Multi-AGV multi-elevator dynamic scheduling method and system, storage medium and product

Abstract

The invention relates to the field of dynamic scheduling of AGVs and elevators, in particular to a multi-AGV and multi-elevator dynamic scheduling method and system, a storage medium and a product, and the method comprises the steps that S1, a carrying task is issued to a proper AGV; s2, the AGV receives the target goods shelf; s3, whether cross-floor carrying is needed or not is judged; s4, the AGV arrives at an elevator waiting point; s5, elevator dynamic scheduling is carried out; s6, after the AGV waits for the elevator to be dynamically dispatched to the elevator meeting the AGV passing condition at the elevator waiting point, the AGV takes the elevator to reach the carrying task terminal floor; s7, the AGV arrives at the carrying task terminal floor and sends the carrying task target to the task site; the operation condition in the elevator is collected in real time through image recognition calculation, elevator dynamic scheduling is achieved through a double triggering mechanism, efficient task cooperation between the AGV and the elevator is achieved, quick response and dynamic optimization can be achieved in a logistics workshop, the utilization rate of the elevator and the operation efficiency of the AGV are improved by setting a scoring mechanism, and the working efficiency of the AGV is improved. And the logistics transportation efficiency is further improved.

Description

Technical Field

[0001] The present invention relates to the field of dynamic scheduling of AGVs and elevators, and in particular to a method, system, storage medium and product for dynamic scheduling of multiple AGVs and multiple elevators. Background Art

[0002] In a multi-floor logistics warehousing system, multiple AGVs working together often need to frequently use elevators to complete cross-floor material handling tasks. The traditional material handling scheduling method usually requires each AGV to rely on its own path planning and task template to reach the designated location and request elevator service through a simple scheduling strategy.

[0003] However, due to the complexity of the logistics environment, the scheduling requirements of elevators in a multi-AGV system often lead to severe competition for resources, and even multiple AGVs waiting for the same elevator at the same time, resulting in a decrease in overall efficiency. In addition, the material demand on different floors fluctuates greatly, and the elevator's carrying tasks also need to be balanced between the upper and lower floors to ensure that the tasks on each floor can be completed in a timely manner. Summary of the invention

[0004] The object of the present invention is to provide a multi-AGV multi-elevator dynamic scheduling method, system, storage medium and product for improving operation efficiency.

[0005] In order to achieve the above object, the present invention adopts such technical solution: A multi-AGV multi-elevator dynamic scheduling method includes the following steps performed in sequence: S1: The RCS system obtains the transport task and sends the transport task to the appropriate AGV according to the location of the transport target; S2: The AGV that receives the transport task obtains a pickup path to the transport target, and the AGV goes to the location of the transport target to pick up the target shelf according to the acquired pickup path; S3: The RCS system determines whether the transport task requires cross-floor transport according to the starting point and the end point of the transport task. If the starting point and the end point of the transport task are not on the same floor, it is determined that cross-floor transport is required and step S4 is executed. Otherwise, the system jumps to step S7. S4: After receiving the target shelf, the AGV goes to the elevator waiting point and waits for the elevator to be dispatched. When the AGV arrives at the elevator waiting point, the AGV arrival time is recorded; S5: Use the dual trigger mechanism priority queue dynamic scheduling algorithm to dynamically schedule elevators, set up a scoring mechanism for elevator scheduling priorities, calculate scores based on the current operating status of each elevator to achieve priority queue sorting between elevators, and select elevators with high priority to assist AGVs in completing cross-floor transport tasks; The specific steps of elevator dynamic scheduling are as follows: S5-1: When the elevator arrives at the elevator waiting point, the dispatch information of each elevator is collected. The dispatch information includes the floor where the elevator is located, the elevator load status, the estimated number of stops of the elevator, and the elevator information matrix and AGV waiting array of the AGV are updated; S5-2: Calculate the total score of the elevator. Calculate the total score based on the currently collected dispatch information. Update the AGV mark and its corresponding total score in the elevator information matrix according to the priority change of the total score calculation. Update the elevator priority order in the AGV waiting array according to the result of the total score calculation. The calculation process of the total elevator score is as follows: The dynamic scheduling algorithm is triggered by the elevator door closing and floor request button. Every time the elevator door closes, the internal transportation status of the elevator is counted, and the number of people and cargo status inside the elevator are recorded. The cargo status includes the number of AGVs and the number of ordinary shelves. The floor request button trigger includes the request floor button trigger and the AGV request floor trigger. The estimated number of stops of the elevator is updated according to the floor request. Each time, the RCS system needs to calculate the final score according to the elevator information matrix and the AGV waiting array to select the optimal elevator. The considerations of the optimal elevator include the distance from the elevator floor to the AGV request floor, the estimated number of stops from the elevator floor to the AGV request floor, the number of people and the cargo status in the elevator, and the waiting time score of the AGV as the influencing factors of the scoring mechanism. The dynamic scheduling of the elevator with a dual trigger mechanism is performed with the maximum number of people or the maximum cargo status as the constraint condition. The maximum number of people is set to , the maximum cargo state is ,When the number exceeds the preset threshold, it is considered that the AGV cannot enter the elevator, and the elevator is re-scheduled; The dispatch of each elevator is encoded into an elevator information matrix according to the real-time dispatch information : ; in, is the maximum number of floors, that is, the highest number of floors that the elevator can reach, Among them, the elevator information matrix The first two lines indicate the number of floors that the elevator needs to pass through to reach the floor requested by the AGV. The first line is the number of floors traveling in the forward direction, and the second line is the number of floors traveling in the reverse direction. The corresponding numbers of the floors passed are marked as " ", the corresponding numbers of the floors that have not been passed are marked as " ”, Elevator Information Matrix The third line Indicates the number of people inside the elevator, Indicates the number of AGVs and ordinary shelves inside the elevator. Indicates the estimated number of stops from the elevator to the AGV requested floor. Indicates the AGV number with the highest current priority for the elevator. Indicates the score of the elevator given by the AGV with the highest priority; Construct an AGV waiting array based on the waiting time of each AGV and the score of each AGV on the current elevator AGVs are numbered from large to small according to their waiting time. Each row of the two-dimensional array represents the waiting information of an AGV. The waiting information of an AGV consists of the AGV waiting time and the AGV's dispatch score sequence for each elevator. The AGV's dispatch score sequence for each elevator includes the elevator number and the elevator score. The elevators are arranged in pairs from high to low according to the elevator dispatch score. That is, A[i][1] represents the waiting time of AGV number i, that is, the AGV waiting array The first column is the waiting time of each AGV, and the waiting time is arranged from large to small. The even-numbered columns A[i][2k] in the table represent the elevator number of the kth elevator in the elevator dispatch priority queue of AGV i, and the waiting array The odd columns A[i][2k+1] except the first column represent the elevator score of AGV i for the kth elevator in the elevator scheduling priority queue, where k is a positive integer and the AGV waiting array It is expressed as follows: ; in, is the number of AGVs in the waiting array, It is twice the number of dispatchable elevators plus one; Set up the following four scoring factors to build a scoring mechanism: ; ; ; ; in, The smaller the AGV floor distance in the dispatching elevator, the higher its score. The load condition of the elevator. The less the load inside the elevator, the higher the score. is the weight of the number of people in the score, is the weight of the cargo and AGV quantity in the score, The estimated number of stops for the elevator is the estimated number of stops from the current floor of the elevator to the floor requested by the AGV. The fewer the stops, the higher the score. The waiting time of the AGV is counted from the time when the AGV arrives at the elevator waiting point. The longer the AGV waits, the higher the score. According to the above scoring mechanism, the total score It is expressed by the following formula: ; in, is the weight of the floor distance in the total score calculation, is the weight of the load condition in the calculation of the total score, is the weight of the expected number of stops in the calculation of the total score, is the weight of waiting time in the calculation of the total score; S5-3: Waiting for trigger events. While waiting for the corresponding elevator to arrive at the starting floor of the transport task, monitor the occurrence of trigger events. When a door closing trigger occurs in a certain elevator, re-collect the transportation situation inside the elevator, and update the elevator information in real time, calculate the score of the elevator for each AGV, and update the elevator information matrix and AGV waiting array of the AGV. When a floor request is triggered in a certain elevator, update the estimated number of stops of the elevator, calculate the total elevator score of each AGV after the change, and update the elevator information matrix and AGV waiting array of the AGV according to the calculation results. S5-4: Elevator arrival. The AGV number X34 in the elevator information matrix is ​​the elevator with the AGV number to be scheduled. When the elevator arrives, it is judged whether the AGV entry conditions are met, that is, whether the internal transportation of the elevator exceeds the preset personnel load threshold. or load thresholds for AGVs and racks , if the entry condition is met, the dynamic scheduling of the elevator is completed, the elevator information matrix of the AGV is deleted, and the waiting information of the AGV is deleted in the AGV waiting array. If the entry condition is not met, steps S5-1 to S5-4 are repeated; S6: The AGV waits at the elevator waiting point for the elevator to be dynamically dispatched to an elevator that meets the AGV's passage conditions, and then takes the elevator to the final floor of the handling task; S7: The AGV arrives at the destination floor of the transport task and delivers the transport task target to the task location.

[0006] Preferably, in step S1, the criterion for selecting a suitable AGV is to select an idle AGV with sufficient power and closest to the transport target on the same floor as the transport target to perform the transport task.

[0007] Preferably, in step S3, whether the transport task requires cross-floor transport is determined by determining whether the starting point and the end point of the transport task are on the same floor. If they are on the same floor, it is determined that the transport task does not require cross-floor transport, and a task path from the starting point to the end point of the transport task is directly generated. The AGV directly completes the transport task according to the generated task path; if they are not on the same floor, a running path for the AGV to the elevator waiting point is generated.

[0008] Preferably, in step S5, the internal transportation situation of the elevator is counted in the following manner: an image of the interior of the elevator is acquired in real time, the image is recognized using a neural network model, and the number of people, shelves, and AGVs inside the elevator are counted.

[0009] A multi-AGV multi-elevator dynamic scheduling system comprises a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, any one of the above methods is implemented.

[0010] A computer storage medium stores a computer program, which implements any of the above methods when executed by a processor.

[0011] A computer product comprises a computer program, which implements any of the above methods when executed by a processor.

[0012] By adopting the aforementioned design scheme, the beneficial effects of the present invention are as follows: the present invention collects the operating conditions in the elevator in real time through image recognition calculation, realizes dynamic scheduling of the elevator through a dual trigger mechanism, realizes efficient task coordination between AGV and the elevator, can realize rapid response and dynamic optimization in the logistics workshop, and improves the utilization rate of the elevator and the operating efficiency of the AGV by setting a scoring mechanism, thereby improving the logistics transportation efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a flow chart of the handling task of the present invention; Figure 2 This is a flow chart of the dynamic dispatching of elevators according to the present invention. DETAILED DESCRIPTION

[0014] In order to make the purpose, technical scheme and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only partial embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0015] A multi-AGV multi-elevator dynamic scheduling method, such as Figure 1As shown, the steps include the following steps performed in sequence: S1: The RCS system obtains the transport task and sends the transport task to the appropriate AGV according to the location of the transport target. In this embodiment, the standard for selecting the appropriate AGV is to select an idle AGV with sufficient power and closest to the transport target on the same floor as the transport target to perform the transport task. The RCS system is a conventional logistics system.

[0016] S2: The AGV that receives the transport task obtains the pickup path to the transport target. The AGV goes to the location of the transport target according to the acquired pickup path to pick up the target shelf. In this embodiment, the path planning module of the RCS system generates the pickup path, and conventional A* algorithm (A-star), DIjkstra algorithm, dynamic programming and other algorithms can be used for path planning.

[0017] S3: The RCS system determines whether the transport task needs to be transported across floors based on the starting point and the end point of the transport task. If the starting point and the end point of the transport task are not on the same floor, it is determined that cross-floor transport is required, and step S4 is executed, otherwise it jumps to step S7; in this embodiment, whether the transport task needs to be transported across floors is determined by determining whether the starting point and the end point of the transport task are on the same floor. If they are on the same floor, it is determined that the transport task does not need to be transported across floors, and a task path from the starting point to the end point of the transport task is directly generated. The AGV directly completes the transport task according to the generated task path; if they are not on the same floor, a running path for the AGV to the elevator waiting point is generated. In this embodiment, the task path is generated by the path planning module.

[0018] S4: After picking up the target shelf, the AGV goes to the elevator waiting point and waits for the elevator to be dispatched. When the AGV arrives at the elevator waiting point, the AGV arrival time is recorded. By recording the AGV arrival time, it is used to record the waiting time of the AGV, which is used as a scoring factor in the dynamic scheduling of multiple elevators and multiple AGVs. The longer the AGV waits, the higher its priority in the waiting queue, avoiding the AGV from being stuck in deadlock waiting.

[0019] S5: Use the dual trigger mechanism priority queue dynamic scheduling algorithm to perform dynamic elevator scheduling, such as Figure 2 As shown, a scoring mechanism for elevator scheduling priority is set up, and the score calculation is performed according to the current operating status of each elevator to realize the priority queue sorting between elevators, and the elevator with high priority is selected to assist AGV to complete the cross-floor transportation task; The specific steps of elevator dynamic scheduling are as follows: S5-1: When the elevator arrives at the elevator waiting point, the dispatch information of each elevator is collected. The dispatch information includes the floor where the elevator is located, the elevator load status, the estimated number of stops of the elevator, and the elevator information matrix and AGV waiting array of the AGV are updated; S5-2: Calculate the total score of the elevator. Calculate the total score based on the currently collected dispatch information. Update the AGV mark and its corresponding total score in the elevator information matrix according to the priority change of the total score calculation. Update the elevator priority order in the AGV waiting array according to the result of the total score calculation. The calculation process of the elevator total score mechanism is as follows: The dynamic scheduling algorithm is triggered by the elevator door closing and floor request button. Every time the elevator door closes, the internal transportation status of the elevator is counted, and the number of people and cargo status inside the elevator are recorded. The cargo status includes the number of AGVs and the number of ordinary shelves. In this embodiment, the following method is used to count the internal transportation conditions of the elevator: real-time images of the interior of the elevator are acquired, and the images are recognized using a neural network model to count the number of people, shelves, and AGVs in the elevator. A camera can be installed on the top of the elevator to collect images of the transportation conditions of the elevator during daily operation, and images of people, AGVs, and ordinary shelves in use in the elevator are collected and labeled to create an image recognition data set for training the neural network model. The trained neural network model is then used for image recognition to determine whether the elevator transportation conditions meet the entry conditions of the AGV, that is, whether the number of people in the elevator is less than , Is the number of ordinary shelves and AGVs in the elevator less than ; Conventional neural network models such as YOLO can be used as image recognition models.

[0020] The floor request button trigger includes the request floor button trigger and the AGV request floor trigger. The estimated number of stops of the elevator is updated according to the floor request. Each time, the RCS system needs to calculate the final score based on the elevator information matrix and the AGV waiting array to select the optimal elevator. The considerations for the optimal elevator include the distance from the elevator floor to the AGV request floor, the estimated number of stops from the elevator floor to the AGV request floor, the number of people and the cargo status in the elevator, and the waiting time score of the AGV as the influencing factors of the scoring mechanism. The maximum number of people or the maximum cargo status is used as a constraint condition for the dynamic scheduling of elevators with a dual trigger mechanism. The maximum number of people is set to , the maximum cargo state is ,The maximum cargo state is that the sum of the number of AGVs and the number of ordinary shelves reaches the maximum number. When the number exceeds the preset threshold, it is considered that the AGV cannot enter the elevator and the elevator is re-scheduled; The dispatch of each elevator is encoded into an elevator information matrix according to the real-time dispatch information , ; in, is the maximum number of floors, that is, the highest number of floors that the elevator can reach, Greater than or equal to 5; Among them, the elevator information matrix The first two lines indicate the number of floors that the elevator needs to pass through to reach the floor requested by the AGV. The first line is the number of floors traveling in the forward direction, and the second line is the number of floors traveling in the reverse direction. The corresponding numbers of the floors passed are marked as " ", the corresponding numbers of the floors that have not been passed are marked as " ”, Elevator Information Matrix The third line Indicates the number of people inside the elevator, Indicates the number of AGVs and ordinary shelves inside the elevator. Indicates the estimated number of stops from the elevator to the AGV requested floor. Indicates the AGV number with the highest current priority for the elevator. Indicates the score of the elevator given by the AGV with the highest priority; Construct an AGV waiting array based on the waiting time of each AGV and the score of each AGV on the current elevator AGVs are numbered from large to small according to their waiting time. Each row of the two-dimensional array represents the waiting information of an AGV. The waiting information of an AGV consists of the AGV waiting time and the AGV's dispatch score sequence for each elevator. The AGV's dispatch score sequence for each elevator includes the elevator number and the elevator score. The elevators are arranged in pairs from high to low according to the elevator dispatch score. That is, A[i][1] represents the waiting time of AGV number i, that is, the AGV waiting array The first column is the waiting time of each AGV, and the waiting time is arranged from large to small. The even-numbered columns A[i][2k] in the AGV i represent the elevator number of the kth elevator in the elevator dispatch priority queue, waiting for the array The odd columns A[i][2k+1] except the first column represent the elevator score of AGV i for the kth elevator in the elevator scheduling priority queue, where k is a positive integer and the AGV waiting array It is expressed as follows: ; in, is the number of AGVs in the waiting array, It is twice the number of dispatchable elevators plus one; In order to more clearly illustrate the AGV waiting array In this embodiment, four elevators and three AGVs are used as an example to calculate the AGV waiting array. For illustration, the waiting times of the three AGVs are 15 minutes, 10 minutes, and 5 minutes respectively.

[0021] Table 1 shows the waiting time and elevator rating information of four elevators and three AGVs

[0022] According to the information in Table 1, the AGV waits for the array for: .

[0023] Set up the following four scoring factors to build a scoring mechanism: ; ; ; ; in, The smaller the AGV floor distance in the dispatching elevator, the higher its score. The load condition of the elevator. The less the load inside the elevator, the higher the score. is the weight of the number of people in the score, is the weight of the cargo and AGV quantity in the score, The estimated number of stops for the elevator is the estimated number of stops from the current floor of the elevator to the floor requested by the AGV. The fewer the stops, the higher the score. The waiting time of the AGV is counted from the time when the AGV arrives at the elevator waiting point. The longer the AGV waits, the higher the score. According to the above scoring mechanism, the total score It is expressed by the following formula: ; in, is the weight of the floor distance in the total score calculation, is the weight of the load condition in the calculation of the total score, is the weight of the expected number of stops in the calculation of the total score, is the weight of waiting time in the calculation of the total score; S5-3: Waiting for trigger events. While waiting for the corresponding elevator to arrive at the starting floor of the transport task, monitor the occurrence of trigger events. When a door closing trigger occurs in a certain elevator, re-collect the transportation situation inside the elevator, and update the elevator information in real time, calculate the score of the elevator for each AGV, and update the elevator information matrix and AGV waiting array of the AGV. When a floor request is triggered in a certain elevator, update the estimated number of stops of the elevator, calculate the total elevator score of each AGV after the change, and update the elevator information matrix and AGV waiting array of the AGV according to the calculation results. S5-4: Elevator arrival. The AGV number X34 in the elevator information matrix is ​​the elevator with the AGV number to be scheduled. When the elevator arrives, it is judged whether the AGV entry conditions are met, that is, whether the internal transportation of the elevator exceeds the preset personnel load threshold. or load thresholds for AGVs and racks , if the entry condition is met, the dynamic scheduling of the elevator is completed, the elevator information matrix of the AGV is deleted, and the waiting information of the AGV is deleted in the AGV waiting array. If the entry condition is not met, steps S5-1 to S5-4 are repeated; S6: The AGV waits at the elevator waiting point for the elevator to be dynamically dispatched to an elevator that meets the AGV's passage conditions, and then takes the elevator to the final floor of the handling task; S7: The AGV arrives at the destination floor of the transport task and delivers the transport task target to the task location.

[0024] This embodiment also provides a system for implementing the above method.

[0025] A multi-AGV multi-elevator dynamic dispatching system comprises a memory and a processor. The memory stores a computer program. When the processor executes the computer program, any of the above methods is implemented.

[0026] This embodiment also provides a storage medium storing a computer program that can implement the above method.

[0027] A computer storage medium stores a computer program, which implements any of the above methods when executed by a processor.

[0028] This embodiment also provides a computer product for implementing the above method.

[0029] A computer product comprises a computer program, which implements any of the above methods when executed by a processor.

[0030] In summary, the present invention collects the operating conditions in the elevator in real time through image recognition calculation, realizes dynamic scheduling of the elevator through a dual trigger mechanism, realizes efficient task collaboration between AGV and the elevator, can achieve rapid response and dynamic optimization in the logistics workshop, and improves the utilization rate of the elevator and the operating efficiency of the AGV by setting a scoring mechanism, thereby improving the logistics transportation efficiency.

[0031] The specific implementation methods described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific implementation method of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A multi-AGV multi-elevator dynamic scheduling method, characterized in that: The steps include the following steps: S1: The RCS system obtains the transport task and sends the transport task to the appropriate AGV according to the location of the transport target; S2: The AGV that receives the transport task obtains a pickup path to the transport target, and the AGV goes to the location of the transport target to pick up the target shelf according to the acquired pickup path; S3: The RCS system determines whether the transport task requires cross-floor transport according to the starting point and the end point of the transport task. If the starting point and the end point of the transport task are not on the same floor, it is determined that cross-floor transport is required and step S4 is executed. Otherwise, the system jumps to step S7. S4: After receiving the target shelf, the AGV goes to the elevator waiting point and waits for the elevator to be dispatched. When the AGV arrives at the elevator waiting point, the AGV arrival time is recorded; S5: Use the dual trigger mechanism priority queue dynamic scheduling algorithm to dynamically schedule elevators, set up a scoring mechanism for elevator scheduling priorities, calculate scores based on the current operating status of each elevator to achieve priority queue sorting between elevators, and select elevators with high priority to assist AGVs in completing cross-floor transport tasks; The specific steps of elevator dynamic scheduling are as follows: S5-1: When the elevator arrives at the elevator waiting point, the dispatch information of each elevator is collected. The dispatch information includes the floor where the elevator is located, the elevator load status, the estimated number of stops of the elevator, and the elevator information matrix and AGV waiting array of the AGV are updated; S5-2: Calculate the total score of the elevator. Calculate the total score based on the currently collected dispatch information. Update the AGV mark and its corresponding total score in the elevator information matrix according to the priority change of the total score calculation. Update the elevator priority order in the AGV waiting array according to the result of the total score calculation. The calculation process of the total elevator score is as follows: The dynamic scheduling algorithm is triggered by the elevator door closing and floor request button. Every time the elevator door closes, the internal transportation status of the elevator is counted, and the number of people and cargo status inside the elevator are recorded. The cargo status includes the number of AGVs and the number of ordinary shelves. The floor request button trigger includes the request floor button trigger and the AGV request floor trigger. The estimated number of stops of the elevator is updated according to the floor request. Each time, the RCS system needs to calculate the final score according to the elevator information matrix and the AGV waiting array to select the optimal elevator. The considerations of the optimal elevator include the distance from the elevator floor to the AGV request floor, the estimated number of stops from the elevator floor to the AGV request floor, the number of people and the cargo status in the elevator, and the waiting time score of the AGV as the influencing factors of the scoring mechanism. The dynamic scheduling of the elevator with a dual trigger mechanism is performed with the maximum number of people or the maximum cargo status as the constraint condition. The maximum number of people is set to , the maximum cargo state is ,When the number exceeds the preset threshold, it is considered that the AGV cannot enter the elevator, and the elevator is re-scheduled; The dispatch of each elevator is encoded into an elevator information matrix according to the real-time dispatch information : ； in is the maximum number of floors, that is, the highest number of floors that the elevator can reach, Among them, the elevator information matrix The first two lines indicate the number of floors that the elevator needs to pass through to reach the floor requested by the AGV. The first line is the number of floors traveling in the forward direction, and the second line is the number of floors traveling in the reverse direction. The corresponding numbers of the floors passed are marked as " ", the floors not passed are marked with numbers " ”, Elevator Information Matrix The third line Indicates the number of people inside the elevator, Indicates the number of AGVs and ordinary shelves inside the elevator. Indicates the estimated number of stops from the elevator to the AGV requested floor. Indicates the AGV number with the highest current priority for the elevator. Indicates the score of the elevator given by the AGV with the highest priority; Construct an AGV waiting array based on the waiting time of each AGV and the score of each AGV on the current elevator AGVs are numbered from large to small according to their waiting time. Each row of the two-dimensional array represents the waiting information of an AGV. The waiting information of an AGV consists of the AGV waiting time and the AGV's dispatch score sequence for each elevator. The AGV's dispatch score sequence for each elevator includes the elevator number and the elevator score. The elevators are arranged in pairs from high to low according to the elevator dispatch score. That is, A[i][1] represents the waiting time of AGV number i, that is, the AGV waiting array The first column is the waiting time of each AGV, and the waiting time is arranged from large to small. The even-numbered columns A[i][2k] in the table represent the elevator number of the kth elevator in the elevator dispatch priority queue of AGV i, and the waiting array The odd columns A[i][2k+1] except the first column represent the elevator score of AGV i for the kth elevator in the elevator scheduling priority queue, where k is a positive integer and the AGV waiting array It is expressed as follows: ； in, is the number of AGVs in the waiting array, It is twice the number of dispatchable elevators plus one; Set up the following four scoring factors to build a scoring mechanism: ； ； ； ； in, The smaller the AGV floor distance in the dispatching elevator, the higher its score. The load condition of the elevator. The less the load inside the elevator, the higher the score. is the weight of the number of people in the score, is the weight of the cargo and AGV quantity in the score, The estimated number of stops for the elevator is the estimated number of stops from the current floor of the elevator to the floor requested by the AGV. The fewer the stops, the higher the score. The waiting time of the AGV is counted from the time when the AGV arrives at the elevator waiting point. The longer the AGV waits, the higher the score. According to the above scoring mechanism, the total score It is expressed by the following formula: ； in, is the weight of the floor distance in the total score calculation, is the weight of the load condition in the total score calculation, is the weight of the expected number of stops in the calculation of the total score, is the weight of waiting time in the calculation of the total score; S5-3: Waiting for trigger events. While waiting for the corresponding elevator to arrive at the starting floor of the transport task, monitor the occurrence of trigger events. When a door closing trigger occurs in a certain elevator, re-collect the transportation situation inside the elevator, and update the elevator information in real time, calculate the score of the elevator for each AGV, and update the elevator information matrix and AGV waiting array of the AGV. When a floor request is triggered in a certain elevator, update the estimated number of stops of the elevator, calculate the total elevator score of each AGV after the change, and update the elevator information matrix and AGV waiting array of the AGV according to the calculation results. S5-4: Elevator arrival. The AGV number X34 in the elevator information matrix is ​​the elevator with the AGV number to be scheduled. When the elevator arrives, it is judged whether the AGV entry conditions are met, that is, whether the internal transportation of the elevator exceeds the preset personnel load threshold. or load thresholds for AGVs and racks , if the entry condition is met, the dynamic scheduling of the elevator is completed, the elevator information matrix of the AGV is deleted, and the waiting information of the AGV is deleted in the AGV waiting array. If the entry condition is not met, steps S5-1 to S5-4 are repeated; S6: The AGV waits at the elevator waiting point for the elevator to be dynamically dispatched to an elevator that meets the AGV's passage conditions, and then takes the elevator to the final floor of the handling task; S7: The AGV arrives at the destination floor of the transport task and delivers the transport task target to the task location.

2. The multi-AGV multi-elevator dynamic scheduling method according to claim 1, characterized in that: In step S1, the criterion for selecting a suitable AGV is to select an idle AGV with sufficient power and closest to the transport target on the same floor as the transport target to perform the transport task.

3. The multi-AGV multi-elevator dynamic scheduling method according to claim 1, characterized in that: In step S3, it is determined whether the transport task requires cross-floor transport by determining whether the starting point and the end point of the transport task are on the same floor. If they are on the same floor, it is determined that the transport task does not require cross-floor transport, and a task path from the starting point to the end point of the transport task is directly generated. The AGV directly completes the transport task according to the generated task path; if they are not on the same floor, a running path for the AGV to the elevator waiting point is generated.

4. The multi-AGV multi-elevator dynamic scheduling method according to claim 1, characterized in that: In step S5, the internal transportation situation of the elevator is counted in the following manner: an image of the interior of the elevator is acquired in real time, the image is recognized using a neural network model, and the number of people, shelves, and AGVs in the elevator are counted.

5. A multi-AGV multi-elevator dynamic dispatching system, comprising a memory and a processor, wherein a computer program is stored in the memory, characterized in that: When the processor executes the computer program, the method described in any one of claims 1 to 4 is implemented.

6. A computer storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the method described in any one of claims 1 to 4 is implemented.

7. A computer product, characterized in that: The invention comprises a computer program, which implements the method according to any one of claims 1 to 4 when executed by a processor.

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