Multi-vehicle AGV traffic planning method, device and equipment and storage medium

Abstract

The invention relates to the field of intelligent robots, and discloses a multi-vehicle AGV traffic planning method, device and equipment and a storage medium, and the method comprises the steps: determining a driving route of a standard vehicle AGV as a standard driving route; the driving routes of the AGV of other vehicle types are associated with the standard driving route, and a physical location area is determined; and generating a traffic planning scheme based on the preset association point and / or the physical location area. Through the above mode, the driving route of the AGV of the standard vehicle type is obtained and the standard driving route is determined, so that other driving routes of the AGV of other vehicle types can be associated with the standard driving route, and the physical location area is determined according to the associated other driving routes and the standard driving route. According to the invention, the traffic planning scheme can be generated based on the preset association point and / or the physical location area, thereby achieving the effective management and control of the AGV system, and improving the efficiency of material handling.

Description

Technical Field

[0001] The present application relates to the field of intelligent robots, and in particular to a traffic planning method, device, equipment and storage medium for multiple types of AGVs. Background Art

[0002] In today's intelligent manufacturing field, multi-model AGV (automatic guided vehicle) mixed operation system is gradually becoming a key technology to improve production efficiency and flexibility. This system allows AGVs of different models and functions to work together in the same factory environment to meet diverse production needs. It is a highly automated logistics solution that can dispatch different types of AGVs for material handling according to the specific needs of production tasks. These AGVs may differ in load capacity, size, navigation method, etc., but their common goal is to achieve efficient and smooth production processes.

[0003] The multi-model AGV mixed operation system is an important support for intelligent manufacturing. It brings higher production efficiency and lower operating costs to the factory by improving the level of logistics automation. With the continuous advancement of technology, this system will play a more critical role in future smart factories to meet the growing demand for personalized and customized production. Therefore, how to reduce waiting and congestion between AGVs and improve the efficiency of material handling has become a technical problem that needs to be solved urgently. Summary of the invention

[0004] The present application provides a traffic planning method, device, equipment and storage medium for multiple types of AGVs to improve the efficiency of material handling.

[0005] In a first aspect, the present application provides a traffic planning method for multiple types of AGVs, the method comprising:

[0006] Acquire a driving route of a standard vehicle type AGV, and determine the driving route of the standard vehicle type AGV as a standard driving route;

[0007] Obtain other driving routes of other types of AGVs, and determine the physical location area according to the standard driving route and the other driving routes;

[0008] At least one preset association point is obtained, and based on each of the preset association points or the physical location area, a traffic planning scheme between the standard model AGV and the other model AGV is generated.

[0009] Further, at least one preset association point is obtained, and based on each of the preset association points or the physical location area, a traffic planning scheme between the standard model AGV and the other model AGV is generated, including:

[0010] Generating alternative routes according to each of the preset associated points;

[0011] Detecting whether there is the other type of AGV in the alternative route;

[0012] In the case that the other type of AGV does not exist in the alternative route, the alternative route is determined as the traffic planning scheme for the standard type of AGV.

[0013] Furthermore, before obtaining at least one preset association point and generating a traffic planning scheme between the standard model AGV and the other model AGV based on each of the preset association points or the physical location area, the method includes:

[0014] Based on the physical location areas, mutually exclusive areas are determined.

[0015] Further, at least one preset association point is obtained, and based on each of the preset association points or the physical location area, a traffic planning scheme between the standard model AGV and the other model AGV is generated, including:

[0016] When the standard model AGV exists in the mutually exclusive area, controlling the other model AGVs to wait outside the mutually exclusive area;

[0017] When the standard model AGV drives out of the mutually exclusive area, the other model AGV is allowed to enter the mutually exclusive area, or, if the other model AGV exists in the mutually exclusive area, the standard model AGV is controlled to wait outside the mutually exclusive area;

[0018] When the other type of AGV drives out of the mutually exclusive area, the standard type of AGV is allowed to enter the mutually exclusive area.

[0019] Furthermore, when the standard model AGV drives out of the mutually exclusive area, before allowing the other model AGVs to enter the mutually exclusive area, the following steps are performed:

[0020] When the standard vehicle model AGV passes through the preset association point or exits the physical location area, it is determined that the standard vehicle model AGV exits the mutually exclusive area; or, when the other vehicle model AGV passes through the preset association point or exits the physical location area, it is determined that the other vehicle model AGV exits the mutually exclusive area.

[0021] Furthermore, obtaining other driving routes of other types of AGVs, and determining the physical location area according to the standard driving route and the other driving routes, includes:

[0022] Obtaining the point distance between each point in the other driving route and each point in the standard driving route;

[0023] The point whose distance to the point is less than a preset distance threshold is determined as the preset associated point.

[0024] Furthermore, obtaining other driving routes of other types of AGVs, and determining the physical location area according to the standard driving route and the other driving routes, includes:

[0025] Generating a standard driving map according to the standard driving route;

[0026] The initial driving route of the other type of AGV is mapped to the standard driving map to generate the other form of route in the same dimension as the standard driving route.

[0027] In a second aspect, the present application also provides a traffic planning device for multiple types of AGVs, the device comprising:

[0028] A standard driving route determination module is used to obtain a driving route of a standard vehicle type AGV and determine the driving route of the standard vehicle type AGV as a standard driving route;

[0029] A physical location area determination module, used to obtain other driving routes of other types of AGVs, and determine the physical location area according to the standard driving route and the other driving routes;

[0030] The traffic planning scheme generating module is used to obtain at least one preset association point, and based on each of the preset association points or the physical location area, generate a traffic planning scheme between the standard model AGV and the other model AGVs.

[0031] In a third aspect, the present application also provides a computer device, comprising a memory and a processor; the memory is used to store a computer program; the processor is used to execute the computer program and implement the traffic planning method for multi-type AGVs as described above when executing the computer program.

[0032] In a fourth aspect, the present application also provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the processor implements the traffic planning method for multi-type AGVs as described above.

[0033] The present application discloses a traffic planning method, device, equipment and storage medium for multi-model AGVs, wherein the traffic planning method for multi-model AGVs includes obtaining the driving route of a standard model AGV, and determining the driving route of the standard model AGV as the standard driving route; obtaining other driving routes of other model AGVs, and determining the physical location area according to the standard driving route and the other driving routes; obtaining at least one preset association point, and generating a traffic planning scheme between the standard model AGV and the other model AGVs based on each of the preset association points or the physical location area. In the above manner, the present application can associate other driving routes of other model AGVs with the standard driving route by obtaining the driving route of the standard model AGV and determining the standard driving route, and determine the physical location area according to the associated other driving routes and the standard driving route. Based on the preset association points and / or the physical location area, a traffic planning scheme can be generated, thereby achieving effective management and control of the AGV system and improving the efficiency of material handling. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0035] Figure 1 is a schematic flow chart of a traffic planning method for multiple types of AGVs provided in an embodiment of the present application;

[0036] Figure 2 It is a route diagram of a traffic planning method for multiple types of AGVs provided in an embodiment of the present application;

[0037] Figure 3 An AGV waiting schematic diagram of a traffic planning method for multiple types of AGVs provided in an embodiment of the present application;

[0038] Figure 4 A schematic block diagram of a traffic planning device for multiple types of AGVs provided in an embodiment of the present application;

[0039] Figure 5 A schematic block diagram of the structure of a computer device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0040] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0041] The flowcharts shown in the accompanying drawings are only examples and do not necessarily include all the contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps may also be decomposed, combined or partially merged, so the actual execution order may change according to actual conditions.

[0042] It should be understood that the terms used in this application specification are only for the purpose of describing specific embodiments and are not intended to limit the application. As used in this application specification and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to include plural forms.

[0043] It should also be understood that the term “and / or” used in the specification and appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0044] The embodiments of the present application provide a traffic planning method, device, equipment and storage medium for multi-model AGVs. Among them, the traffic planning method for multi-model AGVs can be applied to a server. By obtaining the driving route of a standard model AGV and determining the standard driving route, other driving routes of other models AGVs can be associated with the standard driving route, and the physical location area can be determined based on the associated other driving routes and the standard driving route. Based on the preset association points and / or physical location areas, a traffic planning scheme can be generated, thereby achieving effective management and control of the AGV system and improving the efficiency of material handling. Among them, the server can be an independent server or a server cluster.

[0045] In conjunction with the accompanying drawings, some embodiments of the present application are described in detail below. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0046] See also Figure 1 , Figure 1This is a schematic flow chart of a traffic planning method for a multi-model AGV provided in an embodiment of the present application. The traffic planning method for a multi-model AGV can be applied to a server, and is used to obtain the driving route of a standard model AGV and determine the standard driving route, so that other driving routes of other models of AGV can be associated with the standard driving route, and the physical location area can be determined based on the associated other driving routes and the standard driving route. Based on the preset association points and / or physical location areas, a traffic planning scheme can be generated, thereby achieving effective management and control of the AGV system and improving the efficiency of material handling.

[0047] like Figure 1 As shown, the traffic planning method for multiple types of AGVs specifically includes steps S10 to S30.

[0048] Step S10, obtaining a driving route of a standard vehicle type AGV, and determining the driving route of the standard vehicle type AGV as a standard driving route;

[0049] Step S20, obtaining other driving routes of other types of AGVs, and determining a physical location area according to the standard driving route and the other driving routes;

[0050] Step S30: Obtain at least one preset association point, and generate a traffic planning scheme between the standard model AGV and the other model AGVs based on each of the preset association points or the physical location area.

[0051] Specifically, there are several difficulties in the mixed scheduling of multiple types of AGVs (automatic guided vehicles):

[0052] 1. Technical complexity: The technical implementation of a multi-model AGV mixed operation system is relatively complex and requires advanced control systems and precise path planning algorithms.

[0053] 2. Different coordinate systems: The installation heights of the navigators used for positioning of AGVs of different models may be different, and navigation maps need to be recorded separately. The coordinate systems of the vehicles will be different, resulting in different coordinates for multiple vehicles in the same physical position.

[0054] 3. Traffic planning: In most cases, the dispatching system performs traffic planning and parking judgment based on the position information reported by the AGV and the current task information of the vehicle. If the coordinates of multiple AGVs in the same system are inconsistent at the same position, higher requirements will be placed on traffic planning.

[0055] In one embodiment, the present embodiment is described by taking model A as a standard model AGV and model B as another model AGV as an example.

[0056] like Figure 2 As shown, Figure 2This is a route diagram of a traffic planning method for multiple AGV models provided in an embodiment of the present application. Model A is a lurking AGV, and model B is a forklift AGV. The navigation maps of the two vehicles are recorded separately. Taking the navigation map of the forklift AGV as the standard, the navigation map of the lurking AGV is translated and rotated so that the origin and angle of the navigation maps of the two models are basically consistent.

[0057] Draw the running routes of two AGVs. The route of model A is from 2014 to 897. Due to the difference in navigation maps, model B has to take the route from 2014 to 1454. The physical position of the path (the route of model A, because it is based on the route of model A) can be consistent with model A. In this way, the map routes of the two AGVs are inconsistent, but the actual running routes are consistent.

[0058] For vehicle type B's route 2014->1454, if the position deviation from the standard route is relatively small, use the point association method to associate point 1363 with point 895, point 1410 with point 896, and point 1454 with point 897.

[0059] Before the AGV of model B arrives at point 2014, it needs to occupy the space required for the route 2014->1363->1410->1454 in advance, and also occupy the area where the physical location 2014->895->896->897 is located.

[0060] like Figure 3 As shown, Figure 3 The AGV waiting diagram of a traffic planning method for multiple AGV models provided in an embodiment of the present application. If there are vehicles of model A in the two areas in the previous step, model B waits outside the area until model A leaves the area, and model B then passes through the running route area along route 2014->1454, and the physical location area is also occupied during the process.

[0061] The resources occupied by model B during driving are shown in the figure below. The space of the points passed by will be released at any time. The mutually exclusive area configuration is to set an area as a mutually exclusive area. When there is model A in the area, the AGV of model B waits outside the area. After model A leaves the area, model B enters. After the AGV passes the last associated point 1454, or leaves the mutually exclusive area, it resumes to occupy only according to the normal driving route.

[0062] The present embodiment discloses a traffic planning method, device, equipment and storage medium for multi-model AGVs, wherein the traffic planning method for multi-model AGVs includes obtaining the driving route of a standard model AGV, and determining the driving route of the standard model AGV as the standard driving route; obtaining other driving routes of other model AGVs, and determining the physical location area according to the standard driving route and the other driving routes; obtaining at least one preset association point, and generating a traffic planning scheme between the standard model AGV and the other model AGVs based on each of the preset association points or the physical location area. In the above manner, the present application can associate other driving routes of other model AGVs with the standard driving route by obtaining the driving route of the standard model AGV and determining the standard driving route, and determine the physical location area according to the associated other driving routes and the standard driving route. Based on the preset association points and / or the physical location area, a traffic planning scheme can be generated, thereby achieving effective management and control of the AGV system and improving the efficiency of material handling.

[0063] based on Figure 1 In the embodiment shown, in this embodiment, step S30 includes:

[0064] Generating alternative routes according to each of the preset associated points;

[0065] Detecting whether there is the other type of AGV in the alternative route;

[0066] In the case that the other type of AGV does not exist in the alternative route, the alternative route is determined as the traffic planning scheme for the standard type of AGV.

[0067] Specifically, the driving route of the standard model AGV is obtained, and the driving route of the standard model AGV is determined as the standard driving route. Based on each preset association point, other driving routes of other model AGVs are associated with the standard driving route, and the physical location area is determined according to the associated other driving routes and the standard driving route. Based on each preset association point and / or physical location area, a traffic planning scheme is generated. Based on each preset association point, an alternative route is generated. Check whether there are other model AGVs in the alternative route. If there are no other model AGVs in the alternative route, the alternative route is determined as the traffic planning scheme for the standard model AGV.

[0068] based on Figure 1 In the embodiment shown, in this embodiment, before step S30, the following steps are included:

[0069] Based on the physical location areas, mutually exclusive areas are determined.

[0070] In a more preferred embodiment, at least one preset association point is obtained, and based on each of the preset association points or the physical location area, a traffic planning scheme between the standard model AGV and the other model AGV is generated, including:

[0071] When the standard model AGV exists in the mutually exclusive area, controlling the other model AGVs to wait outside the mutually exclusive area;

[0072] When the standard model AGV drives out of the mutually exclusive area, the other model AGV is allowed to enter the mutually exclusive area, or, if the other model AGV exists in the mutually exclusive area, the standard model AGV is controlled to wait outside the mutually exclusive area;

[0073] When the other type of AGV drives out of the mutually exclusive area, the standard type of AGV is allowed to enter the mutually exclusive area.

[0074] In a more preferred embodiment, when the standard model AGV drives out of the mutually exclusive area, before allowing the other model AGV to enter the mutually exclusive area, the steps include:

[0075] When the standard vehicle model AGV passes through the preset association point or exits the physical location area, it is determined that the standard vehicle model AGV exits the mutually exclusive area; or, when the other vehicle model AGV passes through the preset association point or exits the physical location area, it is determined that the other vehicle model AGV exits the mutually exclusive area.

[0076] based on Figure 1 In the embodiment shown, in this embodiment, before step S20, the following steps are included:

[0077] Obtaining the point distance between each point in the other driving route and each point in the standard driving route;

[0078] The point whose distance to the point is less than a preset distance threshold is determined as the preset associated point.

[0079] In a more preferred embodiment, before step S20, the following steps are included:

[0080] Generating a standard driving map according to the standard driving route;

[0081] The initial driving route of the other type of AGV is mapped to the standard driving map to generate the other form of route in the same dimension as the standard driving route.

[0082] Specifically, the driving route of the standard AGV is obtained, and the driving route of the standard AGV is determined as the standard driving route. Based on each preset association point, other driving routes of other AGVs are associated with the standard driving route, and the physical location area is determined according to the associated other driving routes and the standard driving route.

[0083] According to the standard driving route, a standard driving map is generated, and the initial driving routes of other types of AGVs are mapped to the standard driving map to generate other forms of routes in the same dimension as the standard driving route.

[0084] See also Figure 4 , Figure 4 The embodiment of the present application provides a schematic block diagram of a traffic planning device for multiple AGVs, which is used to execute the aforementioned traffic planning method for multiple AGVs. The traffic planning device for multiple AGVs can be configured on a server.

[0085] like Figure 4 As shown, the traffic planning device 400 for multiple types of AGVs includes:

[0086] A standard driving route determination module 410 is used to obtain a driving route of a standard vehicle type AGV and determine the driving route of the standard vehicle type AGV as a standard driving route;

[0087] A physical location area determination module 420 is used to obtain other driving routes of other types of AGVs and determine the physical location area according to the standard driving route and the other driving routes;

[0088] The traffic planning scheme generating module 430 is used to obtain at least one preset association point, and generate a traffic planning scheme between the standard model AGV and the other model AGV based on each of the preset association points or the physical location area.

[0089] Furthermore, the traffic planning scheme generating module 430 includes:

[0090] An alternative route generating unit, used for generating an alternative route according to each of the preset associated points;

[0091] Other type AGV detection unit, used to detect whether there is other type AGV in the alternative route;

[0092] The traffic planning scheme generating unit is used to determine the alternative route as the traffic planning scheme of the standard type AGV when the other type AGV does not exist in the alternative route.

[0093] Furthermore, the traffic planning device 400 for multiple types of AGVs further includes:

[0094] The mutually exclusive area determination module is used to determine the mutually exclusive area based on the physical location area.

[0095] Furthermore, the traffic planning scheme generating module 430 further includes:

[0096] A first determination unit is used to control the other type of AGV to wait outside the mutually exclusive area when the standard type AGV exists in the mutually exclusive area;

[0097] A second determination unit is configured to allow the other type of AGV to enter the mutually exclusive area when the standard type of AGV exits the mutually exclusive area, or, when the other type of AGV exists in the mutually exclusive area, control the standard type of AGV to wait outside the mutually exclusive area;

[0098] The third determination unit is used to allow the standard model AGV to enter the mutually exclusive area when the other model AGV drives out of the mutually exclusive area.

[0099] Furthermore, the traffic planning scheme generating module 430 further includes:

[0100] An exit determination unit is used to determine that the standard vehicle model AGV has exited the mutually exclusive area when the standard vehicle model AGV passes through the preset association point or exits the physical location area, or to determine that the other vehicle model AGV has exited the mutually exclusive area when the other vehicle model AGV passes through the preset association point or exits the physical location area.

[0101] Furthermore, the traffic planning device 400 for multiple types of AGVs includes:

[0102] A point distance calculation module, used to obtain the point distance between each point in the other driving route and each point in the standard driving route;

[0103] The preset associated point determination module is used to determine the point whose point distance is less than a preset distance threshold as the preset associated point.

[0104] Furthermore, the traffic planning device 400 for multiple types of AGVs includes:

[0105] A standard driving map generation module, used to generate a standard driving map according to the standard driving route;

[0106] The other form route determination module is used to map the initial driving route of the other type of AGV into the standard driving map to generate the other form route in the same dimension as the standard driving route.

[0107] It should be noted that those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the above-described device and each module can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0108] The above-mentioned device can be implemented in the form of a computer program. Figure 5 Runs on the computer device shown.

[0109] See also Figure 5 , Figure 5 1 is a schematic block diagram of a computer device provided in an embodiment of the present application. The computer device may be a server.

[0110] See also Figure 5 The computer device includes a processor, a memory and a network interface connected through a system bus, wherein the memory may include a non-volatile storage medium and an internal memory.

[0111] The non-volatile storage medium can store an operating system and a computer program. The computer program includes program instructions, and when the program instructions are executed, the processor can execute any traffic planning method for multiple types of AGVs.

[0112] The processor is used to provide computing and control capabilities and support the operation of the entire computer equipment.

[0113] The internal memory provides an environment for the operation of the computer program in the non-volatile storage medium. When the computer program is executed by the processor, the processor can execute any traffic planning method for multiple types of AGVs.

[0114] The network interface is used for network communication, such as sending assigned tasks, etc. Those skilled in the art will understand that Figure 5 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0115] It should be understood that the processor may be a central processing unit (CPU), and the processor may also be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. Among them, the general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0116] In one embodiment, the processor is used to run a computer program stored in the memory to implement the following steps:

[0117] Acquire a driving route of a standard vehicle type AGV, and determine the driving route of the standard vehicle type AGV as a standard driving route;

[0118] Obtain other driving routes of other types of AGVs, and determine the physical location area according to the standard driving route and the other driving routes;

[0119] At least one preset association point is obtained, and based on each of the preset association points or the physical location area, a traffic planning scheme between the standard model AGV and the other model AGV is generated.

[0120] In one embodiment, at least one preset association point is obtained, and based on each of the preset association points or the physical location area, a traffic planning scheme between the standard model AGV and the other model AGV is generated to achieve:

[0121] Generating alternative routes according to each of the preset associated points;

[0122] Detecting whether there is the other type of AGV in the alternative route;

[0123] In the case that the other type of AGV does not exist in the alternative route, the alternative route is determined as the traffic planning scheme for the standard type of AGV.

[0124] In one embodiment, at least one preset association point is obtained, and before a traffic planning scheme between the standard model AGV and the other model AGV is generated based on each of the preset association points or the physical location area, it is used to achieve:

[0125] Based on the physical location areas, mutually exclusive areas are determined.

[0126] In one embodiment, at least one preset association point is obtained, and based on each of the preset association points or the physical location area, a traffic planning scheme between the standard model AGV and the other model AGV is generated to achieve:

[0127] When the standard model AGV exists in the mutually exclusive area, controlling the other model AGVs to wait outside the mutually exclusive area;

[0128] When the standard model AGV drives out of the mutually exclusive area, the other model AGV is allowed to enter the mutually exclusive area, or, if the other model AGV exists in the mutually exclusive area, the standard model AGV is controlled to wait outside the mutually exclusive area;

[0129] When the other type of AGV drives out of the mutually exclusive area, the standard type of AGV is allowed to enter the mutually exclusive area.

[0130] In one embodiment, when the standard model AGV drives out of the mutually exclusive area, before the other model AGV is allowed to enter the mutually exclusive area, it is used to achieve:

[0131] When the standard vehicle model AGV passes through the preset association point or exits the physical location area, it is determined that the standard vehicle model AGV exits the mutually exclusive area; or, when the other vehicle model AGV passes through the preset association point or exits the physical location area, it is determined that the other vehicle model AGV exits the mutually exclusive area.

[0132] In one embodiment, obtaining other driving routes of other types of AGVs, before determining the physical location area according to the standard driving route and the other driving routes, is used to achieve:

[0133] Obtaining the point distance between each point in the other driving route and each point in the standard driving route;

[0134] The point whose distance to the point is less than a preset distance threshold is determined as the preset associated point.

[0135] In one embodiment, obtaining other driving routes of other types of AGVs, before determining the physical location area according to the standard driving route and the other driving routes, is used to achieve:

[0136] Generating a standard driving map according to the standard driving route;

[0137] The initial driving route of the other type of AGV is mapped to the standard driving map to generate the other form of route in the same dimension as the standard driving route.

[0138] A computer-readable storage medium is also provided in an embodiment of the present application, wherein the computer-readable storage medium stores a computer program, wherein the computer program includes program instructions, and the processor executes the program instructions to implement any of the multi-type AGV traffic planning methods provided in the embodiments of the present application.

[0139] The computer-readable storage medium may be an internal storage unit of the computer device described in the foregoing embodiment, such as a hard disk or memory of the computer device. The computer-readable storage medium may also be an external storage device of the computer device, such as a plug-in hard disk, a smart memory card (Smart Medi a Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc., equipped on the computer device.

[0140] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in the present application, and these modifications or replacements should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A traffic planning method for multiple types of AGVs, characterized in that: include: Acquire a driving route of a standard vehicle type AGV, and determine the driving route of the standard vehicle type AGV as a standard driving route; Obtain other driving routes of other types of AGVs, and determine the physical location area according to the standard driving route and the other driving routes; At least one preset association point is obtained, and based on each of the preset association points or the physical location area, a traffic planning scheme between the standard model AGV and the other model AGV is generated.

2. The traffic planning method for multiple types of AGVs according to claim 1 is characterized in that: The acquiring of at least one preset association point and generating a traffic planning scheme between the standard model AGV and the other model AGV based on each of the preset association points or the physical location area includes: Generating alternative routes according to each of the preset associated points; Detecting whether there is the other type of AGV in the alternative route; In the case that the other type of AGV does not exist in the alternative route, the alternative route is determined as the traffic planning scheme for the standard type of AGV.

3. The traffic planning method for multiple types of AGVs according to claim 1 is characterized in that: The method of acquiring at least one preset association point and generating a traffic planning scheme between the standard vehicle type AGV and the other vehicle type AGV based on each of the preset association points or the physical location area includes: Based on the physical location areas, mutually exclusive areas are determined.

4. The traffic planning method for multiple types of AGVs according to claim 3 is characterized in that: The acquiring of at least one preset association point and generating a traffic planning scheme between the standard model AGV and the other model AGV based on each of the preset association points or the physical location area includes: When the standard model AGV exists in the mutually exclusive area, controlling the other model AGVs to wait outside the mutually exclusive area; When the standard model AGV drives out of the mutually exclusive area, the other model AGV is allowed to enter the mutually exclusive area, or, if the other model AGV exists in the mutually exclusive area, the standard model AGV is controlled to wait outside the mutually exclusive area; When the other type of AGV drives out of the mutually exclusive area, the standard type of AGV is allowed to enter the mutually exclusive area.

5. The traffic planning method for multiple types of AGVs according to claim 4 is characterized in that: When the standard model AGV drives out of the mutually exclusive area, before allowing the other model AGV to enter the mutually exclusive area, the method includes: When the standard vehicle model AGV passes through the preset association point or exits the physical location area, it is determined that the standard vehicle model AGV exits the mutually exclusive area; or, when the other vehicle model AGV passes through the preset association point or exits the physical location area, it is determined that the other vehicle model AGV exits the mutually exclusive area.

6. The traffic planning method for multiple types of AGVs according to claim 1 is characterized in that: The obtaining of other driving routes of other types of AGVs and determining the physical location area according to the standard driving route and the other driving routes includes: Obtaining the point distance between each point in the other driving route and each point in the standard driving route; The point whose distance to the point is less than a preset distance threshold is determined as the preset associated point.

7. The traffic planning method for multiple types of AGVs according to any one of claims 1 to 6, characterized in that: The obtaining of other driving routes of other types of AGVs and determining the physical location area according to the standard driving route and the other driving routes includes: Generating a standard driving map according to the standard driving route; The initial driving route of the other type of AGV is mapped to the standard driving map to generate the other form of route in the same dimension as the standard driving route.

8. A traffic planning device for multiple types of AGVs, characterized in that: include: A standard driving route determination module is used to obtain a driving route of a standard vehicle type AGV and determine the driving route of the standard vehicle type AGV as a standard driving route; A physical location area determination module, used to obtain other driving routes of other types of AGVs, and determine the physical location area according to the standard driving route and the other driving routes; The traffic planning scheme generating module is used to obtain at least one preset association point, and based on each of the preset association points or the physical location area, generate a traffic planning scheme between the standard model AGV and the other model AGVs.

9. A computer device, characterized in that: The computer device includes a memory and a processor; The memory is used to store computer programs; The processor is used to execute the computer program and implement the traffic planning method for multi-type AGVs as described in any one of claims 1 to 7 when executing the computer program.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor implements the traffic planning method for multi-type AGVs according to any one of claims 1 to 7.

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