination, and the task type indicates the order category. For example, orders can be categorized as inbound and outbound orders, or as appliance orders, furniture orders, clothing orders, book orders, food orders, etc. An order can be subdivided into N subtasks Pi-n (1≤n≤N) according to the processing flow, such as Pi-1, Pi-2, ... The task type of a subtask can be an order category, or it can be a subdivision of the original task into multiple stages, categorized according to the stage it is in, such as sorting, packing, outbound, etc.

[0018] Once the AGV control system or server has matched an AGV to be executed for Pi or its subtasks based on the task information (task execution location, task type, priority, task generation time, planned path, others), the task to be executed Pi or its subtasks are converted into the currently executing task Pi-AGVj or Pi-n-AGVj (task execution location, task type, priority, task generation time, planned path, AGV preparation path (optional), others), where j represents the AGV sequence number. The AGV preparation path is the movement or navigation path of the AGV to reach the task departure location of Pi or Pi's subtasks, generated by the AGV control system or server based on the "departure location" and the current position of the j-th AGV.

[0019] When the AGV control system or server receives a manual operation instruction, it generates a "new control area" based on the location information of the manual operation. The new control area may include: the manual operation area and the manual entry path.

[0020] After the "new controlled area" is generated, the automatic guided vehicle (AGV) scheduling method of this invention is triggered to clear the AGVs in the "new controlled area".

[0021] This invention provides different clearing strategies based on "tasks to be executed", "idle AGVs" and "currently executing tasks".

[0022] like Figure 1 As shown, the clearing strategy for "tasks to be executed" includes:

[0023] S11: For each pending task, prohibit the planned path of the pending task from containing new control areas.

[0024] It should be noted that before the manual operation is completed or the "new control area" is removed, the AGV control system or server will continuously generate "new" tasks to be executed. For each "new" task to be executed, step S11 will be executed.

[0025] Specifically, S11 can include three cases: S111, S112, and S113.

[0026] S111: If the destination of the pending task is a new controlled area, then the pending task shall be terminated.

[0027] The suspension is a temporary halt or suspension, and the pending task can be resumed after the work is completed or the "new control zone" is lifted.

[0028] For example, based on the "task execution location" in Pi or Pi's subtask information, select "tasks to be executed whose destination is a new controlled area" and suspend the selected tasks.

[0029] S112: If the destination of the task to be performed is not a new controlled area, then the planned path of the task to be performed is prohibited from including the new controlled area.

[0030] When the information of the task to be executed Pi or its subtasks contains a planned path, S112 specifically includes: if the destination of the task to be executed is not the new control area and the first planned path of the task to be executed passes through the new control area, then query whether there is a second planned path with the same origin and destination as the first planned path and which does not pass through the new control area; if it exists, then replace the first planned path with the second planned path; if it does not exist, then abort the task to be executed.

[0031] If the information of the task to be executed Pi or its subtask does not contain a planned path, i.e., the planned path has not been configured, the requirement to "prohibit the planned path of the task to be executed from containing new control areas" can be written into the remarks of the task to be executed, for example, into the "Other" section of the information of the task to be executed Pi or its subtask. This will allow the system to first check if a planned path that does not pass through a new control area exists when configuring a planned path for the task to be executed. If it exists, the planned path will be generated; otherwise, the task to be executed will be aborted.

[0032] S113: If the destination of the task to be performed is not the new control area and the planned path of the task does not pass through the new control area, then the task to be performed will not affect manual operations and will not be subject to intervention.

[0033] The above-mentioned "pending tasks" clearing strategy ensures that when "pending tasks" that have not been terminated are executed by AGV, they do not enter the "new control area" and do not affect manual operations.

[0034] like Figure 1 As shown, for "idle AGVs", after confirming the current position of the idle AGV, the clearing strategy includes:

[0035] S21: For each first AGV with an unassigned task in the new controlled area, instruct the first AGV to leave the new controlled area.

[0036] For example, iterate through all "idle AGVs". For the AGVs whose current position is within the new control area (i.e., the first AGV), instruct these AGVs to leave the new control area. For the AGVs whose current position is outside the new control area, since these AGVs do not affect manual operations, no intervention is required.

[0037] The instruction to "instruct the first AGV to leave the new control area" can be expressed as: generating the shortest planned path for the first AGV to leave the new control area; or generating a planned path from the "current position" to the "pause area" for the first AGV, so that the first AGV goes to the "pause area" to wait, thus avoiding the first AGV from concentrating around the new control area and affecting the operation of other AGVs.

[0038] like Figure 1 As shown, the clearing strategy for "Currently Executing Task" includes:

[0039] S31: For each currently executing task, if the current position of the second AGV executing the current task is within the new control area, instruct the second AGV to leave the new control area; if the current position of the third AGV executing the current task is outside the new control area, prohibit the third AGV from entering the new control area.

[0040] Furthermore, S31, "instructing the second AGV to leave the new controlled area", can be further subdivided into S311 and S312 as follows;

[0041] S311: If the destination of the currently executed task is a new controlled area, instruct the second AGV to leave the new controlled area after completing the currently executed task;

[0042] For example, destination information can be obtained from the "task execution location" in the information of "the currently executing task" Pi-AGVj or Pi-n-AGVj, and it can be determined whether the destination belongs to the "new control area". If yes, execute S311; if no, execute S312.

[0043] S312: If the destination of the currently executed task is not the new controlled area, wait for the second AGV to leave the new controlled area; or instruct the second AGV to leave the new controlled area with the shortest path. After the second AGV leaves the new controlled area, confirm the current position of the second AGV and query whether there is a third planned path from the current position to the destination that does not pass through the new controlled area. If it exists, update the movement path of the second AGV to the third planned path. If it does not exist, terminate the currently executed task.

[0044] S312 has two processing methods:

[0045] Option 1: Do not interfere with the second AGV, allow the second AGV to continue operating, and wait for the second AGV to pass through the new controlled area;

[0046] The second method involves intervening with the second AGV, instructing it to leave the new controlled area via the shortest path, then confirming the current position of the second AGV and configuring a third planned path (remaining path) for it. If the path configuration is successful, the third planned path is executed; if the path configuration fails, the second AGV is instructed to wait outside the new controlled area.

[0047] Optionally, S312 may execute either the first processing method or the second processing method, or S312 may decide whether to execute the first processing method or the second processing method based on priority. When the priority of the manual task is lower than that of the currently executed task, the first processing method is executed to ensure that the currently executed task is completed quickly. When the priority of the manual task is higher than that of the currently executed task, the second processing method is executed to shorten the waiting time of the manual task.

[0048] Furthermore, the "prohibition of third AGVs from entering the new controlled area" in S31 can be achieved through S313;

[0049] S313: If the part to be executed in the current execution task planning path passes through a new control area, then check if there is a fourth planning path with the same current location and destination as the part to be executed, and which does not pass through the new control area; if it exists, then replace the part to be executed with the fourth planning path; if it does not exist, then suspend the current execution task before entering the new control area.

[0050] For example, the planned path information can be obtained from the information of "the currently executing task" Pi-AGVj or Pi-n-AGVj, and it can be determined whether the part of the planned path to be executed passes through the new control area. If it does, S313 is executed; if not, it is determined that the currently executing task does not affect manual operation and no intervention is performed.

[0051] The process of suspending the current task before entering a new controlled area includes: immediately suspending the task, or executing a suspension command at a preset distance (e.g., 1 meter, 5 meters, or other distance) before entering the new controlled area, or instructing the AGV currently performing the task to enter a waiting area before entering the new controlled area. This gathers all AGVs that cannot detour into the waiting area, preventing the AGV whose task has been suspended from stopping arbitrarily and affecting the operation of other AGVs.

[0052] Alternatively, when the priority of manual operation is lower than the priority of the currently executed task that cannot be bypassed, the manual operation can be carried out after the AGV executing the currently executed task passes through the new controlled area, so as to ensure that high-priority business is not affected by manual operation; when the priority of manual operation is higher than the currently executed task that cannot be bypassed, the currently executed task is stopped and then manual operation is carried out, so as to minimize the waiting time or clearing time of manual operation.

[0053] When the programs monitoring the completion status of "Unexecuted Task (S11)," "Idle AGV (S21)," and "Currently Executing Task (S31)" all report that the clearing task has been completed, it will indicate that the new control area has been cleared, and management personnel can enter the new control area to carry out manual operations.

[0054] Alternatively, if it is detected that the planned path of a currently executing task that does not contain an AGV within the new controlled area does not include the new controlled area, a message will be displayed indicating that the new controlled area has been cleared.

[0055] The present invention also supports, upon receiving a preset instruction, canceling the new control zone and restoring pending tasks and currently executing tasks that were suspended due to the new control zone.

[0056] The preset instructions can be triggered by the completion of manual work or by temporary manual cancellation. The reason for temporary manual cancellation can be that the fault disappears, cancellation is due to an emergency, or other reasons.

[0057] In addition, when there are multiple "new control zones", the association between "suspended pending tasks and currently executing tasks" and "new control zones" can be set to clearly indicate which "new control zone" caused the "suspended pending tasks and currently executing tasks" to be suspended.

[0058] For example, a "new control area" label can be set for "suspended pending tasks and currently executing tasks". The label can be written into a preset position of the "suspended pending tasks and currently executing tasks" information, and the association between the task and the "new control area" can be determined based on the label.

[0059] Alternatively, a number can be assigned to the "new control area" and written into a preset location in the "suspended pending tasks and currently executing tasks" information. The association between the task and the "new control area" can be determined based on the number.

[0060] The preset position can be "Other" in the Pi (or Pi's subtask) or Pi-AGVj (or its subtask Pi-n-AGVj) information.

[0061] The Automated Guided Vehicle (AGV) scheduling method provided by this invention, compared with related technologies that only stop the operation of AGVs associated with the new control area, does not require all AGVs to stop working or manual relocation of AGVs. Therefore, the method of this invention not only improves the efficiency of manual operations, but also minimizes the impact on the original AGV operations, thus maintaining the overall work efficiency of the warehouse.

[0062] The present invention also provides a non-transitory computer-readable storage medium that stores instructions, which, when executed by a processor, cause the processor to perform steps as in any of the automated guided vehicles (AGV) scheduling methods of the present invention.

[0063] The present invention provides an automated guided vehicle (AGV) scheduling device, including a processor and the aforementioned non-transitory computer-readable storage medium.

[0064] Specifically, such as Figure 2 As shown, the device includes:

[0065] Detection module: Whenever a new controlled area is generated, execute the following modules: pending task processing module, idle AGV processing module, and currently executing task processing module;

[0066] Pending Task Processing Module: For each pending task, prevent the planned path of the pending task from containing new controlled areas;

[0067] Idle AGV processing module: For each first AGV with an unassigned task in the new controlled area, instruct the first AGV to leave the new controlled area;

[0068] Current task processing module: For each current task, if the current position of the second AGV executing the current task is within the new control area, instruct the second AGV to leave the new control area; if the current position of the third AGV executing the current task is outside the new control area, prohibit the third AGV from entering the new control area.

[0069] Among them, the planned routes where the task to be performed is prohibited include the following newly controlled areas:

[0070] If the destination of the pending task is a new controlled area, then the pending task shall be aborted.

[0071] If the destination of the task to be executed is not the new control area and the first planned path of the task passes through the new control area, then check if there is a second planned path with the same origin and destination as the first planned path and which does not pass through the new control area; if it exists, then replace the first planned path with the second planned path; if it does not exist, then abort the task to be executed.

[0072] Instructing the second AGV to leave the new controlled area includes:

[0073] If the destination of the current task is a new controlled area, instruct the second AGV to leave the new controlled area after completing the current task;

[0074] If the destination of the current task is not the new controlled area, wait for the second AGV to leave the new controlled area; or instruct the second AGV to leave the new controlled area via the shortest path. After the second AGV leaves the new controlled area, confirm the current position of the second AGV and query whether there is a third planned path from the current position to the destination that does not pass through the new controlled area. If it exists, update the movement path of the second AGV to the third planned path. If it does not exist, terminate the current task.

[0075] The prohibition of third-party AGVs from entering the new controlled area includes:

[0076] If the part to be executed in the current execution task's planned path passes through a new control area, then check if there is a fourth planned path with the same current location and destination as the part to be executed, and which does not pass through the new control area; if it exists, then replace the part to be executed with the fourth planned path; if it does not exist, then abort the current execution task before entering the new control area.

[0077] The detection module further includes: when it is detected that the planned path of the currently executing task that does not contain an AGV within the new controlled area does not contain the new controlled area, it prompts that the new controlled area has been cleared.

[0078] Furthermore, the device also includes: a cancellation module;

[0079] Cancel module: Upon receiving a preset instruction, cancel the new control zone and restore pending tasks and currently executing tasks that were suspended due to the new control zone.

[0080] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for scheduling Automated Guided Vehicles (AGVs), characterized in that, include: Upon receiving a manual operation instruction, a "new control area" is generated based on the location information of the manual operation. After the "new control area" is generated, the AGV scheduling method is triggered to clear the AGVs within the "new control area". Whenever a new control zone is created, perform the following actions: For each pending task, the planned path of the pending task is prohibited from including the new control area; for each currently executing task, if the current position of the second AGV executing the current task is within the new control area, the second AGV is instructed to leave the new control area; if the current position of the third AGV executing the current task is outside the new control area, the third AGV is prohibited from entering the new control area. The planned path that prohibits the execution of the task includes the new controlled area, which includes: If the destination of the task to be performed is the new control area, the task to be performed shall be suspended, and the task to be performed shall be resumed after the human work is completed or after the new control area is removed. The prohibition of the third AGV from entering the new controlled area includes: Immediately suspend the currently executing task; or, at a preset distance before the third AGV enters the new controlled area, execute a stop command for the currently executing task; or, before the third AGV enters the new controlled area, instruct the third AGV currently executing the task to enter the pause area to wait; or, when the priority of manual operation is lower than the priority of the currently executing task that cannot be bypassed, wait for the third AGV executing the currently executing task to pass through the new controlled area before proceeding with manual operation; when the priority of manual operation is higher than the priority of the currently executing task that cannot be bypassed, suspend the currently executing task before proceeding with manual operation.

2. The method according to claim 1, characterized in that, The planned path that prohibits the execution of the task further includes the new controlled area: If the destination of the task to be performed is not a new controlled area, then the planned path of the task to be performed is prohibited from including the new controlled area.

3. The method according to claim 1, characterized in that, The method further includes: For each first AGV with an unassigned task within the new controlled area, instruct the first AGV to leave the new controlled area.

4. The method according to claim 1, characterized in that, The instruction to the second AGV to leave the new controlled area includes: If the destination of the currently executing task is the new controlled area, instruct the second AGV to leave the new controlled area after completing the current executing task; If the destination of the currently executed task is not the new controlled area, wait for the second AGV to leave the new controlled area; or instruct the second AGV to leave the new controlled area via the shortest path. After the second AGV leaves the new controlled area, confirm the current position of the second AGV and query whether there is a third planned path from the current position to the destination that does not pass through the new controlled area. If it exists, update the movement path of the second AGV to the third planned path. If it does not exist, terminate the currently executed task.

5. The method according to claim 1, characterized in that, The prohibition of the third AGV from entering the new controlled area further includes: If the part to be executed in the current execution task planning path passes through the new control area, then check if there is a fourth planning path with the same current location and destination as the part to be executed, and which does not pass through the new control area; if so, then replace the part to be executed with the fourth planning path.

6. The method according to any one of claims 1 to 5, characterized in that, The method further includes: When it is detected that the planned path of the currently executing task that does not contain an AGV within the new controlled area does not include the new controlled area in the part to be executed, a message is displayed indicating that the new controlled area has been cleared.

7. The method according to claim 6, characterized in that, The method further includes: Upon receiving a preset instruction, the new control zone is revoked, and the pending tasks and currently executing tasks that were suspended due to the new control zone are resumed.

8. The method according to claim 2, characterized in that, The provision that if the destination of the task to be executed is not the new controlled area, the planned path of the task to be executed is prohibited from including the new controlled area includes: When the information of the task to be executed or its subtask contains a planned path, if the destination of the task to be executed is not the new control area and the first planned path of the task passes through the new control area, then it is checked whether there is a second planned path with the same origin and destination as the first planned path and which does not pass through the new control area. If it exists, then the first planned path is replaced with the second planned path. If it does not exist, then the task to be executed is terminated.

9. A non-transitory computer-readable storage medium, characterized in that, The non-transitory computer-readable storage medium stores instructions, which, when executed by a processor, cause the processor to perform the steps in the AGV scheduling method as described in any one of claims 1 to 8.

10. An automated guided vehicle (AGV) scheduling device, characterized in that, Includes a processor and a non-transitory computer-readable storage medium as described in claim 9.

Images