AGV (Automatic Guided Vehicle) real-time scheduling system and method and related equipment thereof

Abstract

The invention relates to the technical field of AGV equipment scheduling, and provides an AGV real-time scheduling system. Comprising a multi-scheduling subsystem, a scheduling device, a real-time database system, an AGV positioning and navigation subsystem, an AGV object subsystem, an AGV body or an AGV device integrated with an edge computing controller, an independent edge computing controller device, an edge computing server or workstation, a multi-level cache system and a heterogeneous screen device. The scheduling device sends the operation state data, the navigation data and the real-time position information to a multi-level cache system through a data interface; multi-screen linkage fusion data generates an AGV task chain and a control type instruction packet, the multi-scheduling subsystem analyzes the AGV task chain into a plurality of sub-tasks, the sub-tasks generate a plurality of task instruction sequences, namely atomic instruction series, and the multi-scheduling subsystem sends the atomic instructions to an AGV body in a classified and sequenced mode by means of a multi-level cache data exchange mechanism.

Description

Technical Field

[0001] The present invention relates to the technical field of AGV equipment scheduling, and in particular to an AGV real-time scheduling system, method and related equipment. Background Art

[0002] Automatic guided vehicles (AGVs) are controlled by computers and have many subsystems, including upper control systems, guidance systems, communication systems, and charging (supply) systems. The AGV dispatching system (RCS) plays a vital role in AGV path planning and optimization, task allocation rationalization, control system stability and reliability, and data processing efficiency, and thus also affects the efficiency of AGV use in complex scenarios and industrial data throughput. On the other hand, the current AGV RCS software system has limitations in adapting to unpredictable changes in the working environment. With the continuous evolution and autonomy of the system, correct positioning and navigation in dynamic environments consumes a large amount of message data.

[0003] AGV dispatching software must process more and more data, including AGV location information, task information, path information, etc. If the data processing efficiency is not enough, the software will run slowly or crash in extreme cases.

[0004] Therefore, technical personnel in this field need to design an AGV real-time flexible scheduling system to solve the problems in the AGV scheduling system, such as unfriendly operation, inflexible deployment, and insufficient real-time communication within and outside the system, which affect the effectiveness of the AGV scheduling system in dealing with complex scenarios in the industry, and help the AGV scheduling system integrate into a more efficient, stable and secure software solution. Summary of the invention

[0005] In order to achieve the above object, the present invention provides the following technical solutions:

[0006] The present invention provides an AGV real-time scheduling system, including multiple scheduling subsystems, a scheduling device, an AGV positioning and navigation subsystem, an AGV physical subsystem, an AGV body or an AGV device with an integrated edge computing controller, an independent edge computing controller device, an edge computing server or workstation, a multi-level cache system and a heterogeneous screen device; in addition, the edge computing controller device does not exclude the possibility of including embedded devices such as edge computing gateways, edge computing routers, and programmable PLC devices.

[0007] A heterogeneous screen device is used to generate an AGV task chain and / or a control instruction packet through multi-screen linkage interactive control fusion data; the heterogeneous screen device acquires maps, edits maps, pushes maps or manages maps through multi-screen linkage interactive control fusion data, and transmits the map file name, map file path and even the data content of the map file itself.

[0008] The multi-scheduling subsystem is used to parse the AGV task chain into multiple subtasks, and then use the multi-level cache data exchange mechanism to classify and sequence the atomic instructions (atomic instruction sequence) generated by the subtasks and send them to the AGV body or the AGV device with an integrated edge computing controller; and unpack the control instruction package into a series of instruction sequences, and send the decomposed instructions to the AGV body according to the instruction characteristics; the multi-scheduling subsystem sends the decomposed instructions of the control instruction package to the AGV body device according to the instruction characteristics of the control instruction package, and then the AGV body controller computer program drives the AGV body device to move, including turning, moving and retracting the robotic arm, lifting, descending and other actions, and the AGV body device adjusts the amplitude of the action according to the received parameters.

[0009] The dispatching device is used to load multiple dispatching subsystems and send the operation status data and real-time location information to the multi-level cache system through the data interface;

[0010] The AGV positioning and navigation subsystem is used to continuously obtain accurate real-time location information of the AGV in complex and changing environments. By receiving data from environmental perception sensors in real time, it provides more accurate map construction, path planning, and intelligent decision-making to ensure that the robot can complete tasks efficiently and accurately in complex environments.

[0011] AGV physical subsystem, used to enhance the AGV's ability to adapt to the environment with the help of multiple scheduling subsystems, environmental interaction, and manual, automatic or semi-automatic collaborative operation with other fixed or mobile entities;

[0012] The edge computing controller device is used to obtain the operating status data of the AGV body; and process sensor data, execute complex algorithms and real-time control tasks on the AGV body, helping multiple scheduling subsystems to improve response speed and reliability; the edge computing controller also gives the AGV body edge intelligence capabilities;

[0013] The edge computing controller, edge computing server or workstation forms a cluster system or distributed system of multiple edge computing nodes. Each edge computing node and the multi-level cache system together constitute the infrastructure of the scheduling device, and multiple scheduling subsystems are deployed on different edge computing nodes respectively.

[0014] Heterogeneous screen devices generate AGV task chains by integrating data through multi-screen interactive control. The multi-scheduling subsystem parses the AGV task chain into multiple subtasks, and the multiple subtasks generate multiple task instruction sequences, namely atomic instruction series. The multi-scheduling subsystem uses a multi-level cache data exchange mechanism to classify and sequence the atomic instructions and send them to the AGV body or the AGV device with an integrated edge computing controller; among them, both cache data and scheduling data are transmitted through communication primitives.

[0015] Among them, the multi-level cache data exchange is based on the AGV body or the AGV device with integrated edge computing controller, the position of the AGV running track, the position of the fixed shelf, the position of the mobile shelf, the position of the cache position, the size and position of the material frame, the size and position of the shelf, the position of the AGV loading platform and the position of the AGV unloading station, respectively exchanging the AGV position coordinates and angles, the warehouse location number, the shelf number, the shelf location number, the cache location number, the AGV radar detection frame data, the position number of the AGV loading platform and the position of the AGV unloading station and many other data information input or output from the multi-scheduling subsystem;

[0016] The operating status data of the AGV body includes at least one of the start / stop status, pause status, task completion status, operating speed, position and angle, point cloud data, working status, current power, safety status, current task, and completed task.

[0017] Among them, heterogeneous screen devices can use a variety of on-site or remote industrial screens such as workstation screens, projection screens, Web screens, mobile screens, lightweight software small screens, billboard screens, XR device screens, and smart screens.

[0018] Furthermore, the multi-scheduling subsystem includes a scheduling component and / or a software subsystem / platform of an integrated scheduling component. Different scheduling components and / or software subsystems / platforms of integrated scheduling components are connected through a scheduling middleware to achieve smooth operation of the AGV scheduling system.

[0019] Furthermore, the scheduling component includes a positioning component, a navigation component, a mapping component, a path planning component, a path tracking component, a shelf pick-and-place component, and a traffic control component. The components can be combined and deployed according to needs to form different subsystems. Each subsystem can be a centralized control (such as AGV equipment Master equipment) system or a distributed control system or a combination of the two.

[0020] Furthermore, the scheduling device includes an integrated hardware and software edge computing server and a real-time database system located outside the AGV body or the AGV device with an integrated edge computing controller. The scheduling data generated by the multiple scheduling subsystems is saved in the real-time database system. The edge computing server sends the acquired operating status data, navigation data and real-time location information to the multi-level cache system through the data interface. Both cache data and scheduling data are transmitted through communication primitives.

[0021] Furthermore, the scheduling device also includes an AGV digital simulation model module; the AGV digital simulation model module is used to obtain an AGV virtual model through three-dimensional modeling according to the AGV body or the AGV equipment with an integrated edge computing controller, the position of the AGV running track, the size and position of the material frame, the size and position of the shelf, the position of the AGV loading platform and the position of the AGV unloading station; the AGV digital simulation model module exchanges data with the corresponding AGV physical system in reality through a multi-level cache subsystem to improve the real-time performance of the AGV real-time scheduling system; wherein, the AGV virtual model includes a virtual AGV body and a virtual application scenario.

[0022] Furthermore, the AGV positioning and navigation subsystem is based on data fusion positioning technology, combined with the laser radar and visual camera set on the AGV body to obtain the real-time location information of the AGV body, and provides more accurate map construction, path planning and intelligent decision-making by receiving data from environmental perception sensors in real time.

[0023] Furthermore, the multi-level cache system is composed of the local cache system of the AGV body, the local cache system of the edge computing controller, the local cache system of the edge computing server, or the local cache systems of all other edge computing nodes participating in the communication of the scheduling system, forming an infrastructure capable of high-speed communication or neural network communication network data exchange and processing;

[0024] The multi-level cache system utilizes software and hardware integration technology, using hardware single memory or clustered hardware memory, hardware non-volatile storage media, memory database, software real-time database system, and a database storage method including cache persistence to provide a data exchange basis for the entire AGV real-time scheduling system.

[0025] Furthermore, the multi-level cache system includes a scheduling data cache device, which is used to cache the message sets exchanged through multi-screen linkage and multi-scheduling subsystems, the message sets exchanged between multiple AGV devices and multiple scheduling subsystems, and the collection of all message bodies defined for multi-scheduling subsystem exchange messages to form a complete system-level communication primitive; communication primitives such as AGV task message body, battery message body, AGV device message body, AGV map message body, cache position message body, shelf message body, AGV motion status message body, AGV steering wheel message body, AGV waybill message body and AGV task termination message body, etc.;

[0026] Preferably, local wireless communication can be achieved between the AGV device or edge computing controller and the edge computing server to ensure that the local network can upload the location information, operating status data and image information of the AGV positioning and navigation subsystem and the AGV scheduling system to the edge computing server in real time and be processed immediately.

[0027] Furthermore, the data cache subsystem includes a message primitive acquisition module, a primitive message cache or persistence module and an AGV scheduling message module.

[0028] Acquisition of communication primitive module, used to obtain the running status data of the AGV body through the edge computing node and the real-time location information of the AGV body through the AGV positioning and navigation subsystem; wherein the edge computing node is set in the AGV body or an independent edge computing device;

[0029] The communication primitive cache or persistence module is used to send the operation status data and real-time location information to the multi-level data cache device through the data interface; the implementation of the multi-level cache system requires the use of multiple multi-level cache devices;

[0030] The AGV scheduling message module processes the AGV task-related information from the multi-level cache device by calling the required scheduling components, obtains the operation request information, and quickly forwards the operation result information to the multi-screen user interface.

[0031] The present invention also provides an AGV real-time scheduling method, which is applicable to the above-mentioned AGV real-time scheduling system. The AGV real-time scheduling method includes:

[0032] 1) The user issues instructions or tasks on different screen controls, and generates AGV task chains and / or control instruction packages based on multi-screen linkage fusion data;

[0033] 2) The multi-scheduling subsystem parses the AGV task chain into multiple subtasks, and the multiple subtasks generate multiple task instruction sequences, i.e., atomic instruction series;

[0034] 3) The multi-scheduling subsystem unpacks the control instruction package into a series of instruction sequences, and the AGV equipment performs corresponding actions according to the instruction type and instruction parameters;

[0035] 4) Obtain the running status data and navigation data of the AGV body through the edge computing side device, and obtain the real-time location information of the AGV body through the AGV positioning and navigation subsystem; specifically, eliminate conflicts through the path file to achieve emergency obstacle avoidance, obtain the AGV work history data and current power to match the AGV path, and use genetic algorithms to optimize the AGV path to achieve multi-task multi-path scheduling of AGV. Among them, the running status data of the AGV body includes at least one of the power on / off status, start / stop status, running speed, working status, current power, safety status, current task, and completed tasks. Among them, the working status can include running, waiting, and charging, etc.; the safety status can include alarm mode, etc.

[0036] 5) The dispatching device sends the operation status data, navigation data and real-time location information to the multi-level cache system through the data interface; wherein the data can be sent through an independent edge computing device or directly using an integrated edge computing controller;

[0037] 6) The multi-level cache system caches system-level communication primitives and can store them persistently; communication primitives such as AGV task message body, battery message body, AGV equipment message body, AGV map message body, cache position message body, shelf message body, AGV motion status message body, AGV steering wheel message body, AGV waybill message body and AGV task termination message body, etc.

[0038] 7) The software and hardware in the multi-scheduling subsystem collaboratively calculate and process communication primitives. The scheduling device forwards the processing results upward or directly sends them to the AGV body according to its own attributes; the upward forwarding can be the return of the operation result data to the central control layer or the user layer; directly sending the processing request to the AGV body can use the software and hardware edge computing technology to send the processing results to the AGV body;

[0039] 8) Parse the received communication primitives through the user interaction interface, and present the processed message data to the user; the interface type returned by the communication primitive is related to the input method of the multi-screen linkage user scenario, and the data presentation method is also related to the type of screen-oriented application.

[0040] The present invention also provides a computer program product, including a computer program, which implements the above-mentioned AGV real-time scheduling method when the computer program is executed by a processor, wherein the computer program product can be deployed in an edge computing controller device of the AGV device body.

[0041] The present invention also provides an edge computing server, including a memory, a transceiver, an AI chip and a processor; the memory is used to store computer programs; the transceiver is used to send and receive data including communication primitives under the control of the processor; the AI ​​chip is used to improve the intelligence level of the scheduling system; the processor is used to read the computer program in the memory and implement the above-mentioned AGV real-time scheduling method.

[0042] The present invention has the following beneficial effects:

[0043] (1) The present invention meets the computing power requirements in complex scenarios of large-scale data processing and data exchange through an edge computing server with integrated hardware and software located on the AGV device body or outside the AGV device, and uses a multi-level cache system to make up for the lack of AGV data communication efficiency, thereby facilitating efficient interaction between AGV devices, edge computing nodes including edge computing servers, scheduling system components, and screen users, and facilitating AGV scheduling system software to be more easily integrated into software solutions in complex scenarios, thereby enhancing the evolution and development of AGV business applications, and thereby improving the overall service quality and business level of AGV equipment scheduling;

[0044] (2) The present invention obtains the operating status data of the AGV body through the edge computing node, obtains the real-time location information of the AGV body or the AGV device integrated with the edge computing controller through the AGV positioning and navigation subsystem, and the multi-scheduling subsystem uses the multi-level cache data exchange mechanism to classify and sequence the atomic instructions and send them to the AGV body or the AGV device integrated with the edge computing controller; it can realize fast and accurate data processing and information interaction, and ensure that the AGV can operate efficiently and stably in various application scenarios.

[0045] (3) The present invention constructs an AGV real-time scheduling model ecosystem and, with the help of a multi-level data cache scheduling device, can achieve fine-grained task scheduling and operation of AGVs and fine-tuning of AGV equipment actions. Its operation results can ensure that users can use a multi-screen linkage control interaction model to achieve accurate scheduling of AGV tasks, and timely feed back AGV operation data to the user interface, optimize and adjust the AGV operation process in real time, form a closed-loop AGV communication primitive exchange real-time, and ensure the effective real-time performance of the scheduling system.

[0046] (4) The multi-level cache system in the present invention is composed of the local cache system of the AGV body, the local cache system of the edge computing controller, the local cache system of the edge computing server or the local cache systems of all other edge computing nodes that can participate in the communication of the scheduling system, together forming a communication network structure that can communicate at high speed or be neuralized. This structure can fully meet the communication decoupling of scheduling components, the association between communications, and the collaborative processing of AGV scheduling problems and communication problems, where the communication methods and means can evolve with the development of the times.

[0047] (5) The present invention realizes a technology to improve the real-time performance of the scheduling system based on the integration of a multi-level cache mechanism and the scheduling device infrastructure. It combines the AGV scheduling method and system with multi-screen interactive linkage technology, real-time database system technology, edge computing controller system real-time technology, edge intelligence technology, and 5G fusion or WiFi6 network communication technology. After the technical integration, it will achieve innovative breakthroughs and ensure the real-time scheduling of each AGV body.

[0048] (6) The present invention is based on the realistic diversified AGV operating environment and user-friendly multi-dimensional interaction strategies, promotes the efficient flow of AGV operating status data, navigation data and command data between key edge computing nodes through multi-level cache devices, realizes real-time scheduling of AGV tasks, and timely feeds back AGV operating data to the realistic diversified operating environment user interface, performs real-time optimization and adjustment of the AGV operating process, and forms a closed-loop and healthy AGV scheduling optimization system. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 This is a schematic diagram of scheduling data exchange in Example 1.

[0050] Figure 2 It is a schematic diagram of the scheduling component structure in Example 1.

[0051] Figure 3 This is a schematic diagram of the structure of the data cache system in Example 1.

[0052] Figure 4 This is a schematic diagram of the basic architecture of the scheduling device in Example 1.

[0053] Figure 5 It is the scheduling system deployment specification in Example 1.

[0054] Figure 6 This is a reference diagram for selecting the edge computing node structure in Example 5. DETAILED DESCRIPTION

[0055] The specific implementation methods of the present invention are described in detail below in conjunction with the accompanying drawings. It should be pointed out that the embodiments are only specific explanations of the invention and should not be regarded as limitations of the invention. The purpose of the embodiments is to enable those skilled in the art to better understand and reproduce the technical solutions of the present invention. The protection scope of the present invention shall still be based on the scope defined by the claims.

[0056] It should be noted that the computer terms such as "edge computing", "edge computing node", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to express similar computing paradigms, so as to understand that the embodiments of the present invention described herein can be implemented in a scope other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or subsystem that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products, or subsystems.

[0057] Example 1

[0058] like Figure 1As shown, this embodiment provides an AGV real-time scheduling system, including: multiple scheduling subsystems, a scheduling device, an AGV positioning and navigation subsystem, an AGV physical subsystem, an AGV body or an AGV device with an integrated edge computing controller, an independent edge computing controller device, an edge computing server or workstation responsible for advanced processing and storage, a multi-level cache system, and a heterogeneous screen device for user linkage interaction; the scheduling device infrastructure is used to ensure seamless and efficient data exchange and computing power allocation between the AGV body, the edge computing controller, and the edge computing server; the scheduling system middleware connects and schedules different components or subsystems to realize the smooth operation of the AGV scheduling system; the scheduling data exchange communication primitive is conducive to realizing the standardization and availability of scheduling data exchange; the multi-screen linkage interactive control improves the system friendliness and enhances the customizability of the scheduling system for application scenarios;

[0059] Edge computing is a distributed open platform (architecture) that integrates network, computing, storage, and application core capabilities at the edge of the network close to the source of objects or data, providing edge intelligence services nearby to meet the key needs of industry digitalization in terms of agile connectivity, real-time services, data optimization, application intelligence, security, and privacy protection. Edge computing devices generally refer to devices in edge computing deployment application scenarios.

[0060] A heterogeneous screen device is used to generate an AGV task chain and / or a control instruction packet through multi-screen linkage interactive control fusion data; the heterogeneous screen device can also obtain maps, edit maps, push maps or manage maps through multi-screen linkage interactive control fusion data, and transmit the map file name, map file path and even the data content of the map file itself.

[0061] The heterogeneous screen device can also generate a control instruction package through multi-screen linkage interactive control fusion data, and package the user's input instruction operation combination or a series of logical operations. The multi-scheduling subsystem unpacks it into a series of instruction sequences; the multi-scheduling subsystem sends the decomposed instructions of the control instruction package to the AGV main device according to the instruction characteristics of the control instruction package, and then the AGV main device controller computer program drives the AGV main device to move, including turning, mechanical arm movement and extension, lifting, lowering and other actions, and the AGV main device adjusts the amplitude of the action according to the received parameters.

[0062] The AGV physical subsystem is used to enhance the AGV's ability to adapt to the environment with the help of multiple scheduling subsystems, the ability to interact with the environment, and the ability to work manually, automatically or semi-automatically with other fixed or mobile entities; including the AGV body, AGV running track, fixed shelves, mobile shelves, cache positions, seeding walls, AGV loading stands, and AGV unloading stations;

[0063] The multi-scheduling subsystem is used to parse the AGV task chain into multiple subtasks, and then classify and sequence the atomic instructions (atomic instruction sequences) generated by the subtasks to the AGV body or the AGV device with an integrated edge computing controller by means of a multi-level cache data exchange mechanism; and unpack the control class instruction package into a series of instruction sequences, and send the decomposed instructions to the AGV body according to the instruction characteristics; the multi-scheduling subsystem sends the decomposed instructions of the control class instruction package to the AGV body device according to the instruction characteristics of the control class instruction package, and then the AGV body controller computer program drives the AGV body device to move, including turning, mechanical arm movement and extension, lifting, descending and other actions, and the AGV body device adjusts the amplitude of the action according to the received parameters. The multi-scheduling subsystem includes a scheduling component and / or a software subsystem / platform of an integrated scheduling component, and different scheduling components and / or software subsystems / platforms of integrated scheduling components are connected through a scheduling middleware to achieve smooth operation of the AGV scheduling system. The scheduling component includes a positioning component, a navigation component, a mapping component, a path planning component, a path tracking component, a shelf pick-and-place component, and a traffic control component. The components can be combined and deployed according to needs to form different subsystems. Each subsystem can be a centralized control (such as an AGV equipment Master device) system or a distributed control system or a combination of the two. It can achieve fast and accurate data processing and information interaction, ensuring that AGV can operate efficiently and stably in various application scenarios.

[0064] Figure 2 It is one of the structural diagrams of the scheduling component, the positioning component, which provides the robot system with powerful position perception and navigation capabilities, significantly improving the robot's intelligence level and task execution capabilities.

[0065] Optionally, deployed on edge computing nodes, the positioning module can have higher reliability and stability, and can continuously provide accurate positioning information in complex and changing environments. By working in conjunction with other modules of the robot, the positioning module can ensure that the robot remains efficient, safe and accurate when completing tasks.

[0066] The navigation component provides the robot system with powerful autonomous navigation and mobility capabilities, and obtains detailed information about the surrounding environment by receiving data from environmental perception sensors such as lidar and cameras in real time.

[0067] Optionally, deployed on edge computing nodes to provide more accurate map construction, path planning, and intelligent decision-making, the navigation module can ensure that the robot can complete tasks efficiently and accurately in complex environments.

[0068] The mapping component is the core component of the scheduling system. It contains the geometric information of the environment, such as obstacles, roads, and landmarks, as well as the semantic information of the environment, such as the category, location, and status of objects. By building such a map, the robot can better understand the environment, providing an important basis for subsequent task execution and navigation;

[0069] Optionally, high-precision environmental modeling can be achieved through the lidar, depth camera, RGB-D camera and external QR code on the AGV body to build a high-precision map of the robot's working environment.

[0070] Optionally, it can be deployed on edge computing nodes to continuously update and improve environmental models to adapt to new environmental changes, thus achieving high-level capabilities of self-optimization and updating.

[0071] Path tracking components are used to ensure that the robot can accurately execute the predetermined path and achieve efficient and accurate autonomous navigation and intelligent movement;

[0072] Optionally, it is deployed on an edge computing node and can calculate the deviation between the robot's current position and the target path in real time, and generate appropriate control signals based on these deviations to adjust the robot's speed, direction, and posture so that it moves along the predetermined path.

[0073] The path planning component is used to search and calculate the optimal path using advanced algorithms and technologies based on known environmental information, such as obstacle locations, terrain features, etc. These algorithms may include graph search algorithms, sampling-based algorithms, optimization algorithms, etc., which are selected and applied according to specific application scenarios and environmental characteristics.

[0074] Communication interface component, which can be used independently or in conjunction with other components. It is one of the essential components used to complete all communication primitives and communication interfaces inside or outside the component. It is also one of the only components that can be deeply integrated with the communication chip.

[0075] The parsing execution component can quickly parse the defined communication primitive set messages, including encryption and decryption, and combine the protocol characteristics to accelerate the efficiency of message communication data exchange;

[0076] Traffic control component dynamically adjusts the driving path according to the current operating status of the AGV, including path release, deadlock detection and other functions to ensure the optimization of AGV driving path allocation;

[0077] Optionally, it can be deployed on edge computing nodes to analyze traffic flow, identify traffic signals, and adjust the robot's motion plan in real time to achieve the goals of improving traffic efficiency, ensuring safety, and reducing traffic congestion, and to improve the robot's autonomy, safety, and efficiency in complex traffic environments.

[0078] The shelf pick-and-place component generates a scientific target movement strategy based on the cache location, storage location and lane information, and communicates with other related components. The lane is a channel through which the robot can pass;

[0079] Optionally, deployed on an edge computing node, it can calculate the deviation between the shelf's current position and the target cache location in real time, and generate appropriate target movement strategies based on these deviations.

[0080] The multi-level cache system is composed of the local cache system of the AGV body, the local cache system of the edge computing controller, the local cache system of the edge computing server, or the local cache system of all other edge computing nodes participating in the dispatching system communication, which together form an infrastructure for high-speed communication or neural network communication network data exchange and processing. This structure can fully meet the communication decoupling of dispatching components, the association between communications, and the collaborative processing of AGV scheduling problems and communication problems, where the communication methods and means can evolve with the development of the times. The multi-level cache system uses hardware and software integration technology, using hardware single memory or cluster hardware memory, hardware non-volatile storage media, memory database, software real-time database system, and database storage methods including cache persistence to provide a data exchange basis for the entire AGV real-time dispatching system. The multi-level cache system includes a scheduling data cache device, which is used to cache the message sets exchanged through multi-screen linkage and multi-scheduling subsystems, the message sets exchanged between multiple AGV devices and multiple scheduling subsystems, and the collection of all message bodies defined for multi-scheduling subsystem exchange messages to form a complete system-level communication primitive; communication primitives such as AGV task message body, battery message body, AGV device message body, AGV map message body, cache position message body, shelf message body, AGV motion status message body, AGV steering wheel message body, AGV waybill message body and AGV task termination message body, etc.;

[0081] Preferably, local wireless communication can be achieved between the AGV device or edge computing controller and the edge computing server to ensure that the local network can upload the location information, operating status data and image information of the AGV positioning and navigation subsystem and the AGV scheduling system to the edge computing server in real time and be processed immediately.

[0082] like Figure 3As shown, the data caching subsystem includes a message primitive acquisition module 610, a primitive message cache or persistence module 620 and an AGV scheduling message module 630; the communication primitive acquisition module 610 is used to obtain the operating status data of the AGV body through the edge computing node and the real-time location information of the AGV body through the AGV positioning and navigation subsystem; wherein the edge computing node is set in the AGV body or an independent edge computing device; the communication primitive cache or persistence module 620 is used to send the operating status data and real-time location information to the multi-level data cache device through the data interface; the implementation of the multi-level cache system requires the use of multiple multi-level cache devices; the AGV scheduling message module 630 processes the AGV task-related information from the multi-level cache device by calling the required scheduling components, obtains the operation request information, and quickly forwards the operation result information to the multi-screen user interface. The data cache subsystem is designed for efficient exchange of dispatch system communication primitives (such as various message sets) or for efficient access to system data (such as AGV equipment data, task data, storage location or cache location data, shelf or carrier data, etc.). It is implemented using advanced computer parallel computing technology and distributed system architecture, involving technologies such as real-time data models, real-time data languages, real-time transaction models, buffer models, data storage management and recovery mechanisms, etc.

[0083] The scheduling device is used to load multiple scheduling subsystems and send the operating status data and real-time location information to the multi-level cache system through a data interface. The scheduling device includes a hardware and software integrated edge computing server and a real-time database system located outside the AGV body or the AGV device with an integrated edge computing controller. The scheduling data generated by the multiple scheduling subsystems is saved in the real-time database system, and the edge computing node sends the acquired operating status data and real-time location information to the multi-level cache system through a data interface; the real-time database system achieves a balance between multi-level caching and scheduling data persistence.

[0084] The scheduling device also includes an AGV digital simulation model module; the AGV digital simulation model module is used to obtain an AGV virtual model through three-dimensional modeling according to the AGV body or the AGV equipment with an integrated edge computing controller, the position of the AGV running track, the size and position of the material frame, the size and position of the shelf, the position of the AGV loading platform and the position of the AGV unloading station; the AGV digital simulation model module exchanges data with the corresponding AGV physical system in reality through a multi-level cache subsystem to improve the real-time performance of the AGV real-time scheduling system; wherein the AGV virtual model includes a virtual AGV body and a virtual application scenario.

[0085] Figure 4 This is a schematic diagram of the basic architecture of the scheduling device. In this embodiment, the scheduling device can be a computing node on the AGV body, an edge computing controller close to the AGV body, and an edge computing server.

[0086] The computing node on the AGV body accelerates the AGV equipment to collect the running status data of the AGV body, and assists the AGV to obtain the real-time location information of the body through the positioning system; the computing node communication chip and the corresponding software driver module should meet the communication channel reliability and efficient communication;

[0087] Optionally, the intelligent chip of the computing node has specific computing and data processing capabilities for the exchanged data to be communicated; in addition, the intelligent chip of the computing node can also undertake the tasks of specific algorithms;

[0088] The edge computing controller device is close to the data generation side of the AGV equipment, and obtains the operating status data of the AGV body in a timely manner, and obtains the real-time location information of the AGV body through the AGV positioning system; and processes sensor data, executes complex algorithms and real-time control tasks on the AGV body, helping multiple scheduling subsystems to improve response speed and reliability; the edge computing controller also gives the AGV body edge intelligence capabilities;

[0089] Optionally, the smart chip can work with the scheduling software middleware to filter and forward valid data; the smart chip can also have certain edge reasoning capabilities and run customized local models;

[0090] Edge computing servers are used to provide sufficient computing power to share local scheduling components or undertake the operations required by the overall scheduling system;

[0091] Optionally, the edge computing server can be an embedded workstation, a small server, an edge all-in-one machine, and an edge server;

[0092] Optionally, in addition to the scheduling component, the edge computing server can be used to bear the entire computing power requirements of the edge computing platform.

[0093] The AGV positioning and navigation subsystem is used to continuously obtain accurate real-time location information of the AGV body in a complex and changing environment. By receiving data from environmental perception sensors in real time, it provides more accurate map construction, path planning and intelligent decision-making to ensure that the robot can complete tasks efficiently and accurately in a complex environment. The AGV positioning and navigation subsystem is based on data fusion positioning technology, combined with the laser radar and visual camera set on the AGV body to obtain the real-time location information of the AGV body. By receiving data from environmental perception sensors in real time, it provides more accurate map construction, path planning and intelligent decision-making.

[0094] AGV body or AGV equipment with integrated edge computing controller, as well as AGV running tracks, fixed shelves, mobile shelves, cache positions, seeding walls, AGV loading platforms, and AGV unloading stations. The AGV body is a highly integrated system, with main components such as chassis, wheels, power storage and charging devices, drive devices, steering devices, safety protection devices, communication devices, and vehicle-mounted controllers. As a highly integrated system, the various components of the AGV body cooperate and work together to realize the functions of autonomous navigation, path planning, obstacle avoidance, loading and unloading of AGV. The CPU cache, memory, exchange memory, and storage medium of the AGV body controller constitute the local cache system of the AGV body. Wireless communication can be achieved between the AGV controller and the edge computing server. It can be achieved through 4G / 5G or WiFi. 4G / 5G or WiFi technology can process AGV information close to the AGV device side or transmit it to the server for processing through the scheduling middleware software. During the scheduling data exchange or transmission process, a multi-level cache device can be used to reduce the delay and instability of 4G or WiFi communication on the normal operation of the AGV.

[0095] Edge computing controller, the edge computing controller is used to process real-time data and instructions during the operation of the AGV, thereby improving the response speed and system efficiency, and can achieve fast and accurate data processing and information interaction, ensuring that the AGV can operate efficiently and stably in various application scenarios. The independent controller device is an edge computing side device or an edge computing controller, which is specifically used to process real-time data and instructions during the operation of the AGV. At the same time, this edge computing controller can also be integrated on the AGV body to directly perform local control and data processing on the AGV, thereby improving the response speed and system efficiency. The CPU cache, memory, swap memory and storage medium of the edge computing controller constitute the local cache system of the edge computing controller device.

[0096] The edge computing server or workstation forms a cluster system or distributed system of multiple edge computing nodes. Each edge computing node and the multi-level cache system together constitute the infrastructure of the scheduling device. Multiple scheduling subsystems are deployed on different edge computing nodes. The edge computing server is used to carry the AGV positioning system, AGV scheduling system, AGV image algorithm and AGV status data. The edge computing server can be set up on the on-site server for use.

[0097] The running status data of the AGV body is obtained through the edge computing controller device, and the real-time location information of the AGV body or the AGV device with integrated edge computing controller is obtained through the AGV positioning and navigation subsystem; the scheduling device sends the running status data and real-time location information to the multi-level cache system through the data interface;

[0098] Heterogeneous screen devices generate AGV task chains by integrating data through multi-screen interactive control. The multi-scheduling subsystem parses the AGV task chain into multiple subtasks, and the multiple subtasks generate multiple task instruction sequences, namely atomic instruction series. The multi-scheduling subsystem uses a multi-level cache data exchange mechanism to classify and sequence the atomic instructions and send them to the AGV body or the AGV device with an integrated edge computing controller; among them, both cache data and scheduling data are transmitted through communication primitives.

[0099] Optionally, in order to improve industry discipline and friendly interaction, the interface elements of heterogeneous screen devices may need to draw on the division and combination of several oriented functional modules, such as the operation monitoring function module can see the equipment information fed back by the scheduling system in real time, the robot function module can browse the parameter information of all equipment at any time, the task management function module can hide the complexity of the scheduling system mentioned in this patent and provide more convenient task templates, the map management module undertakes the auxiliary design capabilities such as AGV equipment map generation, trimming, editing, uploading / downloading, etc., the equipment management module can provide the management and control interface related to the AGV physical system, the configuration management module can facilitate the network configuration of the scheduling system and improve the network access capability, and the statistics center facilitates the scheduling system to connect with business needs and real-time monitoring of parameters such as AGV equipment utilization rate;

[0100] Among them, the multi-level cache scheduling data exchange or integrated edge computing controller AGV equipment, the position of the AGV running track, the position of the fixed shelf, the position of the mobile shelf, the position of the cache position, the size and position of the material frame, the size and position of the shelf, the position of the AGV loading platform and the position of the AGV unloading station respectively exchange the AGV position coordinates and angles, the warehouse location number, the shelf number, the shelf location number, the cache position number, the AGV radar detection frame data, the position number of the AGV loading platform and the position of the AGV unloading station and many other data information input or output from the multi-scheduling subsystem;

[0101] The operating status data of the AGV body includes at least one of the start / stop status, pause status, task completion status, operating speed, position and angle, point cloud data, working status, current power, safety status, current task, and completed task.

[0102] Among them, multi-screen linkage can use a variety of on-site or remote industrial screens such as workstation screens, projection screens, Web screens, mobile screens, lightweight software small screens, billboard screens, XR device screens, and smart screens.

[0103] like Figure 5As shown in the figure, the real-time and flexibility of the scheduling system are inseparable from the multi-level cache system and the scheduling system device. The cache system of the computer system has multiple hierarchical characteristics. The AGV real-time flexible scheduling system deployment specification proposed in this embodiment is both scientific and can fully affirm the feasibility of the scheduling system and the predictability of the scheduling system customization. The figure gives rules for how to optimize the system deployment from two dimensions. The cache dimension is the horizontal axis, which gradually opens the scheduling data exchange performance hierarchy from the volatile storage medium close to the processor to the non-volatile storage medium far away from the processor along the multi-level cache system idea; the deployment dimension is the vertical axis, which lists the key edge computing node devices that are mainly connected to the scheduling system or components, such as the AGV body (controller), edge computing node controller, workstation, edge computing server and heterogeneous screen device. Among them, the shaded area in the figure focuses on the deployment strategy that the scheduling system components focus on the deployment area that can meet the two dimensions at the same time. In addition, the device form that is closer to the AGV body is usually an embedded device and a matching real-time operating system (RTOS), and the device form that is closer to the user side is usually a movable or non-movable industrial digital terminal device.

[0104] In addition, the flexible requirements of the AGV real-time scheduling system are considered to meet the customized implementation requirements of the solution, such as communication flexibility, system architecture flexibility, system service flexibility, solution deployment flexibility, task allocation flexibility, equipment combination flexibility, and mode selection flexibility.

[0105] Communication flexibility, used for communication structure expansion, must comply with the existing communication primitive dictionary definition and consider dictionary extensibility to meet the openness of the communication architecture; the communication technologies mentioned above, such as 5G communication, IoT MQTT communication, wireless WIFI 6 / 7 communication and even compatible standard OPC UA can be considered as the scope of communication structure deployment design, and appropriate networking technology should be adopted while taking into account communication efficiency;

[0106] The flexibility of the system architecture is used to meet the needs of device diversity, configuration flexibility, architecture openness, and user-friendliness. Device diversity is reflected in the heterogeneous computing nodes participating in the scheduling system, configuration flexibility is reflected in the software configurability of all scheduling components, architecture openness is reflected in hardware scalability or software reconfigurability, and user-friendliness is the diversity of device terminals, which can be mobile device release packages, installation programs for non-mobile devices, etc.

[0107] System service flexibility provides software design interfaces and software service interfaces of different levels for subscribing. This open interface of a subsystem or component limits its own functions on the one hand, but also facilitates combination or composite design on the other hand.

[0108] Flexible solution deployment, flexible to different scenarios, multiple device options, and diverse software, component, or middleware deployment modes; multiple components can be combined to form a new subsystem, and component source code can be recompiled and deployed to different operating systems;

[0109] Flexible task allocation. You can use different AGV equipment combinations to complete tasks. Equipment selection can be one-to-one, one-to-many, or many-to-many. For example, a complete task chain can be assigned to multiple AGVs to execute in parallel or sequentially. In special cases, the entire waybill may be completed by designated AGV equipment in sequence, because only the current AGV equipment is in a healthy operating state.

[0110] Flexible equipment selection, especially lifting AGV, handling AGV, storage ACR and other equipment; users can combine different types of AGV equipment together through the linkage control screen to complete a certain task chain;

[0111] Flexible mode selection, the system design takes into account manual mode, automatic mode and semi-automatic mode. Users can choose which operations require manual single-step or multi-step control, and which parts can be completed automatically; for example, if the AGV equipment and system fail or are abnormal, manual fine-grained control operations such as lifting, lowering, selecting, and retracting are required through the control screen interface.

[0112] The present invention integrates 5G network technology to improve the communication rate and stability to maintain the normal and accurate operation of AGV. For the on-site communication area, a local area network technology such as WiFi6 can be established for local communication to ensure the efficiency and stability of local communication.

[0113] Optionally, although this embodiment adopts 5G and WiFi6 communication technologies, in order to maintain the advancement of this patent, it can be implemented by adopting technologies higher than 5G or WiFi6 as the technology is iterated and updated.

[0114] Optionally, the edge computing device can be installed as a hardware and software integrated device inside the AGV body, and collect the real-time operating status information data of the AGV through the industrial communication protocol supported by the AGV device (such as OPC UA or MQTT protocol) and upload it to the edge computing server.

[0115] Among them, OPC UA (OPC Unified Architecture) is a time-sensitive network technology based on the OPC unified architecture. It establishes a time-sensitive mechanism that supports inter-network interoperability and achieves breakthroughs in the comprehensive integration of information technology (IT) and operational technology (OT) at the physical layer, data link layer, network layer, transport layer, session layer, expression layer, and application layer. This technology is based on the international standards of the International Electrotechnical Commission (IEC) and the Institute of Electrical and Electronics Engineers (IEEE), and can provide standardized modules for the construction of industrial Internet network systems. It is a key technology for establishing high-bandwidth, high-synchronization, and widely compatible communications from sensors to the cloud.

[0116] Among them, MQTT (Message Queuing Telemetry Transport) is an instant messaging protocol developed by IBM, which has become an important part of the Internet of Things. The protocol supports all platforms and can connect almost all networked objects to the outside world. It is used as a communication protocol for sensors and actuators (such as connecting houses to the Internet through Twitter).

[0117] Optionally, the above communication protocol can also use the VDA5050 communication interface standard; among them, VDA5050 uses MQTT as the standard protocol, uses the JSON data structure, and clearly defines the respective roles and functions of the operator, the scheduling system, and the AGV / AMR.

[0118] Example 2

[0119] This embodiment provides an AGV real-time scheduling method, which is applicable to the above-mentioned AGV real-time scheduling system. The AGV real-time scheduling method includes:

[0120] 1) The user issues instructions or tasks on different screen controls, and generates AGV chain and / or control instruction packages based on multi-screen linkage fusion data;

[0121] 2) The multi-scheduling subsystem parses the AGV task chain into multiple subtasks, and the multiple subtasks generate multiple task instruction sequences, i.e., atomic instruction series;

[0122] 3) The multi-level scheduling subsystem unpacks the control instruction package into a series of instruction sequences, and the AGV equipment performs corresponding actions according to the instruction type and instruction parameters;

[0123] 4) Obtain the running status data and navigation data of the AGV body through the edge computing side device, and obtain the real-time location information of the AGV body through the AGV positioning and navigation subsystem; specifically, achieve emergency obstacle avoidance by eliminating conflicts through the path file, match the AGV path by obtaining the AGV work history data and the current power, and optimize the AGV path using genetic algorithms, etc., to achieve multi-task multi-path scheduling of AGV. Among them, the running status data of the AGV body includes at least one of the power on / off state, start / stop state, running speed, working state, current power, safety state, current task, and completed task. Among them, the working state may include running, waiting, and charging, etc.; the safety state may include notification messages, graded warning information, alarm mode, etc. There are multiple edge computing side devices set up at the production site, and the edge computing side devices include edge computing controllers, edge computing gateways, edge computing independent devices, and edge computing servers. The edge computing side devices receive AGV data through wireless networks, use cluster connections to process data exchange between edge computing devices, and upload to the edge computing server through the on-site industrial local area network. The edge computing server further transmits the data to the enterprise business center server.

[0124] 5) The dispatching device sends the operation status data, navigation data and real-time location information to the multi-level cache system through the data interface; wherein the data can be sent through an independent edge computing device or directly using an integrated edge computing controller;

[0125] 6) The multi-level cache system caches system-level communication primitives and can store them persistently; communication primitives such as AGV task message body, battery message body, AGV equipment message body, AGV map message body, cache position message body, shelf message body, AGV motion status message body, AGV steering wheel message body, AGV waybill message body and AGV task termination message body, etc.

[0126] 7) The software and hardware in the multi-scheduling subsystem collaboratively calculate and process communication primitives. The scheduling device forwards the processing results upward or directly sends them to the AGV body according to its own attributes; the upward forwarding can be the return of the operation result data to the central control layer or the user layer; directly sending the processing request to the AGV body can use the software and hardware edge computing technology to send the processing results to the AGV body;

[0127] 8) Parse the received communication primitives through the user interaction interface, and present the processed message data to the user; the interface type returned by the communication primitive is related to the input method of the multi-screen linkage user scenario, and the data presentation method is also related to the type of screen-oriented application.

[0128] Example 3

[0129] This embodiment provides a computer program product, including a computer program, which implements the above-mentioned AGV real-time scheduling method when executed by a processor, wherein the computer program product can be centrally or distributedly deployed in the edge computing node device of the AGV device body.

[0130] The readable storage medium can be any available medium or data storage device that can be accessed by the processor, including but not limited to magnetic storage (such as floppy disks, hard disks, magnetic tapes, magneto-optical disks (MO), etc.), optical storage (such as CD, DVD, BD, HVD, etc.), and semiconductor storage (such as ROM, EPROM, EEPROM, non-volatile memory (NAND FLASH), solid-state drive (SSD)), etc.

[0131] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general or dedicated hardware platform, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0132] Example 4

[0133] This embodiment provides an edge computing server, including a memory, a transceiver, an AI chip and a processor; the memory is used to store computer programs; the transceiver is used to send and receive data including communication primitives under the control of the processor; the AI ​​chip is used to improve the intelligence level of the scheduling system; the processor is used to read the computer program in the memory and implement the above-mentioned AGV real-time scheduling method.

[0134] Example 5

[0135] like Figure 6 As shown, this embodiment provides an edge computing node structure that is conducive to device selection. The edge computing node is mainly embodied as an edge computing server or an edge computing side device. The main components may include: a memory 710, a smart chip 720 and a processor 730.

[0136] The memory 710 is used to store computer programs; the smart chip 720 is used to perform intelligent processing or independent processing chips with the participation of the processor 730; the processor 730 is used to read the computer program in the memory 710 and perform the following operations:

[0137] The operating status data of the AGV body is obtained through the edge computing node device, and the real-time location information of the AGV body is obtained through the AGV positioning system; the operating status data and real-time location information are sent to the multi-level data cache device through the data interface; wherein the multi-level cache device includes hardware computer CPU cache, hardware memory, storage medium and hardware single memory or cluster hardware memory, hardware non-volatile storage medium, software real-time database system and a database storage method including cache persistence; the multi-level cache device is used to receive AGV data exchange instructions generated by the edge computing node according to the operating status data and real-time location information; the multi-level cache device caches the AGV data exchange instructions or stores the data exchange information in a single machine according to the configuration information or uses the cluster to cache the AGV data exchange instructions or sends them to the corresponding components of the AGV real-time scheduling software according to the system data request.

[0138] Among them, Figure 6 In the embodiment, the bus architecture may include any number of interconnected buses and bridges, specifically linking together various circuits of one or more processors represented by processor 730 and memory represented by memory 710. The bus architecture may also link together various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art and are therefore not further described herein.

[0139] The bus interface provides an interface. The smart chip 720 can be a variety of components, including a chip unit that can be integrated with a processor or can perform intelligent computing independently, and a smart unit that provides communication with various other devices on a transmission medium. For devices in different scenarios, the interface part can also be an interface that can be externally or internally connected to the required device.

[0140] The processor 730 is responsible for managing the bus architecture and general processing, and the memory 710 can store data used by the processor 730 when performing operations.

[0141] The processor 730 is used to execute any of the methods provided in the embodiments of the present application according to the obtained executable instructions by calling the computer program stored in the memory 710. The processor and the memory may also be arranged physically separately.

[0142] Optionally, the processor 730 is further configured to perform the following operations:

[0143] In one embodiment, the real-time location information of the AGV body is obtained through the AGV positioning system, including: detecting the positioning tag of the AGV through the body positioning system, and obtaining the wireless location signal of the AGV body as the real-time location information of the AGV body.

[0144] In one embodiment, the edge computing node sends the operating status data and real-time location information to the outside of the multi-level cache device through the data interface. The exchanged data information may include: the position of the AGV body, the AGV running track, the position of the fixed shelf, the position of the mobile shelf, the position of the cache bit, the size and position of the material frame, the size and position of the shelf, the position of the AGV loading platform and the position of the AGV unloading station.

[0145] Obtaining the running status data of the AGV body through the edge computing node, and obtaining the real-time location information of the AGV body through the AGV positioning system, including: obtaining the running status data of the AGV body from the edge computing node through the 5G network or the local area network; obtaining the real-time location information of the AGV body from the AGV positioning system through the 5G network or the local area network;

[0146] Although the preferred embodiments of the present application have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications falling within the scope of the present application.

[0147] It should be noted that the technical features not described in detail in the present invention can be implemented by any existing technology.

Claims

1. An AGV real-time dispatching system, characterized in that: Including multiple scheduling subsystems, scheduling devices, AGV positioning and navigation subsystems, AGV physical subsystems, AGV bodies or AGV devices with integrated edge computing controllers, independent edge computing controller devices, edge computing servers or workstations, multi-level cache systems, and heterogeneous screen devices; Heterogeneous screen devices are used to generate AGV task chains and / or control instruction packets through multi-screen linkage interactive control fusion data; The multi-scheduling subsystem is used to parse the AGV task chain into multiple subtasks, and then use the multi-level cache data exchange mechanism to classify and sequence the atomic instructions generated by the subtasks to the AGV body or the AGV device with an integrated edge computing controller; and unpack the control instruction package into a series of instruction sequences, and send the decomposed instructions to the AGV body according to the instruction characteristics; The dispatching device is used to load multiple dispatching subsystems and send the operation status data, navigation data and real-time position information to the multi-level cache system through the data interface; The AGV positioning and navigation subsystem is used to continuously obtain accurate real-time location information of the AGV in a complex and changing environment. It provides more accurate map construction, path planning, and intelligent decision-making by receiving data from environmental perception sensors in real time. AGV physical subsystem, used to enhance the AGV's ability to adapt to the environment with the help of multiple scheduling subsystems, environmental interaction, and manual, automatic or semi-automatic collaborative operation with other fixed or mobile entities; Edge computing controller equipment is used to obtain the operating status data of the AGV body; and process sensor data, execute complex algorithms and real-time control tasks on the AGV body, helping multiple scheduling subsystems improve response speed and reliability; the edge computing controller also gives the AGV body edge intelligence capabilities; The edge computing controller, edge computing server or workstation forms a cluster system or distributed system of multiple edge computing nodes. Each edge computing node and the multi-level cache system together constitute the infrastructure of the scheduling device, and multiple scheduling subsystems are deployed on different edge computing nodes respectively.

2. The AGV real-time dispatching system according to claim 1, characterized in that: The multi-scheduling subsystem includes a scheduling component and / or a software subsystem / platform of an integrated scheduling component. Different scheduling components and / or software subsystems / platforms of an integrated scheduling component are connected through a scheduling middleware to achieve smooth operation of the AGV scheduling system.

3. The AGV real-time dispatching system according to claim 2, characterized in that: The scheduling component includes a positioning component, a navigation component, a mapping component, a path planning component, a path tracking component, a shelf picking and placing component, and a traffic control component.

4. The AGV real-time dispatching system according to claim 1, characterized in that: The scheduling device includes an integrated hardware and software edge computing server and a real-time database system located outside the AGV body or the AGV device with an integrated edge computing controller. The scheduling data generated by multiple scheduling subsystems is saved in the real-time database system, and the edge computing server sends the acquired operating status data and real-time location information to the multi-level cache system through the data interface.

5. The AGV real-time dispatching system according to claim 1, characterized in that: The scheduling device also includes an AGV digital simulation model module; the AGV digital simulation model module is used to obtain an AGV virtual model through three-dimensional modeling according to the AGV body or the AGV equipment with an integrated edge computing controller, the position of the AGV running track, the size and position of the material frame, the size and position of the shelf, the position of the AGV loading platform and the position of the AGV unloading station; the AGV digital simulation model module exchanges data with the corresponding AGV physical system in reality through a multi-level cache subsystem to improve the real-time performance of the AGV real-time scheduling system; wherein the AGV virtual model includes a virtual AGV body and a virtual application scenario.

6. The AGV real-time dispatching system according to claim 1, characterized in that: The AGV positioning and navigation subsystem is based on data fusion positioning technology, combined with the laser radar and visual camera set on the AGV body to obtain the real-time location information of the AGV body; by receiving data from environmental perception sensors in real time, it provides more accurate map construction, path planning and intelligent decision-making.

7. The AGV real-time dispatching system according to claim 1, characterized in that: The multi-level cache system consists of the local cache system of the AGV body, the local cache system of the edge computing controller, the local cache system of the edge computing server, or the local cache systems of all other edge computing nodes participating in the dispatching system communication, forming an infrastructure for high-speed communication or neural network communication network data exchange and processing; The multi-level cache system utilizes software and hardware integration technology, using hardware single memory or clustered hardware memory, hardware non-volatile storage media, memory database, software real-time database system, and a database storage method including cache persistence to provide a data exchange basis for the entire AGV real-time scheduling system.

8. The AGV real-time dispatching system according to claim 1, characterized in that: The multi-level cache system includes a scheduling data cache device, which is used to cache the message sets exchanged through multi-screen linkage and multi-scheduling subsystems, the message sets exchanged between multiple AGV devices and multi-scheduling subsystems, and the collection of all message bodies defined for multi-scheduling subsystem exchange messages to form a complete system-level communication primitive.

9. The AGV real-time scheduling method according to claim 7, characterized in that: The data cache subsystem includes a message primitive acquisition module, a primitive message cache or persistence module and an AGV scheduling message module; Acquisition of communication primitive module, used to obtain the running status data of the AGV body through the edge computing node and the real-time location information of the AGV body through the AGV positioning and navigation subsystem; A communication primitive cache or persistence module is used to send the operation status data and real-time location information to the multi-level data cache through the data interface; The AGV scheduling message module processes the AGV task-related information from the multi-level cache device by calling the required scheduling components, obtains the operation request information, and quickly forwards the operation result information to the multi-screen user interface.

10. A real-time scheduling method for AGV, characterized in that: The scheduling method is applicable to the AGV real-time scheduling system described in any one of claims 1 to 9, and the AGV real-time scheduling method includes: 1) The user issues instructions or tasks on different screen controls, and generates AGV task chains and / or control instruction packages based on multi-screen linkage fusion data; 2) The multi-scheduling subsystem parses the AGV task chain into multiple subtasks, and the multiple subtasks generate multiple task instruction sequences, i.e., atomic instruction series; 3) The multi-scheduling subsystem unpacks the control instruction package into a series of instruction sequences, and the AGV equipment performs corresponding actions according to the instruction type and instruction parameters; 4) Obtain the running status data and navigation data of the AGV body through the edge computing side device, and obtain the real-time location information of the AGV body through the AGV positioning and navigation subsystem; 5) The dispatching device sends the operation status data, navigation data and real-time location information to the multi-level cache system through the data interface; wherein the data can be sent through an independent edge computing device or directly using an integrated edge computing controller; 6) A multi-level cache system caches system-level communication primitives and can also store them persistently; 7) The software and hardware in the multi-scheduling subsystem collaboratively calculate and process communication primitives, and the scheduling device forwards the processing results upward or directly sends them to the AGV body according to its own attributes; 8) Parse the received communication primitives through the user interaction interface, process the message data and present it to the user.

11. A computer program product, characterized in that It includes a computer program, and when the computer program is executed by a processor, the AGV real-time scheduling method according to claim 10 is implemented.

12. An edge computing server, characterized in that: It includes a memory, a transceiver, an AI chip and a processor; the memory is used to store computer programs; the transceiver is used to send and receive data including communication primitives under the control of the processor; the AI ​​chip is used to improve the intelligence level of the scheduling system; the processor is used to read the computer program in the memory and implement the AGV real-time scheduling method described in claim 10.

Images