AGV scheduling system and method, computing device and medium

Abstract

The invention relates to an AGV scheduling system and method, a computing device and a medium. The method comprises an interaction module, a priority module, a target module and a scheduling module. The interaction module is used for receiving a carrying task issued by a user; the priority module is used for acquiring historical carrying information and current operation information of each AGV, and determining the scheduling priority of each AGV based on each piece of historical carrying information and each piece of current operation information; the target module is used for selecting at least one AGV as a target carrier based on the carrying task and each scheduling priority; and the scheduling module is used for scheduling each target carrying vehicle to execute the carrying task. According to the invention, the scheduling module can select the target carrying vehicle which is suitable for executing the carrying task at present based on each target carrying capacity, so that the coal material transfer efficiency is improved.

Description

Background Art

[0002] Under each coal mill in a thermal power plant, an isobaric pebble coal discharge device (also known as a coal unloading mechanism) is arranged to discharge the generated coal into the coal hopper. When the coal hopper contains a certain amount of coal, the coal hopper is manually transferred to the coal handover point for storage through the on-site ground cattle, and then the outdoor operator operates an electric forklift to transfer it to the coal concentration center or yard for dumping and stacking. However, with the significant improvement in the degree of automation of thermal power plants, the construction of intelligent power fields and the advancement of centralized control with few people and unmanned operation, the manual slag discharge of pebble coal from coal mills is particularly abrupt, and manual slag discharge and forklift transportation are dangerous and have high labor costs. Therefore, the prior art proposes a method for unmanned coal transportation, which uses an unmanned transport vehicle to transport coal to the yard to reduce manual participation. However, the prior art usually directly dispatches an idle unmanned transport vehicle to perform the transportation task after receiving the transportation task. Since the idle unmanned transport vehicle is often not an unmanned transport vehicle suitable for performing the transportation task, the efficiency of coal transportation is poor.

[0003] It should be noted that the information disclosed in the above background technology section is only used to enhance the understanding of the background of the present application, and therefore may include information that does not constitute the prior art known to ordinary technicians in the field. Summary of the invention

[0004] In order to overcome the problem that the traditional method of directly dispatching an idle unmanned guided vehicle to perform the transport task after receiving the transport task, thereby resulting in poor efficiency in coal transportation, the present invention provides an AGV dispatching system, method, computing device and medium.

[0005] In a first aspect, in order to solve the above technical problems, the present invention provides an AGV scheduling system, comprising: an interaction module, a priority module, a target module and a scheduling module; wherein the target module is connected to the interaction module and the priority module respectively, and the scheduling module is connected to the interaction module and the target module respectively;

[0006] The interaction module is used to receive the transport task issued by the user;

[0007] The priority module is used to obtain the historical handling information and current operation information of each AGV transport vehicle, and determine the scheduling priority of each AGV transport vehicle based on each of the historical handling information and each of the current operation information;

[0008] The target module is used to select at least one AGV transport vehicle as a target transport vehicle based on the transport task and each of the scheduling priorities;

[0009] The scheduling module is used to schedule each of the target transport vehicles to perform the transport task.

[0010] In a second aspect, in order to solve the above technical problem, the present invention provides an AGV scheduling method, which is applied to an AGV scheduling system as described above, and the method includes:

[0011] Receive the transport tasks issued by users through the interactive module;

[0012] Obtaining historical transport information and current operation information of each AGV transport vehicle through a priority module, and determining the scheduling priority of each AGV transport vehicle based on each of the historical transport information and each of the current operation information;

[0013] Selecting at least one AGV transport vehicle as a target transport vehicle based on the transport task and each of the scheduling priorities through a target module;

[0014] The scheduling module schedules each of the target transport vehicles to perform the transport task.

[0015] In a third aspect, in order to solve the above-mentioned technical problem, the present invention provides a computing device, including a memory, a processor, and a program stored in the memory and running on the processor, and when the processor executes the program, the steps of an AGV scheduling method as described above are implemented.

[0016] In a fourth aspect, in order to solve the above-mentioned technical problem, the present invention provides a computer-readable storage medium, in which instructions are stored. When the instructions are executed on a terminal device, the terminal device executes the steps of an AGV scheduling method as described above.

[0017] The beneficial effects of the present invention are:

[0018] The historical handling information and current operation information of each AGV transporter are obtained through the priority module to determine the scheduling priority. The scheduling priority is related to the historical handling situation and current reference handling capacity of each AGV transporter, which can better reflect the target handling capacity of each AGV transporter. The target handling capacity represents the current actual handling capacity of each AGV transporter. In this way, the handling task is obtained through the interactive module, and the target module selects the target transporter according to the handling task and the target handling capacity of each AGV transporter. The target transporter is the AGV transporter that is currently more suitable for performing the handling task. Thereby, the scheduling module can select the target transporter that is currently more suitable for performing the handling task based on each target handling capacity, so as to improve the efficiency of coal transportation. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1A schematic diagram of the structure of an AGV dispatching system provided by the present invention;

[0020] Figure 2 A schematic diagram of a thermal power plant provided by the present invention;

[0021] Figure 3 A schematic diagram of fault statistics of an AGV transport vehicle provided by the present invention;

[0022] Figure 4 A flow chart of an AGV scheduling method provided by the present invention. DETAILED DESCRIPTION

[0023] The principles and features of the present invention are described below. The examples given are only used to explain the present invention and are not used to limit the scope of the present invention.

[0024] The following describes an AGV scheduling system, method, computing device and medium according to an embodiment of the present invention in conjunction with the accompanying drawings.

[0025] like Figure 1 As shown, an embodiment of the present disclosure provides an AGV scheduling system, including: an interaction module, a priority module, a target module and a scheduling module; wherein the target module is respectively connected to the interaction module and the priority module, and the scheduling module is respectively connected to the interaction module and the target module. The interaction module is used to receive the handling tasks issued by the user. The priority module is used to obtain the historical handling information and current operation information of each AGV transporter, and determine the scheduling priority of each AGV transporter based on each historical handling information and each current operation information. The target module is used to select at least one AGV transporter as the target transporter based on the handling task and each scheduling priority. The scheduling module is used to schedule each target transporter to perform the handling task. wherein the historical handling information represents the historical handling capacity, and the current operation information represents the current reference handling capacity.

[0026] Specifically, the target module obtains the handling task through the interaction module, and obtains the scheduling priority of each AGV transporter through the priority module; the scheduling module obtains the handling task through the interaction module, and obtains the target transporter through the target module. AGV (Automated Guided Vehicle, AGV) transporter, also known as automatic guided vehicle or transport robot. This AGV scheduling system is connected to each AGV transporter for scheduling each AGV transporter. For example, the priority module and scheduling module of the AGV scheduling system are both connected to each AGV transporter.

[0027] An AGV scheduling system provided by an embodiment of the present disclosure is adopted, and the historical handling information and current operation information of each AGV transporter are obtained through a priority module to determine the scheduling priority. The scheduling priority is related to the historical handling situation and current reference handling capacity of each AGV transporter, which can better reflect the target handling capacity of each AGV transporter, and the target handling capacity represents the current actual handling capacity of each AGV transporter. In this way, the handling task is obtained through the interactive module, and the target module selects the target transporter according to the handling task and the target handling capacity of each AGV transporter. The target transporter is the AGV transporter that is currently more suitable for performing the handling task. Thereby, the scheduling module can select the target transporter that is currently more suitable for performing the handling task based on each target handling capacity, so as to improve the efficiency of coal transportation.

[0028] Preferably, the historical handling information includes the historical handling success rate and the historical handling efficiency, and the current operation information includes the working status and the power parameter. The priority module is specifically used to determine the scheduling priority of each AGV transport vehicle based on each historical handling success rate, each historical handling efficiency, each working status and each power parameter. Among them, the working status includes maintenance, execution, failure, charging and idle.

[0029] When performing a handling task, an AGV transporter may collide, malfunction, or run out of power, which may result in the failure of its handling task. When performing a handling task, an AGV transporter may also take a long time to avoid obstacles, resulting in low handling efficiency. All AGV transporters are unmanned transporters. Although their driving algorithms are the same, in actual use, the probability of collision or malfunction of different AGV transporters and the time to avoid the same obstacle will still be different. Therefore, by determining each historical handling success rate and historical handling efficiency, the historical handling capacity of each AGV transporter can be determined. A high historical handling success rate and high historical handling efficiency indicate that the AGV transporter has a strong historical handling capacity. However, the working status and power parameters can indicate whether each AGV transporter can currently perform a handling task, and the power parameters can also indicate whether each AGV transporter has sufficient power to complete the handling task, thereby determining the current reference handling capacity.

[0030] In this way, the priority module determines the target handling capacity of each AGV transporter based on the historical handling capacity and the current reference handling capacity of each AGV transporter. The target handling capacity represents the scheduling priority of each AGV transporter. That is, the larger the target handling capacity, the greater the corresponding scheduling priority.

[0031] In some embodiments, for an AGV transporter, the historical transport capacity is determined based on the historical transport success rate and the historical transport efficiency, the current reference transport capacity is determined based on the working status and various power parameters, and the target transport capacity is determined based on the historical transport capacity and the current reference transport capacity.

[0032] Specifically, determining the historical transport capacity based on the historical transport success rate and the historical transport efficiency includes: taking the product of the historical transport success rate and the historical transport efficiency as the historical transport capacity. Alternatively, determining the historical transport capacity based on the historical transport success rate and the historical transport efficiency includes: setting weights for the historical transport success rate and the historical transport efficiency, and taking the product of the historical transport success rate with the corresponding weight and the historical transport efficiency with the corresponding weight as the historical transport capacity.

[0033] Specifically, the current reference handling capacity is determined based on the working state and various power parameters, including: assigning a value of 0 to the working state of maintenance, execution, failure, and charging, and assigning a value of 1 to the working state of idle. The product of the working state and the power parameter is used as the current reference handling capacity.

[0034] Specifically, determining the target transport capacity based on the historical transport capacity and the current reference transport capacity includes: performing a table lookup operation in a preset data table using the historical transport capacity and the current reference transport capacity to find out the target transport capacity corresponding to the historical transport capacity and the current reference transport capacity. The preset data table stores the correspondence between the historical transport capacity and the current reference transport capacity and the target transport capacity.

[0035] Preset Data Table

[0036]

[0037] In the preset data table, M represents the historical handling capacity, N represents the current reference handling capacity, and L represents the target handling capacity.

[0038] Preferably, an AGV dispatching system further includes: a route management module; the route management module is connected to the interaction module and the dispatching module respectively. The route management module is used to determine at least one initial route based on the handling task, and obtain the traffic conditions of each initial route. The dispatching module is specifically used to assign an initial route as a target route to each target transport vehicle based on each traffic condition, and dispatch each target transport vehicle to perform the handling task according to the corresponding target route. Specifically, the route management module obtains the handling task through the interaction module.

[0039] In this way, the route management module determines the traffic conditions of each initial route corresponding to the transport task, so that the scheduling module determines the target route of each target transport vehicle based on the traffic conditions of the initial route, so as to schedule each target transport vehicle to perform the transport task according to the assigned target route, thereby improving the efficiency of the target transport vehicle in performing the transport task.

[0040] In some embodiments, an isobaric pebble coal discharge device (also known as a coal discharge mechanism) is arranged under each coal mill of a thermal power plant to discharge the generated pebble coal into a coal hopper. Figure 2 As shown, Figure 2 A schematic diagram of a thermal power plant is provided. An indoor transfer area, an outdoor transfer area and a stockpile are provided in the thermal power plant. The coal unloading mechanism is provided in the indoor transfer area. The handling task includes the AGV transporter transporting the coal hopper filled with coal from the coal unloading mechanism via the preset initial route (not shown) in the indoor transfer area to the coal transfer point, which is set at the junction of the indoor transfer area and the outdoor transfer area; the AGV transporter transports the coal hopper filled with coal in the coal transfer point to the stockpile via the preset initial route in the outdoor transfer area. There are multiple coal storage locations (not shown) in the stockpile. After the AGV transporter transports the coal hopper filled with coal to the stockpile, it dumps the coal in the coal hopper into the coal storage location for storing coal in an orderly manner. Among them, multiple laser radars are also provided on the inner wall of the stockpile, and the scanning range of the multiple laser radars can cover the coal storage locations of the entire stockpile.

[0041] For ease of understanding, this embodiment takes the example of a handling task in which an AGV transporter transports a coal hopper filled with coal in a coal transfer point to a storage yard via an initial route preset in an outdoor transfer area. In this embodiment, there are at least two preset initial routes (hereinafter referred to as initial routes) in the outdoor transfer area. The starting point of the initial route is the coal transfer point, and the end point is the storage yard. The initial routes refer to roads that the AGV transporter can actually pass through, and do not include buildings, sidewalks, etc. on both sides of the road. Multiple cameras (not shown) are laid in each initial route at preset intervals. The initial route is divided into multiple sections along the extension direction of the initial route. Each camera can monitor and shoot a section in the initial route, and the sum of all cameras can monitor the complete initial route. It can be understood that due to the large workload of coal handling and the large number of AGV transporters, each initial route includes at least two lanes to allow the AGV transporter to travel, change lanes or turn around in the initial route.

[0042] Specifically, the traffic conditions of each initial route are obtained, including: obtaining images collected by each camera at a preset frequency; wherein each camera is laid out in the initial route at a preset interval; based on each image collected by each camera, determining whether there is a prohibited obstacle in the road section corresponding to each camera; wherein the initial route includes multiple sections, each camera corresponds to one section, and the prohibited obstacle represents an obstacle that the AGV transporter cannot pass; the traffic conditions of the initial routes where no prohibited obstacles exist in all routes are determined as allowed to pass.

[0043] By acquiring images captured at a preset frequency by multiple cameras laid out in the initial route, it is possible to know whether there are prohibited obstacles that the AGV transporter cannot pass through in the road section corresponding to each camera. If there is a prohibited obstacle in any road section, it means that the AGV transporter cannot pass through the initial route corresponding to the road section where the prohibited obstacle is located, that is, the accessibility of the initial route is not allowed. For the initial route where there are no prohibited obstacles in all sections, the AGV transporter can completely pass through the initial route. In this way, by acquiring each image captured by each camera to determine whether there are prohibited obstacles in each road section, the accessibility of each initial route can be determined more accurately, so as to assign the initial route to the target transporter as the target route.

[0044] Specifically, based on each image captured by each camera, determine whether there is a no-entry obstacle in the road section corresponding to each camera, including: for each image captured by the same camera, select two images as the first target image and the second target image based on the capture time; compare the first target image and the second target image captured by the same camera respectively, and determine the change between the first target image and the second target image corresponding to each camera; based on each change, determine whether there is a no-entry obstacle in the road section corresponding to each camera.

[0045] By comparing the changes between the first target image and the second image captured by the same camera at different times, if the changes are large, it means that there is a dynamically changing object between the first target image and the second target image; if the changes are small, it means that there may be a static object between the first target image and the second target image. In this way, based on the comparison between the first target image and the second target image captured by the same camera, it can be determined whether there are dynamically changing or static objects within the shooting range of the camera. If there are dynamically changing objects within the shooting range of the camera, it means that the road section corresponding to the camera can pass normally. If there are static objects within the shooting range of the camera, it means that there is a high probability of a prohibited obstacle in the road section corresponding to the camera, which will hinder the normal passage of the transport vehicle. In this way, it can be more accurately determined whether there are prohibited obstacles in the road sections corresponding to the shooting of each camera.

[0046] For ease of understanding, the camera includes a first camera, a second camera, and a third camera, and each camera captures 5 images. The 5 images captured by the first camera belong to the images captured by the same camera (i.e., the first camera): based on the acquisition time, two images are selected from the 5 images belonging to the first camera as the first target image and the second target image. The 5 images captured by the second camera belong to the images captured by the same camera (i.e., the second camera): based on the acquisition time, two images are selected from the 5 images belonging to the second camera as the first target image and the second target image. The 5 images captured by the third camera belong to the images captured by the same camera (i.e., the third camera): based on the acquisition time, two images are selected from the 5 images belonging to the third camera as the first target image and the second target image.

[0047] Specifically, for each image captured by the same camera, two images are selected as the first target image and the second target image based on the acquisition time, including: arranging each image captured by the same camera in descending order according to the acquisition time to obtain each image sequence. Each image sequence represents a set of images captured by a camera. Based on the acquisition time, two images are selected from each image sequence as the first target image and the second target image.

[0048] In this way, by arranging the images captured by the same camera in descending order according to the capture time, it is convenient to select the first target image and the second target image based on the capture time. In some embodiments, the first target image is an image captured at the latest time, and the second target image is an image captured at a preset time interval before the first target image. The preset time interval is any value such as 2s, 4s, 6s, etc.

[0049] Specifically, the first target image and the second target image captured by the same camera are compared to determine the change between the first target image and the second target image corresponding to each camera, including: extracting the road section in each first target image as the first road section image, and extracting the road section in each second target image as the second road section image; calculating the first similarity between the first road section image and the second road section image corresponding to the same camera; and taking each first similarity as the change between the first target image and the second target image corresponding to the corresponding camera. The first road section image and the second road section image both refer to the roads in the initial route that the AGV transporter can actually pass.

[0050] Due to the limited shooting range of the camera, the images it collects will inevitably carry other buildings, people, etc. besides the road section. Therefore, by extracting the first road section image and the second road section image, other buildings besides the road section carried in the image can be eliminated, thereby reducing noise data and improving accuracy. By calculating the first similarity between the first road section image and the second road section image corresponding to the same camera, if the first similarity is low, it means that the change between the first road section image and the second road section image is large; if the first similarity is high, it means that the change between the first road section image and the second road section image is small. In this way, the change between the first target image and the second target image can be determined more accurately.

[0051] In some embodiments, respectively calculating the first similarity between the first road section image and the second road section image corresponding to the same camera includes: respectively calculating the first similarity between the first road section image and the second road section image corresponding to the same camera by a pixel comparison method. For example, subtracting the pixel value of each pixel position in the first road section image from the pixel value of the corresponding pixel position in the second road section image, and determining the average value of the difference of each pixel position, and determining the first similarity based on the average value of the difference.

[0052] In some other embodiments, respectively calculating the first similarity between the first road section image and the second road section image corresponding to the same camera includes: respectively calculating the first similarity between the first road section image and the second road section image corresponding to the same camera based on a structural similarity index (SSIM). For example, obtaining the brightness, contrast and structural similarity between the first road section image and the second road section image, determining the structural similarity index based on the brightness, contrast and structural similarity, and determining the first similarity based on the structural similarity.

[0053] Specifically, based on each change situation, determine whether there is a prohibited obstacle in the road section corresponding to each camera, including: determining a first similarity greater than a first preset similarity threshold as a first target similarity; inputting the target road section images corresponding to each first target similarity into a preset target detection model, and obtaining obstacle information of each target road section image; wherein the target road section image is a first road section image or a second road section image; using obstacle information that meets the preset obstacle condition as target obstacle information, and determining that there is a prohibited obstacle in the road section corresponding to the camera corresponding to the target obstacle information.

[0054] When the first similarity is greater than the first preset similarity threshold, it means that the first target image and the second target image corresponding to the first similarity are relatively similar, that is, there is a static object in the road section pointed to by the first target image and the second target image, and the object may be a prohibited obstacle that will hinder the normal passage of the AGV transport vehicle. The target road section image is then detected by the preset target detection model to further determine the obstacle information of the static object, that is, the obstacle information. If the obstacle information meets the preset obstacle condition, it means that the object pointed to by the obstacle information will hinder the normal passage of the AGV transport vehicle, and at this time the object is a prohibited obstacle. In this way, the first similarity is used to preliminarily determine whether there is a suspected prohibited obstacle in the road section, and then the preset target detection model is used to further detect the suspected prohibited obstacle, so that it can be more accurately determined whether there is a prohibited obstacle in the road section corresponding to each camera.

[0055] In some embodiments, the preset target detection model includes a YOLO (You Only Look Once) model or an SSD (Single Shot MultiBox Detector) model, etc.

[0056] Specifically, the obstacle information includes the coordinates of the obstacle target frame. Obstacle information that meets the preset obstacle conditions is used as target obstacle information, including: obtaining the width of the AGV transporter and the width of the road section where the obstacle information is located, and using the difference between the road width and the vehicle width as the target width. Based on the coordinates of the obstacle target frame, the object width of the obstacle in the width direction of the road section is determined. The object width greater than the target width is used as the target object width, and the obstacle information corresponding to the target object width is used as the target obstacle information.

[0057] In this way, by comparing the object width of the obstacle in the road section width direction with the target width, the target obstacle information can be determined more accurately. At this time, satisfying the obstacle condition indicates that the value of the obstacle in the obstacle information along the road section width direction is greater than the target width.

[0058] In some embodiments, a plurality of rangefinders are also laid in the initial route, and each rangefinder is connected to the scheduling module. Each rangefinder is laid at a preset interval, and the ranging range of all rangefinders can cover the entire initial route. The rangefinder is used to measure the height of obstacles in the initial route. For example, the rangefinder is laid on the street lights on both sides of the main route, and the height of the obstacle is detected from a high place downward. Although some obstacles are large in size, their height is low and will not prevent the AGV transporter from passing. Therefore, after determining that there is target obstacle information, the scheduling module controls the rangefinder of the section where the target obstacle information is located to start working. When the rangefinder detects that the height of the obstacle in the target obstacle information exceeds the height that the AGV transporter can pass, it is determined that there is a prohibited obstacle in the section corresponding to the camera corresponding to the target obstacle information.

[0059] Specifically, the target road section images corresponding to each first target similarity are input into the preset target detection model to obtain the obstacle information of each target road section image, including: calculating the second similarity between each target road section image and the corresponding preset road section image; taking the second similarity less than the second preset similarity threshold as the second target similarity; inputting the target road section images corresponding to each second target similarity into the preset target detection model to obtain the obstacle information of each target road section image. The preset road section image represents the original image of the road section, and there is no person or object except the road.

[0060] By comparing the target road section image with the corresponding preset road section image, it is possible to determine whether the target road section image is the original image of the road section, that is, there are no people or objects in the target image except the road. If the second similarity is greater than or equal to the second preset similarity threshold, it means that the target road section image and the corresponding preset road section image are relatively similar, and the target road section image is the original image of the road section. If the second similarity is less than the second preset similarity threshold, it means that the target road section image and the corresponding preset road section image are not similar, and there is a static object in the target road section image, which may be a prohibited obstacle that will hinder the normal passage of the AGV transporter. The preset target detection model is then used to further detect the suspected prohibited obstacle, so that it can be more accurately determined whether there is a prohibited obstacle in the road section corresponding to the target road section image corresponding to the second target similarity.

[0061] Preferably, the scheduling module is specifically used to use any initial route whose traffic condition allows passage as the target route of each target transport vehicle, and schedule each target transport vehicle to perform the transport task according to the corresponding target route.

[0062] In this way, by using the initial route where the traffic is allowed as the target route for each target transport vehicle, the probability of the target transport vehicle being blocked in the initial route by a prohibited obstacle can be reduced, thereby improving the efficiency of each target transport vehicle in performing the transport task. It can be understood that the initial route is the initial route corresponding to the transport task. For example, the transport task is for the AGV transport vehicle to transport the coal hopper containing coal in the coal transfer point to the yard via the initial route preset in the outdoor transfer area. Then the initial route corresponding to the transport task is the initial route preset in the outdoor transfer area.

[0063] Specifically, the initial route whose traffic condition is that the traffic is allowed is used as the target route of each target transport vehicle, including: using the initial route whose traffic condition is that the traffic is allowed as an alternative route, obtaining the congestion degree of each alternative route, and determining each target route based on the congestion degree. In this way, due to the different congestion degrees in different alternative routes, the alternative route with high congestion degree has a greater impact on the target transport vehicle's execution of the task, and the alternative route with low congestion degree has a smaller impact on the target transport vehicle's execution of the task.

[0064] In this way, by allocating a target route to a target transport vehicle based on the congestion degree, the probability of the target transport vehicle being stuck in the target route can be reduced, thereby further improving the efficiency of each target transport vehicle in performing the transport task. For example, an alternative route with a lower congestion degree is allocated to each target transport vehicle as the target transport route. Each target transport vehicle performs the transport task according to the allocated target transport route.

[0065] In some embodiments, the congestion of the alternative route is determined based on the number of AGV transporters in the alternative route, the density of objects, and the number of lanes in the alternative route. For example, if the number of AGV transporters in the alternative route is large, the congestion of the alternative route is low; if the number of lanes in the alternative route is small and the number of AGV transporters is large, the congestion of the alternative route is low.

[0066] Preferably, an AGV dispatching system further includes: a monitoring and display module; the monitoring and display module is connected to the dispatching module. The monitoring and display module is used to obtain the real-time position of each target transport vehicle, and determine the task progress based on the real-time position and the corresponding target route; and is used to display the real-time position, target route and task progress of each target transport vehicle. Specifically, the monitoring and display module obtains the target route corresponding to the target transport vehicle through the dispatching module. Each AGV transport vehicle is provided with a positioning device, such as GPS. The positioning device is communicatively connected to the monitoring and display module. The monitoring display obtains the real-time position of the target transport vehicle through the positioning device.

[0067] In this way, the task progress is determined and displayed by acquiring the real-time position and target route of the target transport vehicle, so that the staff can timely understand the working status of each target transport vehicle and the driving status of the target transport vehicle on each target route through the monitoring display module.

[0068] It can be understood that when the real-time position of the target transport vehicle is at the end point of the corresponding target route, the task progress of the target transport vehicle can be considered as task completed; when the real-time position of the target transport vehicle is within the corresponding target route and the target transport vehicle is in motion, the task progress of the target transport vehicle can be considered as task being executed.

[0069] Specifically, the monitoring and display module is also connected to the route management module. The monitoring and display module is also used to obtain the initial routes corresponding to the handling task through the route management module and display them. In this way, the staff can timely understand the situation of each initial route corresponding to the handling task through the display monitoring module.

[0070] Preferably, the monitoring and display module is also communicatively connected with the interactive module. The monitoring and display module is also used to obtain the driving data, fault data and task data of each AGV transporter, and determine the total driving data based on each driving data, and determine the total fault data based on each fault data; and, to display the total driving data, total fault data and task data respectively. Among them, the driving data includes the driving time of the AGV transporter and the mileage of the AGV transporter. The fault data includes the number of faults and the fault-free time. The task data includes the number of handling tasks received and the number of abnormal tasks. Abnormal tasks represent unfinished handling tasks.

[0071] In this way, by obtaining the driving data, fault data and task data of each AGV transporter, the total driving data, total fault data and task data of the AGV scheduling system can be determined and displayed, so that the staff can understand the operation status of the AGV scheduling system in a timely manner.

[0072] Specifically, the total driving data includes the total driving time and mileage; the driving time of each AGV transporter is summed up to determine the total driving time, and the mileage of each AGV transporter is summed up to determine the total mileage. The total fault data includes the total number of faults and the total fault-free time; the number of faults of each AGV transporter is summed up to determine the total number of faults, and the fault-free time of each AGV transporter is summed up to determine the total fault-free time.

[0073] Preferably, the monitoring and display module is also connected to each AGV transporter. The monitoring and display module is also used to obtain and display the basic information of each AGV transporter so that the staff can view the basic conditions of each AGV transporter. The basic information includes working status, fault statistics, power and temperature parameters, driving time, mileage, handling efficiency, CPU statistics, memory usage, etc. For example, Figure 3 As shown, Figure 3 A schematic diagram of the fault statistics of an AGV transporter is provided. The fault statistics are displayed in a graphical form, including date / time and number of faults.

[0074] Preferably, an AGV dispatching system further includes: a power management module and at least one charging pile; the power management module is in communication connection with each charging pile. The power management module is used to obtain the current operation information of each AGV transporter, determine the charging demand of each AGV transporter based on each current operation information; and also to control each AGV transporter with charging demand to go to any charging pile for charging. . The current operation information includes working status and power information.

[0075] Based on the current operation information, the power parameters and working status of the AGV transporter can be known to determine whether each AGV transporter has a need for charging. For example, when the working status is in execution and the power parameter is high, it is considered that the AGV transporter has no need for charging. In this way, by controlling the AGV transporter with charging needs to go to any charging pile for charging, the AGV transporter can perform the handling task and charge automatically, so as to further reduce personnel participation and promote unmanned transportation of coal.

[0076] In some embodiments, each AGV transporter with charging demand is controlled to go to a charging pile with the closest charging distance to charge. The charging distance represents the driving distance between the AGV transporter and each charging pile.

[0077] In some embodiments, the power level is determined according to the value of the power parameter, and the power level includes high power, medium power and low power. The working status and power level are used to look up the table to determine whether the AGV transport vehicle needs to be charged. The charging demand table is as follows:

[0078] Charging requirements table

[0079]

[0080] In this embodiment, combined with the charging demand table, it can be seen that when the working state of the AGV transporter is charging, the AGV transporter is already charging. The power management module will no longer control the AGV transporter in the charging state to repeatedly go to the charging pile for charging, so it is considered that there is no charging demand at this time.

[0081] In another embodiment, the charging time may also be set to uniformly control each AGV transporter to go to any charging pile for charging within the charging time.

[0082] Preferably, the power management module is also used to obtain the occupancy information of each charging pile, determine the target charging pile based on each occupancy information, and control each AGV transporter with charging demand to go to any target charging pile for charging. The occupancy information indicates whether the charging pile is occupied by an AGV transporter.

[0083] When a charging pile is occupied by an AGV, it cannot charge other AGVs. Therefore, by determining the occupancy information of the charging pile, it is possible to determine whether the charging pile can charge the AGV. The charging piles with occupancy information as unoccupied, that is, the charging piles that can charge the AGV, are used as target charging piles, so that each AGV with charging needs can go to any target charging pile for charging.

[0084] In some embodiments, the interaction module is also used to respond to the user's charging instruction and control the AGV transporter pointed to by the charging instruction to go to the charging station for charging.

[0085] Combination Figure 4 As shown, Figure 4 An AGV scheduling method is provided, which is applied to an AGV scheduling system as shown above, and the method includes:

[0086] Step S201, receiving a transport task issued by a user through an interactive module;

[0087] Step S201, obtaining historical transport information and current operation information of each AGV transport vehicle through a priority module, and determining the scheduling priority of each AGV transport vehicle based on each historical transport information and each current operation information;

[0088] Step S203, selecting at least one AGV transport vehicle as a target transport vehicle based on the transport task and each scheduling priority through the target module;

[0089] Step S204: scheduling each target transport vehicle to perform the transport task through the scheduling module.

[0090] An AGV scheduling method provided by an embodiment of the present disclosure is adopted, and the historical handling information and current operation information of each AGV transporter are obtained through a priority module to determine the scheduling priority. The scheduling priority is related to the historical handling situation and current reference handling capacity of each AGV transporter, which can better reflect the target handling capacity of each AGV transporter, and the target handling capacity represents the current actual handling capacity of each AGV transporter. In this way, the handling task is obtained through the interactive module, and the target module selects the target transporter according to the handling task and the target handling capacity of each AGV transporter. The target transporter is the AGV transporter that is currently more suitable for performing the handling task. Thereby, the scheduling module can select the target transporter that is currently more suitable for performing the handling task based on each target handling capacity, so as to improve the efficiency of coal transportation.

[0091] Preferably, the historical transport information includes the historical transport success rate and the historical transport efficiency, and the current operation information includes the working status and the power parameter. The scheduling priority of each AGV transport vehicle is determined based on each historical transport information and each current operation information, including: determining the scheduling priority of each AGV transport vehicle based on each historical transport success rate, each historical transport efficiency, each working status and each power parameter.

[0092] Preferably, an AGV scheduling system also includes a route management module. An AGV scheduling method also includes: determining at least one initial route based on the handling task through the route management module, and obtaining the traffic conditions of each initial route. The scheduling module assigns an initial route as a target route to each target transport vehicle based on each traffic condition, and schedules each target transport vehicle to perform the handling task according to the corresponding target route.

[0093] Preferably, an AGV dispatching system also includes a monitoring and display module. An AGV dispatching method also includes: obtaining the real-time position of each target transport vehicle through the monitoring and display module, and determining the task progress based on the real-time position and the corresponding target route; and displaying the real-time position, target route and task progress of each target transport vehicle.

[0094] Preferably, an AGV scheduling method further includes: obtaining the driving data, fault data and task data of each AGV transporter through a monitoring display module, and determining the total driving data based on each driving data, and determining the total fault data based on each fault data; and displaying the total driving data, total fault data and task data respectively.

[0095] Preferably, an AGV dispatching system further includes a power management module and at least one charging pile; the power management module is in communication connection with each charging pile. An AGV dispatching method further includes: obtaining the current operation information of each AGV transporter through the power management module, determining the charging demand of each AGV transporter based on each current operation information; and controlling each AGV transporter with charging demand to go to any charging pile for charging.

[0096] Preferably, an AGV scheduling method further includes: obtaining occupancy information of each charging pile through a power management module, and determining a target charging pile based on each occupancy information; and also controlling each AGV transporter with charging demand to go to any target charging pile for charging.

[0097] A computing device according to an embodiment of the present invention includes a memory, a processor, and a program stored in the memory and running on the processor. When the processor executes the program, some or all steps of the above-mentioned AGV scheduling method are implemented.

[0098] Among them, the computing device can be a computer, and correspondingly, its program is computer software. The above-mentioned parameters and steps in a computing device of the present invention can refer to the parameters and steps in an embodiment of an AGV scheduling method above, and will not be repeated here.

[0099] In an embodiment of the present invention, a computer-readable storage medium is provided, in which instructions are stored. When the instructions are executed, the steps of the above-mentioned AGV scheduling method are executed.

[0100] The computer-readable storage medium may be a transient computer-readable storage medium or a non-transitory computer-readable storage medium.

[0101] The technical solution of the embodiment of the present disclosure can be embodied in the form of a software product, which is stored in a storage medium and includes one or more instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method of the embodiment of the present disclosure. The aforementioned computer-readable storage medium may be a non-transitory computer-readable storage medium, including: a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and other media that can store program codes, or a transient computer-readable storage medium.

[0102] Those skilled in the art know that the present invention can be implemented as a system, method or computer program product. Therefore, the present disclosure can be specifically implemented in the following forms, namely: it can be complete hardware, it can be complete software (including firmware, resident software, microcode, etc.), or it can be a combination of hardware and software, generally referred to as "circuit", "module" or "system" herein. In addition, in some embodiments, the present invention can also be implemented in the form of a computer program product in one or more computer-readable media, and the computer-readable medium contains computer-readable program code. Computer-readable storage media can be, for example, but not limited to - electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or devices, or any combination of the above.

[0103] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0104] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. An AGV dispatching system, characterized in that: include: An interaction module, a priority module, a target module and a scheduling module; wherein the target module is connected to the interaction module and the priority module respectively, and the scheduling module is connected to the interaction module and the target module respectively; The interaction module is used to receive the transport task issued by the user; The priority module is used to obtain the historical handling information and current operation information of each AGV transport vehicle, and determine the scheduling priority of each AGV transport vehicle based on each of the historical handling information and each of the current operation information; The target module is used to select at least one AGV transport vehicle as a target transport vehicle based on the transport task and each of the scheduling priorities; The scheduling module is used to schedule each of the target transport vehicles to perform the transport task.

2. The system according to claim 1, characterized in that The historical transport information includes historical transport success rate and historical transport efficiency, and the current operation information includes working status and power parameters; The priority module is specifically used to determine the scheduling priority of each AGV transport vehicle based on each of the historical transport success rates, each of the historical transport efficiencies, each of the working states and each of the power parameters.

3. The system according to claim 1, characterized in that It also includes a route management module; the route management module is connected to the interaction module and the scheduling module respectively; The route management module is used to determine at least one initial route based on the transport task, and obtain the traffic conditions of each of the initial routes; The scheduling module is specifically used to allocate an initial route as a target route for each target transport vehicle based on each traffic condition, and schedule each target transport vehicle to perform the transport task according to the corresponding target route.

4. The system according to claim 3, characterized in that Also includes: Monitoring and display module; the monitoring and display module is connected to the scheduling module; The monitoring and display module is used to obtain the real-time position of each target transport vehicle and determine the task progress based on the real-time position and the corresponding target route; and is used to display the real-time position, target route and task progress of each target transport vehicle.

5. The system according to claim 4, characterized in that The monitoring and display module is also connected to the interaction module; The monitoring and display module is also used to obtain the driving data, fault data and task data of each AGV transport vehicle, and determine the total driving data based on each driving data, and determine the total fault data based on each fault data; and is used to display the total driving data, total fault data and task data respectively.

6. The system according to claim 1, characterized in that Also includes: A power management module and at least one charging pile; the power management module is in communication connection with each of the charging piles; The power management module is used to obtain the current operating information of each AGV transport vehicle, determine the charging requirement of each AGV transport vehicle based on the current operating information; and also to control each AGV transport vehicle with the charging demand to go to any one of the charging piles for charging.

7. The system according to claim 6, characterized in that The power management module is further used to obtain occupancy information of each charging pile and determine the target charging pile based on the occupancy information; and is also used to control each AGV transporter with the charging demand to go to any target charging pile for charging.

8. An AGV scheduling method, characterized in that: Applied to an AGV dispatching system as claimed in claim 1, the method comprises: Receive the transport tasks issued by users through the interactive module; Obtaining historical transport information and current operation information of each AGV transport vehicle through a priority module, and determining the scheduling priority of each AGV transport vehicle based on each of the historical transport information and each of the current operation information; Selecting at least one AGV transport vehicle as a target transport vehicle based on the transport task and each of the scheduling priorities through a target module; The scheduling module schedules each of the target transport vehicles to perform the transport task.

9. A computing device comprising a memory, a processor, and a program stored in the memory and running on the processor, characterized in that: When the processor executes the program, the steps of an AGV scheduling method as claimed in claim 8 are implemented.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores instructions, and when the instructions are executed on the terminal device, the terminal device executes the steps of an AGV scheduling method as claimed in claim 8.

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