Method, device and storage medium for dispatching automatic guided vehicle

Abstract

The present application relates to the field of intelligent scheduling technology, and provides a method, device and storage medium for scheduling an automatic guided vehicle. The method includes: when the channel width of the target channel is less than a preset value, obtaining the first size parameter and the loading mode of the automatic guided vehicle; determining the target size parameter of the automatic guided vehicle when it is expected to pass through the target channel in the loading mode according to the first size parameter and the loading mode; obtaining the azimuth control accuracy of the automatic guided vehicle, and determining the minimum straight-line distance from the navigation line to either side of the target channel; determining the target passage width of the automatic guided vehicle when it is expected to pass through each waiting passage scheme in the loading mode according to the target size parameter in the loading mode, and the passage width deviation caused by the azimuth control accuracy; accurately judging whether the automatic guided vehicle can pass through the target channel according to each waiting passage scheme in the loading mode according to the minimum straight-line distance, the target passage width and the passage width deviation, thereby reducing safety risks.

Description

Technical Field

[0001] The present application relates to the field of intelligent scheduling technology, and specifically to a method, device and storage medium for scheduling an automatic guided vehicle. Background Art

[0002] In the process of factory logistics and distribution, automated guided vehicles are used as logistics and distribution tools. However, there are many types of automated guided vehicles, and different types of automated guided vehicles usually have large differences in size. Due to site limitations and equipment installation restrictions, some passages are often set up to be narrow, and automated guided vehicles that exceed the size have difficulty passing through the passages, especially narrow passages.

[0003] At present, it is generally determined by manual experience or human visual judgment whether an automated guided vehicle can pass through the channel. If the result of the judgment is that it can pass, the automated guided vehicle is manually controlled to pass through the channel, otherwise it will not pass. However, when manually judging whether an automated guided vehicle can pass through the channel based on experience or vision, there are problems of memory bias and visual error, which is easy to misjudge, and the accuracy and reliability are low, which makes the automated guided vehicle have a greater safety risk when passing through the channel, affecting the efficiency of logistics distribution. Summary of the invention

[0004] The purpose of the embodiments of the present application is to provide a method, device and storage medium for scheduling an automated guided vehicle, so as to solve the problem in the prior art that the judgment on whether an automated guided vehicle can pass through a channel is not accurate enough.

[0005] In order to achieve the above-mentioned object, the first aspect of the present application provides a method for scheduling an automatic guided vehicle, comprising:

[0006] Obtaining a channel width of a target channel that the automated guided vehicle is about to pass through, wherein the target channel is provided with a navigation line parallel to any side of the target channel for the automated guided vehicle;

[0007] When the channel width is less than a preset value, obtaining a first size parameter of the automatic guided vehicle and a loading mode of the automatic guided vehicle;

[0008] Determine, according to the first size parameter and the carrying mode, a target size parameter when the automated guided vehicle is expected to pass through a target channel in the carrying mode;

[0009] Obtain the directional angle control accuracy of the automatic guided vehicle and determine the minimum straight-line distance from the navigation line to either side of the target channel;

[0010] According to the target size parameters in the carrying mode, the target passage width of the automated guided vehicle when it is expected to pass through each waiting passage plan in the carrying mode, and the passage width deviation caused by the direction angle control accuracy are determined respectively;

[0011] Based on the minimum straight-line distance and the target passage width and passage width deviation under each passage scheme, it is determined whether the automated guided vehicle can pass through the target channel according to each passage scheme in the carrying mode.

[0012] A second aspect of the present application provides a device for dispatching an automatic guided vehicle, comprising:

[0013] a memory configured to store instructions;

[0014] The processor is configured to call instructions from the memory and implement the above-mentioned method for scheduling an automatic guided vehicle when executing the instructions.

[0015] A third aspect of the present application provides a machine-readable storage medium having instructions stored thereon, which, when executed by a processor, configure the processor to execute the above-mentioned method for scheduling an automatic guided vehicle.

[0016] Through the above technical solution, it is possible to accurately determine whether the automated guided vehicle can pass through the target channel according to each waiting passage scheme in the loading mode, thereby reducing the safety risk of the automated guided vehicle passing through the target channel. In addition, an efficient passage strategy is provided for the automated guided vehicle that can pass through the target channel with at least one passage scheme, thereby improving the passage efficiency of the automated guided vehicle.

[0017] Other features and advantages of the embodiments of the present application will be described in detail in the subsequent specific implementation section. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the following specific implementations, they are used to explain the embodiments of the present application, but do not constitute a limitation on the embodiments of the present application. In the accompanying drawings:

[0019] Figure 1 A schematic diagram of a process flow of a method for dispatching an automatic guided vehicle according to an embodiment of the present application is schematically shown;

[0020] Figure 2 A schematic diagram of a process flow of a method for dispatching an automatic guided vehicle according to another embodiment of the present application is shown;

[0021] Figure 3 The internal structure diagram of a computer device according to an embodiment of the present application is schematically shown. DETAILED DESCRIPTION

[0022] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It should be understood that the specific implementation methods described herein are only used to illustrate and explain the embodiments of the present application, and are not used to limit the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0023] It should be noted that if the embodiments of the present application involve directional indications (such as up, down, left, right, front, back...), such directional indications are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0024] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present application, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0025] Figure 1 The flowchart of the method for dispatching an automatic guided vehicle according to an embodiment of the present application is schematically shown. Figure 1 As shown, in one embodiment of the present application, a method for scheduling an automatic guided vehicle is provided, comprising the following steps:

[0026] Step 101: Obtain a channel width of a target channel that the automated guided vehicle is about to pass through, wherein the target channel is provided with a navigation line parallel to any side of the target channel for the automated guided vehicle.

[0027] An Automated Guided Vehicle (AGV) is a transport vehicle or truck that can travel along a preset guided path and has safety protection and various transfer functions. In the production process of workshop products, AGVs are needed to continuously transport materials required for product production to the corresponding processing locations. During the transportation process, the AGV may encounter a narrow channel. In order to better dispatch the AGV and allow it to pass through the channel, the processor can obtain the channel width of the target channel that the AGV is about to pass.

[0028] The target channel is provided with a navigation line parallel to any side of the target channel for the automated guided vehicle. The distance between the navigation line and any side of the target channel can be set in advance according to actual needs, for example, it can be set to half the width of the target channel, or it can be set to any value. The automated guided vehicle has multiple waiting passage schemes, and which waiting passage scheme it can use to pass through the target channel can be determined based on subsequent decisions.

[0029] Step 102: When the channel width is less than a preset value, obtain a first size parameter of the automatic guided vehicle and a loading mode of the automatic guided vehicle.

[0030] The processor may determine whether the channel width of the target channel is less than a preset value. The preset value may be set based on preset requirements. When the channel width of the target channel is less than the preset value, it may be explained that the target channel that the automatic guided vehicle needs to pass through is a narrow channel, that is, the width of the target channel is too small. At this time, the processor may obtain the first size parameter of the automatic guided vehicle and the mounting mode of the automatic guided vehicle. The first size parameter may include a first length and a second width. The first length is the length of the automatic guided vehicle, and the second width refers to the width of the automatic guided vehicle.

[0031] When the automatic guided vehicle is about to pass through the target channel, it may be loaded with items or not. When the automatic guided vehicle is loaded with items, its corresponding loading mode may be the first mode with items loaded. When the automatic guided vehicle is not loaded with items, its corresponding loading mode may be the mode without items loaded, and the second mode may also be called the empty mode. Among them, the items loaded by the automatic guided vehicle may be racks, workpieces, pallets, etc.

[0032] Step 103: Determine a target size parameter of the automatic guided vehicle when it is expected to pass through the target channel in the carrying mode according to the first size parameter and the carrying mode.

[0033] When the automated guided vehicle is about to pass through the target channel, its own size and the items it carries may affect its passage, so the processor can determine the target size parameter of the automated guided vehicle when it is expected to pass through the target channel in its carrying mode according to the first size parameter of the automated guided vehicle and its carrying mode. The target size parameter is a parameter used to subsequently determine whether the automated guided vehicle can pass through the target channel.

[0034] In an embodiment of the present application, determining the target size parameter of the automatic guided vehicle when it is expected to pass through the target channel in the loading mode based on the first size parameter and the loading mode includes: when the loading mode is the first mode with items loaded, obtaining the second size parameter of the items loaded on the automatic guided vehicle; determining the maximum length of the first length included in the first size parameter and the second length included in the second size parameter; determining the maximum width of the first width included in the first size parameter and the second width included in the second size parameter; and determining the maximum length and the maximum width as the target size parameters of the automatic guided vehicle when it is expected to pass through the target channel in the loading mode.

[0035] When the loading mode of the automatic guided vehicle is the first mode with the item loaded, the processor may obtain a second size parameter of the item loaded by the automatic guided vehicle. The second size parameter may include a second length and a second width. The second length refers to the length of the item loaded by the automatic guided vehicle, and the second width refers to the width of the item loaded by the automatic guided vehicle.

[0036] The processor may determine a maximum length of a first length of the automated guided vehicle and a second length of the carried object, and may determine a maximum width of a first width of the automated guided vehicle and a second width of the carried object. The processor may determine the maximum length and the maximum width as target size parameters when the automated guided vehicle is expected to pass through a target channel in the first mode.

[0037] In an embodiment of the present application, determining the target size parameters of the automatic guided vehicle when it is expected to pass through the target channel in the loading mode based on the first size parameters and the loading mode includes: when the loading mode is a second mode without any items loaded, determining the first length and the first width included in the first size parameters as the target size parameters of the automatic guided vehicle when it is expected to pass through the target channel in the loading mode.

[0038] When the loading mode of the automated guided vehicle is the second mode without any items loaded, the processor may determine the first length and the first width included in the first size parameter as the target size parameters when the automated guided vehicle is expected to pass through the target channel in the loading mode.

[0039] Step 104: Obtain the directional angle control accuracy of the automatic guided vehicle, and determine the minimum straight-line distance from the navigation line to any side of the target channel.

[0040] The processor can obtain the azimuth control accuracy of the automatic guided vehicle and determine the minimum straight-line distance from the navigation line to either side of the target channel. The azimuth control accuracy of the automatic guided vehicle can be configured in advance and directly obtained from the corresponding database when needed. The azimuth control accuracy is the angle between the length of the geometric center of the automatic guided vehicle and the axis relative to the navigation line, and its value is generally small, not exceeding 5°.

[0041] In an embodiment of the present application, determining the minimum straight-line distance from the navigation line to any side of the target channel includes: obtaining the distance from the navigation line to any side of the target channel, and determining the distance difference between the channel width and the distance; and determining the minimum value between the distance difference and the distance as the minimum straight-line distance.

[0042] When determining the minimum straight-line distance from the navigation line to any side of the target channel, the processor may obtain the distance from the navigation line to any side of the target channel and determine the distance difference between the target channel and the distance. The processor may determine the minimum value between the distance difference and the distance as the minimum straight-line distance. The minimum straight-line distance refers to the narrowest available side width of the target channel, that is, the minimum distance between the navigation line and one side of the target channel.

[0043] In one embodiment, the minimum straight-line distance may be determined based on the following formula:

[0044]

[0045] in, is the minimum straight-line distance, is the distance between the guidance route and one side of the target channel. Refers to the channel width of the target channel.

[0046] Step 105: Determine the target passage width of the automated guided vehicle when it is expected to pass through each waiting passage scheme in the carrying mode according to the target size parameters in the carrying mode, and the passage width deviation caused by the direction angle control accuracy.

[0047] The processor can determine the target passage width of the automatic guided vehicle when it is expected to pass through each waiting passage scheme in the carrying mode, and the passage width deviation caused by the direction angle control accuracy according to the target size parameters in the carrying mode.

[0048] In an embodiment of the present application, the to-be-passed schemes include a straight passage scheme in which the forward direction of the automatic guided vehicle is consistent with the length direction of the automatic guided vehicle, a lateral passage scheme in which the forward direction of the automatic guided vehicle is consistent with the width direction of the automatic guided vehicle, and a rotating passage scheme of the automatic guided vehicle in the target channel; when the loading mode is the first mode with items loaded, determining the target passage width of the automatic guided vehicle when passing each of the to-be-passed schemes in the loading mode according to the target size parameters in the loading mode includes: determining the target passage width when the automatic guided vehicle is expected to pass in the straight passage scheme in the first mode as the ratio between the maximum width and a preset value; determining the target passage width when the automatic guided vehicle is expected to pass in the lateral passage scheme in the first mode as the ratio between the maximum length and a preset value; determining the target passage width when the automatic guided vehicle is expected to pass in the rotating passage scheme in the first mode according to the maximum width, the maximum length and the preset value.

[0049] The pending passage plans for the automated guided vehicle include a straight passage plan in which the forward direction of the automated guided vehicle is consistent with the length direction of the automated guided vehicle, a lateral passage plan in which the forward direction of the automated guided vehicle is consistent with the width direction of the automated guided vehicle, and a rotating passage plan in which the automated guided vehicle is in the target channel.

[0050] When the loading mode of the automated guided vehicle is the first mode with items loaded, the processor may determine a ratio between a maximum value of the first width of the automated guided vehicle and a second width of the items loaded and a preset value, and the ratio is the target passage width when the automated guided vehicle is expected to pass in a straight passage scheme in the first mode. The preset value includes but is not limited to 2.

[0051] For example, the width of the AGV is , if the item carried by the AGV is a rack, the width of the rack is , the target passage width B of the automated guided vehicle when traveling in the straight-through mode in the first mode is If the object carried by the AGV is a workpiece, the width of the workpiece is , then the target width B of the automatic guided vehicle when traveling in a straight-through mode is .

[0052] When the loading mode of the automated guided vehicle is the first mode with items loaded, the processor may determine a ratio between a maximum of a first length of the automated guided vehicle and a second length of the items loaded and a preset value, the ratio being a target passage width when the automated guided vehicle is expected to pass in a lateral passage scheme in the first mode. The preset value includes but is not limited to 2.

[0053] For example, the length of the AGV is , if the item carried by the AGV is a rack, the length of the rack is , the target passage width B of the automated guided vehicle when traveling in the first mode in a transverse passage scheme is If the object carried by the AGV is a workpiece, the width of the workpiece is , then the target passage width B of the AGV when it passes in a transverse passage scheme is .

[0054] When the loading mode of the automated guided vehicle is the first mode with items loaded, the processor may determine the target passage width of the automated guided vehicle when it is expected to pass in the first mode in a rotational passage scheme according to the maximum width, the maximum length, and the preset value. Specifically, the processor may determine the square of the maximum width and the square of the maximum length, respectively, and square the sum of the square of the maximum width and the square of the maximum length, and determine the ratio between the square root value and the preset value as the target passage width of the automated guided vehicle when it is expected to pass in the first mode in a rotational passage scheme.

[0055] For example, the length of the AGV is , if the item carried by the AGV is a rack, the length of the rack is , the target passage width B of the automated guided vehicle when it passes in the first mode with a rotating passage scheme is If the object carried by the AGV is a workpiece, the width of the workpiece is , then the target passage width B of the automated guided vehicle when it passes in the first mode with a rotating passage scheme is .

[0056] In an embodiment of the present application, the to-be-passed schemes include a straight passage scheme in which the forward direction of the automatic guided vehicle is consistent with the length direction of the automatic guided vehicle, a lateral passage scheme in which the forward direction of the automatic guided vehicle is consistent with the width direction of the automatic guided vehicle, and a rotating passage scheme of the automatic guided vehicle in the target channel; when the loading mode is the second mode without any items on board, determining the target passage width of the automatic guided vehicle when it is expected to pass in each to-be-passed scheme in the loading mode according to the target size parameters in the loading mode includes: determining the target passage width of the automatic guided vehicle when it is expected to pass in the straight passage scheme in the second mode as the ratio between the first width and a preset value; determining the target passage width of the automatic guided vehicle when it is expected to pass in the lateral passage scheme in the second mode as the ratio between the first length and a preset value; determining the target passage width of the automatic guided vehicle when it is expected to pass in the rotating passage scheme in the second mode according to the first width, the first length and the preset value.

[0057] When the loading mode is the second mode without any items loaded, the processor may determine a ratio between the first width and a preset value, which is a target passage width when the automated guided vehicle is expected to pass in a straight passage scheme in the second mode. The preset value includes but is not limited to 2. For example, the width of the automated guided vehicle is , the target passage width B of the automated guided vehicle when traveling in the straight-through mode in the second mode is .

[0058] When the loading mode is the second mode without any items loaded, the processor may determine a ratio between the first length and a preset value, which is a target passage width of the automated guided vehicle when it is expected to pass in a transverse passage scheme in the second mode. The preset value includes but is not limited to 2. For example, the width of the automated guided vehicle is , the target passage width B of the automated guided vehicle when it passes in the second mode in a lateral passage scheme is .

[0059] When the loading mode is the second mode without any items loaded, the processor can determine the target passage width of the automatic guided vehicle when it is expected to pass in the second mode in a rotating passage scheme according to the first width, the first length and the preset value. Specifically, the processor can determine the sum of the square of the first width and the square of the first length, and take the square root of the sum, and determine the ratio between the square root value and the preset value as the target passage width of the automatic guided vehicle when it is expected to pass in the second mode in a rotating passage scheme. The preset value includes but is not limited to 2. For example, the width of the automatic guided vehicle is , the width of the automatic guided vehicle is , the target passage width B of the automated guided vehicle when it passes in the second mode with a rotating passage scheme is .

[0060] In an embodiment of the present application, the to-be-passed schemes include a straight-through passage scheme in which the forward direction of the automatic guided vehicle is consistent with the length direction of the automatic guided vehicle, a lateral passage scheme in which the forward direction of the automatic guided vehicle is consistent with the width direction of the automatic guided vehicle, and a rotating passage scheme in which the automatic guided vehicle is in a target channel; when the loading mode is the first mode with items loaded, determining the passage width deviation caused by the angular control accuracy when the automatic guided vehicle is expected to pass in each to-be-passed scheme in the loading mode according to the target size parameters in the loading mode includes: determining the passage width deviation when the automatic guided vehicle is expected to pass in a straight-through passage scheme or a rotating passage scheme in the first mode according to the ratio between the maximum length value and a preset value, and the sine value of the angular control accuracy; determining the passage width deviation when the automatic guided vehicle is expected to pass in a lateral passage scheme in the first mode according to the ratio between the maximum width value and a preset value, and the sine value of the angular control accuracy.

[0061] When the loading mode is the first mode with items loaded, the processor may determine the ratio between the maximum length and the preset value, and may determine the passage width deviation when the automatic guided vehicle is expected to pass in a straight passage scheme in the first mode according to the ratio between the maximum length and the preset value and the sine value of the direction angle control accuracy. The preset value includes but is not limited to 2.

[0062] For example, if the item carried by the AGV is a rack, the length of the rack is , the length of the automated guided vehicle is , when the automatic guided vehicle passes in a straight-through mode, the passage width deviation A is If the object carried by the AGV is a workpiece, the length of the workpiece is , then the passage width deviation A when the automatic guided vehicle passes in a straight-through traffic plan is .

[0063] When the loading mode is the first mode with items loaded, the processor can determine the passage width deviation when the automatic guided vehicle is expected to pass in the first mode in a lateral passage scheme according to the ratio between the maximum width and the preset value and the sine value of the direction angle control accuracy. The preset value includes but is not limited to 2.

[0064] For example, if the item carried by the AGV is a rack, the width of the rack is , the width of the automatic guided vehicle is , when the automatic guided vehicle passes in a transverse passage scheme, the passage width deviation A is If the object carried by the AGV is a workpiece, the length of the workpiece is , then the passage width deviation A when the automatic guided vehicle passes in the transverse passage scheme is .

[0065] When the loading mode is the first mode with items loaded, the processor may determine the ratio between the maximum length and the preset value, and may determine the passage width deviation when the automatic guided vehicle is expected to pass in the first mode in a rotating passage scheme according to the ratio between the maximum length and the preset value and the sine value of the direction angle control accuracy. The preset value includes but is not limited to 2.

[0066] For example, if the item carried by the AGV is a rack, the length of the rack is , the width of the rack is , the length of the automated guided vehicle is , the width of the automatic guided vehicle is , when the automatic guided vehicle passes in a rotating passage scheme, the passage width deviation A is If the object carried by the AGV is a workpiece, the length of the workpiece is , then the passage width deviation A of the automatic guided vehicle when passing in a rotating passage scheme is .

[0067] In an embodiment of the present application, the to-be-passed schemes include a straight passage scheme in which the forward direction of the automatic guided vehicle is consistent with the length direction of the automatic guided vehicle, a lateral passage scheme in which the forward direction of the automatic guided vehicle is consistent with the width direction of the automatic guided vehicle, and a rotating passage scheme in which the automatic guided vehicle is in a target channel; when the loading mode is the second mode in which no items are loaded, determining the passage width deviation caused by the angular control accuracy when the automatic guided vehicle is expected to pass in each to-be-passed scheme in the loading mode according to the target size parameters in the loading mode includes: determining the passage width deviation when the automatic guided vehicle is expected to pass in the straight passage scheme or the rotating passage scheme in the second mode according to the ratio between the first length and the preset value, and the sine value of the angular control accuracy; determining the passage width deviation when the automatic guided vehicle is expected to pass in the lateral passage scheme in the second mode according to the ratio between the first width and the preset value, and the sine value of the angular control accuracy.

[0068] When the loading mode is the second mode without any items on board, the processor can determine the passage width deviation when the automatic guided vehicle is expected to pass in a straight-through solution in the second mode according to the ratio between the first length and the preset value and the sine value of the azimuth control accuracy. Specifically, the product of the ratio between the first length and the preset value and the sine value of the azimuth control accuracy can be determined as the passage width deviation when the automatic guided vehicle is expected to pass in a straight-through solution in the second mode. The preset value includes but is not limited to 2. For example, if the automatic guided vehicle is not carrying any items, the length of the automatic guided vehicle is , when the automated guided vehicle passes in the straight-through mode in the second mode, the passage width deviation A is .

[0069] When the loading mode is the second mode without any items on board, the processor can determine the passage width deviation when the automatic guided vehicle is expected to pass in the second mode in a transverse passage scheme according to the ratio between the first width and the preset value and the sine value of the azimuth control accuracy. Specifically, the product of the ratio between the first width and the preset value and the sine value of the azimuth control accuracy can be determined as the passage width deviation when the automatic guided vehicle is expected to pass in the second mode in a transverse passage scheme. The preset value includes but is not limited to 2. For example, if the automatic guided vehicle is not loaded with any items, the width of the automatic guided vehicle is , when the automated guided vehicle passes in the second mode in a lateral passage scheme, the passage width deviation A is .

[0070] When the loading mode is the second mode without any items on board, the processor can determine the passage width deviation when the automatic guided vehicle is expected to pass in the second mode in a rotating passage scheme according to the ratio between the first length and the preset value and the sine value of the azimuth control accuracy. Specifically, the product of the ratio between the first length and the preset value and the sine value of the azimuth control accuracy can be determined as the passage width deviation when the automatic guided vehicle is expected to pass in the second mode in a rotating passage scheme. The preset value includes but is not limited to 2. For example, if the automatic guided vehicle is not carrying any items, the length of the automatic guided vehicle is , when the automated guided vehicle passes in the second mode with a rotating passage scheme, the passage width deviation A is .

[0071] Step 106: Determine whether the automated guided vehicle can pass through the target channel according to each pending passage scheme in the loading mode based on the minimum straight-line distance and the target passage width and passage width deviation under each pending passage scheme.

[0072] The processor can determine whether the automatic guided vehicle can pass through the target channel according to each waiting passage scheme in the carrying mode based on the minimum straight-line distance and the target passage width and passage width deviation under each waiting passage scheme.

[0073] In an embodiment of the present application, judging whether the automatic guided vehicle can pass through the target channel according to each pending passage scheme in the carrying mode based on the minimum straight-line distance and the target passage width and passage width deviation under each pending passage scheme includes: obtaining the positioning accuracy of the automatic guided vehicle and the width safety threshold when it is expected to pass through the target channel; determining the total difference between the minimum straight-line distance and the positioning accuracy, the width safety threshold and the passage width deviation; when the total difference is greater than or equal to the target passage width under each pending passage scheme, determining that the automatic guided vehicle can pass through the target channel according to each pending passage scheme in the carrying mode; when the total difference is less than the target passage width under each pending passage scheme, determining that the automatic guided vehicle cannot pass through the target channel according to each pending passage scheme in the carrying mode.

[0074] The processor can obtain the positioning accuracy of the automated guided vehicle and the width safety threshold when it is expected to pass through the target channel. The processor can determine the total difference between the minimum straight-line distance and the positioning accuracy, the width safety threshold, and the passing width deviation.

[0075] When the total difference is greater than or equal to the target passage width under each pending passage scheme, it means that there is a width margin when the automatic guided vehicle passes through each pending passage scheme in the carrying mode. At this time, the processor can determine that the automatic guided vehicle can pass through the target channel according to each pending passage scheme in the carrying mode.

[0076] When the total difference is less than the target passage width under each pending passage scheme, it means that there is no width margin when the automatic guided vehicle passes through each pending passage scheme in the carrying mode, and the processor can determine that the automatic guided vehicle cannot pass through the target channel according to each pending passage scheme in the carrying mode.

[0077] In an embodiment of the present application, the method also includes: when it is determined that the automatic guided vehicle can pass through the target channel according to at least one pending passage plan in the carrying mode, determining any one of the at least one pending passage plan as the final passage plan of the automatic guided vehicle.

[0078] When it is determined that the automated guided vehicle can pass through the target channel according to at least one pending passage plan in the carrying mode, the processor can select any pending passage plan from the selectable pending passage plans as the final passage plan of the automated guided vehicle.

[0079] In one embodiment, if there are multiple feasible plans for the automated guided vehicle to pass, the difference between the total difference and the corresponding target passing width can be determined. The larger the difference, the greater the width margin when the automated guided vehicle passes through the target channel with the plan to pass. The corresponding plan to pass can be preferentially selected as the final passing plan for the automated guided vehicle.

[0080] In an embodiment of the present application, the number of automated guided vehicles includes multiple vehicles, and the method also includes: when it is detected that the travel directions of multiple automated guided vehicles that need to pass through the target channel are the same, determining the same-direction travel order of the multiple automated guided vehicles according to the distance between each automated guided vehicle and the target channel; based on the same-direction travel order, controlling each automated guided vehicle in turn to pass through the target channel according to the corresponding final travel plan.

[0081] The number of automatic guided vehicles includes multiple ones. Each time the automatic guided vehicle moves, its moving position and the corresponding time can be sent to the processor. When the processor detects that the travel directions of multiple automatic guided vehicles that need to pass through the target channel are the same, the processor can obtain the position of each automatic guided vehicle. Among them, the travel direction can be forward travel from the entrance to the exit of the target channel, or it can be reverse travel from the exit to the entrance of the target channel. It should be noted that the multiple automatic guided vehicles that need to pass through the target channel here refer to automatic guided vehicles that have been determined to be able to pass through the target channel with any waiting travel plan in the corresponding loading mode.

[0082] If the travel directions of multiple automated guided vehicles are all forward travel, the processor can determine the distance between the position of each automated guided vehicle and the entrance of the target channel. If the travel directions of multiple automated guided vehicles are all reverse travel, the processor can determine the distance between the position of each automated guided vehicle and the exit of the target channel. The processor can determine the same-direction travel order of multiple automated guided vehicles based on the distance between each automated guided vehicle and the target channel. Based on the same-direction travel order, the processor can control each automated guided vehicle in turn to pass through the target channel according to the corresponding final travel plan.

[0083] In an embodiment of the present application, the method also includes: when it is detected that the travel directions of any two automatic guided vehicles among multiple automatic guided vehicles that need to pass through the target channel are different, the multiple automatic guided vehicles are divided into a first passing queue and a second passing queue according to the travel directions; according to preset conditions, one passing queue is selected from the first passing queue and the second passing queue as the target passing queue, wherein the preset conditions are constructed based on at least one of the channel arrival time of the passing queue, the number of automatic guided vehicles in the passing queue, the total priority of the passing queue, and the average passing speed of the passing queue; all automatic guided vehicles in the target passing queue are controlled to pass through the target channel according to the corresponding final passing plan, and then all automatic guided vehicles in the passing queues except the target passing queue are controlled to pass through the target channel according to the corresponding final passing plan.

[0084] When it is detected that the travel directions of any two of the multiple automated guided vehicles that need to pass through the target channel are different, the processor can divide the multiple automated guided vehicles into a first travel queue and a second travel queue according to the travel directions. The travel directions of each automated guided vehicle in the first travel queue are the same, and the travel directions of each automated guided vehicle in the second travel queue are the same. The travel direction of any automated guided vehicle in the first travel queue is different from the travel direction of any automated guided vehicle in the second travel queue.

[0085] The processor may select a passage queue from the first passage queue and the second passage queue as a target passage queue according to a preset condition, wherein the preset condition is constructed based on at least one of a passage arrival time of the passage queue, a number of automatic guided vehicles in the passage queue, a total priority of the passage queue, and an average passage speed of the passage queue.

[0086] Among them, the total priority of the passage queue is determined based on the priority of each automated guided vehicle in the passage queue. The priority of each automated guided vehicle is determined based on the priority of the handling task of each automated guided vehicle. That is, the higher the priority of the handling task, the higher the priority of the automated guided vehicle that performs the handling task. The handling task priority can be configured in advance. For example, if the urgency of the handling task is higher, the corresponding handling task has a higher priority. The average passing speed of the passage queue can be determined based on the operating speed of each automated guided vehicle in the corresponding passage queue and the number of automated guided vehicles.

[0087] For example, the passage queue with the shortest time to reach the target channel can be used as the target passage queue. If the passage arrival time of the first passage queue and the second passage queue is the same, the passage queue with the least number of automated guided vehicles can be used as the target passage queue. If the number of automated guided vehicles in the first passage queue and the second passage queue is the same, the passage queue with the highest total priority can be used as the target passage queue. If the total priorities of the first passage queue and the second passage queue are the same, the passage queue with the highest average speed can be used as the target passage queue. If the average speeds of the first passage queue and the second passage queue are the same, one of them can be selected as the target passage queue.

[0088] When the target traffic queue is determined, the processor can control all automatic guided vehicles in the target traffic queue to pass through the target channel according to the corresponding final passing plan, and then control all automatic guided vehicles in the traffic queues other than the target traffic queue to pass through the target channel according to the corresponding final passing plan.

[0089] In an embodiment of the present application, the method also includes: selecting a passage queue with the largest number of automatic guided vehicles from the first passage queue and the second passage queue; splitting the selected passage queue into multiple sub-passage queues, and determining the queue passage order of the multiple sub-passage queues in turn according to preset conditions; controlling all the automatic guided vehicles in the multiple sub-passage queues in turn according to the queue passage order to pass through the target channel according to the corresponding final passing plan; when all the automatic guided vehicles in the selected passage queue have completed the passage, controlling all the automatic guided vehicles in another passage queue to pass through the target channel according to the corresponding final passing plan.

[0090] When it is detected that the travel directions of any two of the multiple automated guided vehicles that need to pass through the target channel are different, the processor can divide the multiple automated guided vehicles into a first travel queue and a second travel queue according to the travel directions. The travel directions of each automated guided vehicle in the first travel queue are the same, and the travel directions of each automated guided vehicle in the second travel queue are the same. The travel direction of any automated guided vehicle in the first travel queue is different from the travel direction of any automated guided vehicle in the second travel queue.

[0091] The processor may select a passage queue with the largest number of automated guided vehicles from the first passage queue and the second passage queue. The processor may split the selected passage queue into multiple sub-passage queues, and determine the queue passage order of the multiple sub-passage queues in sequence according to preset conditions. The processor may control all the automated guided vehicles in the multiple sub-passage queues in sequence according to the queue passage order to pass through the target channel according to the corresponding final passage plan. When all the automated guided vehicles in the selected passage queue have completed the passage, the processor may control all the automated guided vehicles in another passage queue to pass through the target channel according to the corresponding final passage plan.

[0092] In one embodiment, for multiple sub-passing queues, when all the automated guided vehicles in a sub-passing queue have passed the target channel, the number of sub-passing queues can be reduced by one, and the passage of the automated guided vehicles in subsequent sub-passing queues can be continued until all the automated guided vehicles in all the sub-passing queues have passed the target channel.

[0093] In one embodiment, for any sub-passing queue, if any automated guided vehicle in the sub-passing queue fails and cannot pass through the target channel, the passage of the automated guided vehicles in the subsequent sub-passing queues can be continued until all the automated guided vehicles in all the sub-passing queues have passed through the target channel.

[0094] In one embodiment, when controlling the passage of all automated guided vehicles in another passage queue, the other passage queue may be split into a plurality of sub-passage queues as the passage queue selected above, so that the plurality of sub-passage queues pass through the target channel.

[0095] like Figure 2 As shown, a flowchart of another method for scheduling an automatic guided vehicle is provided.

[0096] When scheduling an automated guided vehicle (AGV), you can first load the data of the AGV, rack, workpiece, and channel. The AGV data includes the AGV length AGV width , positioning accuracy , direction angle control accuracy And the safety threshold of the lane width The rack data includes the rack length , rack width The workpiece data includes the workpiece length and workpiece width The channel data includes the channel width , the distance between the navigation line and one side of the channel is After loading the data, it can be determined whether the AGV meets the conditions for passing through a narrow channel.

[0097] Specifically, a rotation determination can be performed, that is, whether the AGV meets the requirement to pass through a narrow passage in a rotating manner. If the AGV passes through a narrow passage in a rotating manner and the AGV is not carrying items such as workpieces or racks, the corresponding determination conditions can be:

[0098] .

[0099] in, , It refers to the narrowest available width of the channel. is the distance between the guidance route and one side of the channel, Refers to the channel width.

[0100] If the AGV passes through a narrow passage in a rotating manner and the AGV carries a material rack, the corresponding judgment conditions are:

[0101] .

[0102] If the AGV passes through a narrow passage in a rotating manner and the AGV carries a workpiece, the corresponding judgment conditions are:

[0103] .

[0104] Specifically, a horizontal movement determination can be performed, that is, whether the AGV meets the requirement of passing through a narrow passage in a horizontal manner. If the AGV passes through a narrow passage in a horizontal manner and the AGV does not carry items such as workpieces or material racks, the corresponding determination conditions can be:

[0105] .

[0106] If the AGV passes through a narrow passage in a horizontal manner and the AGV carries a material rack, the corresponding judgment conditions are:

[0107] .

[0108] If the AGV passes through a narrow passage in a horizontal manner and the AGV carries a workpiece, the corresponding judgment conditions are:

[0109] .

[0110] Specifically, a straight-through determination can be performed, that is, whether the AGV meets the requirement to pass through a narrow passage in a straight-through manner. If the AGV passes through a narrow passage in a straight-through manner and the AGV does not carry items such as workpieces or racks, the corresponding determination conditions can be:

[0111] .

[0112] If the AGV passes through a narrow passage in a straight-ahead manner and the AGV carries a material rack, the corresponding judgment conditions are:

[0113] .

[0114] If the AGV passes through a narrow passage in a straight-ahead manner and the AGV carries a workpiece, the corresponding judgment conditions are:

[0115] .

[0116] After making rotation, sideways and straight judgments, it can be determined how the AGV can currently pass through the narrow passage. If the AGV meets the rotation judgment conditions, the AGV is allowed to pass through the passage in a rotating manner. If the rotation judgment conditions are not met, it is not allowed. If the AGV meets the sideways judgment conditions, the AGV is allowed to pass through the passage in a sideways manner. If the sideways judgment conditions are not met, it is not allowed. If the AGV meets the straight judgment conditions, the AGV is allowed to pass through the passage in a straight manner. If the straight judgment conditions are not met, it is not allowed. If the AGV can pass through the passage in at least one of the above ways, the AGV can be controlled to pass through the passage in any way according to the set passage rules.

[0117] Through the above technical solution, it is possible to accurately determine whether the automated guided vehicle can pass through the target channel according to each waiting passage scheme in the loading mode, thereby reducing the safety risk of the automated guided vehicle passing through the target channel. In addition, an efficient passage strategy is provided for the automated guided vehicle that can pass through the target channel with at least one passage scheme, thereby improving the passage efficiency of the automated guided vehicle.

[0118] Figure 1 and Figure 2 FIG. 1 is a flow chart of a method for dispatching an automated guided vehicle in one embodiment. Figure 1 and Figure 2 The steps in the flowchart are shown in sequence as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified in this document, there is no strict order restriction for the execution of these steps, and these steps can be executed in other orders. Moreover, Figure 1 and Figure 2 At least part of the steps may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least part of the sub-steps or stages of other steps.

[0119] In one embodiment, there is provided an apparatus for dispatching an automatic guided vehicle, comprising:

[0120] a memory configured to store instructions;

[0121] The processor is configured to call instructions from the memory and implement the above-mentioned method for scheduling an automatic guided vehicle when executing the instructions.

[0122] In one embodiment, a storage medium is provided, on which a program is stored, and when the program is executed by a processor, the above-mentioned method for scheduling an automatic guided vehicle is implemented.

[0123] In one embodiment, a processor is provided, and the processor is used to run a program, wherein the program executes the above-mentioned method for scheduling an automatic guided vehicle when it is run.

[0124] In one embodiment, a computer device is provided. The computer device may be a server, and its internal structure diagram may be as follows: Figure 3 As shown. The computer device includes a processor A01, a network interface A02, a memory (not shown in the figure) and a database (not shown in the figure) connected through a system bus. Among them, the processor A01 of the computer device is used to provide computing and control capabilities. The memory of the computer device includes an internal memory A03 and a non-volatile storage medium A04. The non-volatile storage medium A04 stores an operating system B01, a computer program B02 and a database (not shown in the figure). The internal memory A03 provides an environment for the operation of the operating system B01 and the computer program B02 in the non-volatile storage medium A04. The database of the computer device is used to store data such as the channel width of the target channel. The network interface A02 of the computer device is used to communicate with an external terminal through a network connection. When the computer program B02 is executed by the processor A01, a method for scheduling an automatic guided vehicle is implemented.

[0125] Those skilled in the art will understand that Figure 3 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0126] An embodiment of the present application provides a device, which includes a processor, a memory, and a program stored in the memory and executable on the processor. When the processor executes the program, the method steps for scheduling an automatic guided vehicle are implemented.

[0127] The present application also provides a computer program product, which, when executed on a data processing device, is suitable for executing a program for initiating the method steps for dispatching an automated guided vehicle.

[0128] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0129] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0130] These computer program instructions may also be stored in a computer readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0131] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process in the computer or other programmable device. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0132] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0133] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0134] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0135] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0136] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included within the scope of the claims of the present application.

Claims

1. A method for dispatching an automated guided vehicle, characterized in that: The automatic guided vehicle corresponds to a plurality of waiting passage schemes, the plurality of waiting passage schemes including a straight passage scheme in which the advancing direction of the automatic guided vehicle is consistent with the length direction of the automatic guided vehicle, a lateral passage scheme in which the advancing direction of the automatic guided vehicle is consistent with the width direction of the automatic guided vehicle, and a rotation passage scheme of the automatic guided vehicle in the target channel, the method comprising: Acquire a channel width of a target channel that the automated guided vehicle is about to pass through, wherein the target channel is provided with a navigation line parallel to any side of the target channel for the automated guided vehicle; When the channel width is less than a preset value, obtaining a first size parameter of the automatic guided vehicle and a loading mode of the automatic guided vehicle; Determining, according to the first size parameter and the carrying mode, a target size parameter of the automated guided vehicle when it is expected to pass through the target passage in the carrying mode; Obtaining the azimuth control accuracy of the automatic guided vehicle, and determining the minimum straight-line distance from the navigation line to any side of the target channel; Determine, according to the target size parameters in the loading mode, the target passage width of the automated guided vehicle when it is expected to pass in each waiting passage scheme in the loading mode, and the passage width deviation caused by the direction angle control accuracy; It is determined whether the automatic guided vehicle can pass through the target passage according to each pending passage scheme in the loading mode according to the minimum straight-line distance and the target passage width and passage width deviation under each pending passage scheme.

2. The method for dispatching an automated guided vehicle according to claim 1, characterized in that: The step of determining the target size parameter of the automatic guided vehicle when it is expected to pass through the target channel in the carrying mode according to the first size parameter and the carrying mode includes: When the carrying mode is the first mode in which an object is carried, obtaining a second size parameter of the object carried by the automatic guided vehicle; Determine a maximum length of a first length included in the first size parameter and a second length included in the second size parameter; Determine a maximum width of a first width included in the first size parameter and a second width included in the second size parameter; The maximum length and the maximum width are determined as target size parameters when the automated guided vehicle is expected to pass through the target channel in the loading mode.

3. The method for dispatching an automated guided vehicle according to claim 2, characterized in that: The to-be-passed schemes include a straight passage scheme in which the forward direction of the automated guided vehicle is consistent with the length direction of the automated guided vehicle, a lateral passage scheme in which the forward direction of the automated guided vehicle is consistent with the width direction of the automated guided vehicle, and a rotation passage scheme in which the automated guided vehicle is in the target channel; When the carrying mode is the first mode with items carried, determining the target passage width of the automatic guided vehicle when passing in each to-be-passed scheme in the carrying mode according to the target size parameter in the carrying mode includes: Determine a target passage width of the automated guided vehicle when it is expected to pass in the straight passage scheme in the first mode as a ratio between the maximum width and a preset value; Determine a target passage width of the automated guided vehicle when it is expected to pass in the first mode in the transverse passage scheme as a ratio between the maximum length and the preset value; A target passage width of the automated guided vehicle when it is expected to pass in the first mode with the rotation passage scheme is determined according to the maximum width, the maximum length, and a preset value.

4. The method for dispatching an automated guided vehicle according to claim 2, characterized in that: The to-be-passed schemes include a straight passage scheme in which the forward direction of the automated guided vehicle is consistent with the length direction of the automated guided vehicle, a lateral passage scheme in which the forward direction of the automated guided vehicle is consistent with the width direction of the automated guided vehicle, and a rotation passage scheme in which the automated guided vehicle is in the target channel; When the carrying mode is the first mode carrying items, determining the passing width deviation generated on the direction angle control accuracy when the automatic guided vehicle is expected to pass in each waiting passing scheme in the carrying mode according to the target size parameter in the carrying mode includes: Determining a passage width deviation when the automatic guided vehicle is expected to pass in the straight passage scheme or the rotation passage scheme in the first mode according to a ratio between the maximum length and a preset value and a sine value of the direction angle control accuracy; The passage width deviation of the automatic guided vehicle when it is expected to pass in the lateral passage scheme in the first mode is determined according to the ratio between the maximum width and the preset value and the sine value of the direction angle control accuracy.

5. The method for dispatching an automated guided vehicle according to claim 1, characterized in that: The step of determining the target size parameter of the automatic guided vehicle when it is expected to pass through the target channel in the carrying mode according to the first size parameter and the carrying mode includes: When the loading mode is the second mode without any items loaded, the first length and the first width included in the first size parameter are determined as target size parameters when the automatic guided vehicle is expected to pass through the target channel in the loading mode.

6. The method for dispatching an automated guided vehicle according to claim 5, characterized in that: The to-be-passed schemes include a straight passage scheme in which the forward direction of the automated guided vehicle is consistent with the length direction of the automated guided vehicle, a lateral passage scheme in which the forward direction of the automated guided vehicle is consistent with the width direction of the automated guided vehicle, and a rotation passage scheme in which the automated guided vehicle is in the target channel; When the carrying mode is the second mode without any items, determining the target passage width of the automatic guided vehicle when passing through each waiting passage scheme in the carrying mode according to the target size parameter in the carrying mode includes: Determine a target passage width of the automated guided vehicle when it is expected to pass in the straight passage scheme in the second mode as a ratio between the first width and a preset value; Determine a target passage width of the automated guided vehicle when it is expected to pass in the second mode in the transverse passage scheme as a ratio between the first length and the preset value; A target passage width of the automated guided vehicle when it is expected to pass in the second mode with the rotation passage scheme is determined according to the first width, the first length, and a preset value.

7. The method for dispatching an automated guided vehicle according to claim 5, characterized in that: The to-be-passed schemes include a straight passage scheme in which the forward direction of the automated guided vehicle is consistent with the length direction of the automated guided vehicle, a lateral passage scheme in which the forward direction of the automated guided vehicle is consistent with the width direction of the automated guided vehicle, and a rotation passage scheme in which the automated guided vehicle is in the target channel; When the carrying mode is the second mode without carrying any items, determining the passage width deviation generated on the direction angle control accuracy when the automatic guided vehicle is expected to pass in each to-be-passed scheme in the carrying mode according to the target size parameter in the carrying mode includes: Determining a passage width deviation when the automated guided vehicle is expected to pass in the straight passage scheme or the rotation passage scheme in the second mode according to a ratio between the first length and a preset value and a sine value of the direction angle control accuracy; The passage width deviation of the automatic guided vehicle when it is expected to pass in the lateral passage scheme in the second mode is determined according to the ratio between the first width and the preset value and the sine value of the direction angle control accuracy.

8. The method for dispatching an automated guided vehicle according to claim 1, characterized in that: The step of judging whether the automatic guided vehicle can pass through the target passage according to each waiting passage scheme in the loading mode according to the minimum straight-line distance and the target passage width and the passage width deviation under each waiting passage scheme includes: Obtaining the positioning accuracy of the automated guided vehicle and a width safety threshold when the automated guided vehicle is expected to pass through the target channel; Determine the total difference between the minimum straight-line distance and the positioning accuracy, the width safety threshold, and the passing width deviation; When the total difference is greater than or equal to the target passage width under each to-be-passed scheme, determining that the automated guided vehicle can pass through the target passage according to each to-be-passed scheme in the loading mode; When the total difference is smaller than the target passage width under each of the pending passage schemes, it is determined that the automatic guided vehicle cannot pass through the target passage according to each of the pending passage schemes in the mounting mode.

9. The method for dispatching an automated guided vehicle according to claim 1, characterized in that: The method further comprises: When it is determined that the automatic guided vehicle can pass through the target passage according to at least one pending passage plan in the carrying mode, any one pending passage plan among the at least one pending passage plan is determined as a final passage plan for the automatic guided vehicle.

10. The method for dispatching an automated guided vehicle according to claim 9, characterized in that: The number of the automatic guided vehicles includes a plurality of vehicles, and the method further includes: When it is detected that the travel directions of multiple automated guided vehicles that need to pass through the target channel are the same, determining the same-direction travel order of the multiple automated guided vehicles according to the distance between each automated guided vehicle and the target channel; Based on the same-direction traffic sequence, each automated guided vehicle is controlled in turn to pass through the target channel according to the corresponding final traffic plan.

11. The method for dispatching an automated guided vehicle according to claim 9, characterized in that: The method further comprises: When it is detected that any two of the multiple automated guided vehicles that need to pass through the target channel have different travel directions, the multiple automated guided vehicles are divided into a first travel queue and a second travel queue according to the travel directions; Selecting one of the first and second passing queues as a target passing queue according to a preset condition, wherein the preset condition is constructed based on at least one of a channel arrival time of the passing queue, a number of automatic guided vehicles in the passing queue, a total priority of the passing queue, and an average passing speed of the passing queue; All the automatic guided vehicles in the target passage queue are controlled to pass through the target channel according to the corresponding final passing plan, and then all the automatic guided vehicles in the passage queues other than the target passage queue are controlled to pass through the target channel according to the corresponding final passing plan.

12. The method for dispatching an automated guided vehicle according to claim 11, characterized in that: The method further comprises: Selecting a passage queue with the largest number of automated guided vehicles from the first passage queue and the second passage queue; Splitting the selected passing queue into a plurality of sub-passing queues, and determining the queue passing order of the plurality of sub-passing queues in sequence according to the preset conditions; Control all the automated guided vehicles in the plurality of sub-passing queues in sequence according to the queue passing order to pass through the target channel according to the corresponding final passing plan; When all the automated guided vehicles in the selected passage queue have completed the passage, all the automated guided vehicles in another passage queue are controlled to pass through the target channel according to the corresponding final passing plan.

13. The method for dispatching an automated guided vehicle according to claim 1, characterized in that: Determining the minimum straight-line distance from the navigation line to any side of the target channel includes: Obtaining the distance from the navigation line to any side of the target channel, and determining the distance difference between the channel width and the distance; The minimum value between the distance difference and the distance is determined as the minimum straight-line distance.

14. A device for dispatching an automatic guided vehicle, characterized in that: The device comprises: a memory configured to store instructions; A processor is configured to call the instructions from the memory and implement the method for dispatching an automatic guided vehicle according to any one of claims 1 to 13 when executing the instructions.

15. A machine-readable storage medium, characterized in that: The machine-readable storage medium stores instructions for causing a machine to execute the method for dispatching an automatic guided vehicle according to any one of claims 1 to 13.

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