AGV scheduling method, electronic equipment and computer readable storage medium

Abstract

The invention discloses an AGV scheduling method, electronic equipment and a computer readable storage medium. The scheduling method comprises the steps of planning a global path of a current AGV; determining a pre-issued target section path; determining a termination node, taking the first node as a starting point, taking the termination node as an end point, and generating a target route of the target section path according to the bypassing node set; and issuing the target route to the current AGV, so that the current AGV bypasses the nodes in the bypassing node set when passing through the target section path according to the target route. According to the invention, after the pre-issued target section path is determined, the security node closest to the second node is searched, and the security node is determined as the end point of the target section path, so that the security performance when the current AGV moves to the end point of the target section path is ensured. And meanwhile, during path planning, according to the bypassing node set, it is ensured that the current AGV can avoid nodes which have conflicts with the current AGV and have fault equipment during movement, so that it can be ensured that the current AGV smoothly passes through a target section path.

Description

Technical Field

[0001] The present invention relates to the field of AGV technology, and in particular to an AGV scheduling method, electronic equipment and computer-readable storage medium. Background Art

[0002] During the normal operation of AGV, there may be a situation where the equipment in the planned path cannot move normally for a period of time due to failure or network offline. At this time, the AGV can only choose to wait in place or take a longer route, resulting in large-scale equipment congestion in the entire work area, making the AGV work inefficient. Summary of the invention

[0003] The main technical problem solved by the present application is to provide an AGV scheduling method, an electronic device and a computer-readable storage medium, which can improve the working efficiency of the AGV.

[0004] In order to solve the above technical problems, the present application adopts a technical solution: providing an AGV scheduling method, the scheduling method comprising:

[0005] Planning a global path of the current AGV, wherein the global path includes a plurality of nodes;

[0006] Determine a pre-delivered target segment path, wherein the target segment path includes at least some of the nodes, and at least some of the nodes include a first node, a second node, and at least one of the nodes located between the first node and the second node;

[0007] Determine a termination node, wherein the termination node is a safety node closest to the second node, wherein the safety node at least satisfies: the safety node is located after the first node, and there is no equipment around the safety node that conflicts with the current AGV;

[0008] Taking the first node as a starting point and the termination node as an end point, and generating a target route of the target segment path according to a detour node set, wherein the detour node set includes the nodes between the first node and the termination node where there are devices that conflict with the current AGV and have failed;

[0009] The target route is sent to the current AGV, so that the current AGV bypasses the nodes in the detour node set when passing through the target segment path according to the target route.

[0010] To solve the above technical problems, the present application also provides a technical solution: an electronic device, comprising a processor and a memory, wherein the processor is coupled to the memory, wherein program data is stored in the memory, and the processor implements the steps in any one of the above methods by executing the program data in the memory.

[0011] To solve the above technical problems, the present application also provides a technical solution: a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and the computer program can be executed by a processor to implement the steps in any of the above methods.

[0012] Beneficial effect: After determining the pre-issued target segment path, the present application does not directly determine the second node of the target segment path as the end point, but searches for the safe node closest to the second node, and determines the safe node as the end point of the target segment path, thereby ensuring the safety performance of the current AGV when it moves to the end point of the target segment path. At the same time, when planning the path, the bypass node set is also used to ensure that the current AGV can avoid nodes with equipment that conflicts with the current AGV and has failed when moving, thereby ensuring that the current AGV can pass the target segment path smoothly. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. Among them:

[0014] Figure 1 A flowchart of an AGV scheduling method provided in one embodiment of the present application;

[0015] Figure 2 This is a schematic diagram of the AGV running action path in one embodiment of the present application;

[0016] Figure 3 For this application Figure 1 Flow chart of step S120;

[0017] Figure 4 For this application Figure 1 Flowchart of step S120 and step S130;

[0018] Figure 5 This is a schematic diagram of the structure of an embodiment of an electronic device of the present application;

[0019] Figure 6 This is a schematic diagram of the structure of another embodiment of the electronic device of the present application;

[0020] Figure 7 This is a schematic diagram of the structure of an embodiment of a computer-readable storage medium of the present application. DETAILED DESCRIPTION

[0021] 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 only 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.

[0022] The terms "first", "second", "third" in this application are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Thus, the features defined as "first", "second", "third" can expressly or implicitly include at least one of the features. In the description of this application, the meaning of "multiple" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined. In the embodiments of this application, all directional indications (such as up, down, left, right, front, back...) are only used to explain the relative position relationship, movement, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication also changes accordingly. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device comprising a series of steps or units is not limited to the steps or units listed, but optionally also includes steps or units that are not listed, or optionally also includes other steps or units inherent to these processes, methods, products or devices.

[0023] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0024] See also Figure 1In one embodiment of the present application, a method for dispatching an AGV is provided, wherein the AGV is an automatic guided vehicle, which is widely used in item dispatching scenarios such as warehousing logistics and automatic parking systems. In the dispatching of large quantities of items, multiple AGVs are generally required to work simultaneously in the same area. These AGVs are connected and controlled by the same control system to form an AGV cluster. The above-mentioned AGV dispatching method can be applied to the ground control equipment in the AGV cluster, or, it can also be applied to the AGVs in the AGV cluster.

[0025] For details, please continue to see Figure 1 , the scheduling methods include:

[0026] S100: Planning a global path of the current AGV, wherein the global path includes a plurality of nodes.

[0027] According to the information such as the direction of each node and node connectivity contained in the global path, a global path containing AGV action information is generated according to certain standards (such as shortest running time, shortest driving route, minimum driving cost, etc.).

[0028] According to the attributes (such as workbenches, shelf areas, operating areas, etc.), location and connectivity information of each node in the map network, as well as the real-time status of the operating tasks, locations and operating paths of each AGV equipment in the management and control system, the shortest path planning algorithms such as A* (direct search method) and Di jkstra algorithm are used to plan an optimal global operating path from the starting position to the end position for the AGV equipment.

[0029] For example Figure 2 As shown in the figure, the planned global path can be: go straight from node 0 to node 1, turn left 90 degrees at node 1, then follow the Bezier curve from node 1 to node 2, and then retreat from node 2 to node 3. That is, the global path of the current AGV includes nodes 0, 1, 2, and 3.

[0030] S110: Determine a pre-issued target segment path, wherein the target segment path includes at least some nodes, and the at least some nodes include a first node, a second node, and at least one node between the first node and the second node.

[0031] The target segment path refers to a local path with no conflict risk and containing a certain number of nodes calculated for the current AGV after the global path from the starting point to the end point is planned for the current AGV, based on the operating paths of other AGVs and through a certain multi-vehicle control strategy (to avoid collision or deadlock between the current AGV and other AGVs).

[0032] It is understandable that the target segment path can be the current AGV in the initialization state, that is, before entering the running state, or it can be the next target segment path to be run planned by the management and control system when the current AGV is running on the current target segment path.

[0033] The target segment path includes several nodes. For the convenience of description, the starting node in the target segment path is defined as the first node, and the ending node is defined as the second node.

[0034] S120: Determine a termination node, wherein the termination node is a safety node closest to the second node. The safety node at least satisfies: the safety node is located after the first node, and there is no equipment around the safety node that conflicts with the current AGV.

[0035] Specifically, if the second node satisfies the following conditions: it is located after the first node and there is no equipment around it that conflicts with the current AGV, then the second node is directly determined as the termination node. However, if there is equipment around the second node that conflicts with the current AGV, then the safety node closest to the second node is determined as the termination node, where the termination node may be located before or after the second node.

[0036] S130: Taking the first node as the starting point and the terminating node as the end point, a target route of the target segment path is generated according to the detour node set, wherein the detour node set includes nodes between the first node and the terminating node where there are nodes that conflict with the current AGV and have failed devices.

[0037] Specifically, after determining the termination node, the termination node is used as the end point of the target segment path. It is understandable that since the termination node is a safe node, using the termination node as the end point of the target segment path can ensure the safety performance of the current AGV moving to the end point of the target segment path.

[0038] At the same time, the nodes included in the bypass node set are the nodes that need to be bypassed when the current AGV moves.

[0039] S140: Send the target route to the current AGV, so that the current AGV bypasses the nodes in the bypass node set when passing through the target segment path according to the target route.

[0040] The target route is sent to the current AGV, so that the current AGV moves along the target route, thereby avoiding all nodes with problems. At this time, each node on the target segment path and the area between nodes are locked and cannot be used by other AGVs, so that the current AGV can exclusively use the target segment path to achieve safe operation of the AGV equipment.

[0041] In the above AGV scheduling method, after determining the pre-issued target segment path, the second node of the target segment path is not directly determined as the end point, but the safe node closest to the second node is found and the safe node is determined as the end point of the target segment path to ensure the safety performance of the current AGV when it moves to the end point of the target segment path. At the same time, when planning the path, the bypass node set is also used to ensure that the current AGV can avoid nodes with faulty equipment that conflict with the current AGV when moving, so as to ensure that the current AGV can pass the target segment path smoothly.

[0042] In one embodiment, step S110 may determine the pre-delivered target segment path in the following manner:

[0043] First, the longest and shortest lengths of the current AGV target segment path are determined according to preset rules.

[0044] Specifically, the preset rules may include a distance threshold, that is, the longest and shortest lengths of the current AGV target segment path can be determined according to the distance threshold. At the same time, the shortest length threshold of the current AGV target segment path can be determined according to the minimum deceleration and parking function attribute of the current AGV itself. According to the map size and the upper limit of the length of the local running path occupied by the AGV equipment specified in the operating efficiency requirements, the longest length threshold of the current AGV target segment path is determined. Among the nodes on the running path that are not less than the shortest length threshold and not more than the longest length threshold, the node closest to the shortest length threshold is selected as the end point of the preliminarily determined target segment path, and then the preliminarily determined target segment path length is adjusted according to the attributes of each node.

[0045] Secondly, if the initially obtained target segment path contains a rotation point in the middle, it means that the current AGV must slow down and stop at the rotation point before rotating in place. The initially determined target segment path needs to be truncated forward to the rotation point, that is, the node before the rotation point is determined as the end point of the target segment path. If the attribute of the last node of the initially obtained segment path is that parking and waiting are not allowed (stopping is not allowed for intersection anti-congestion), continue to append forward to the node where parking and waiting are allowed, and determine the node before the current end point of the target segment path as the final end point.

[0046] Please also read Figure 1 and Figure 3 In one embodiment, step S120 includes:

[0047] S121: Traverse all nodes included in the target segment path, wherein during the traversal process, the current node that has equipment that conflicts with the current AGV and has failed is added to the detour node set, and in response to equipment that conflicts with the current node and has not failed, the second node is replaced by the previous node of the current node, and the traversal process is stopped.

[0048] Specifically, among all nodes included in the target segment path, all nodes are traversed to determine a safe node as the terminal node, and the safety of the current AGV on the target segment path is ensured by detecting and avoiding conflicting nodes.

[0049] Among them, when a node conflicts with the current AGV and a faulty device occurs, the node with the faulty device is added to the detour node set so that subsequent path planning can avoid the faulty device at this node, thereby improving the reliability and efficiency of the system. When a node conflicts with the current AGV but no faulty device occurs, the path is adjusted in time to reduce unnecessary traversal and improve the efficiency of the path planning process. By detecting and handling potential problems in advance, the waiting time and re-planning time of the AGV in actual operation can be reduced.

[0050] S122: After traversing all nodes included in the target segment path or stopping the traversal process, determine whether there is a second node in the detour node set.

[0051] After traversal, it is determined whether there is a second node in the detour node set, that is, whether the second node can be used as the terminal node of the target segment path. If there is a second node in the detour node set, step S123 is executed. Otherwise, step S124 is executed.

[0052] S123: Search the nodes after the second node in order from front to back until a node is found that does not have equipment that conflicts with the current AGV and has failed, and the node is used as the termination node. In the search process, in response to the existence of equipment that conflicts with the current AGV and has not failed around the node, the search process is stopped, and when the current AGV moves to the target segment path, the current AGV is controlled to stop moving.

[0053] In S123, since the second node exists in the detour node set, the second node cannot be used as the termination node of the target segment path. At this time, the nodes after the second node need to be judged in sequence to see whether there is a node that can be used as the termination node to complete the planning of the target segment path.

[0054] It is understandable that when traversing the nodes after the second node, if a node has a device that conflicts with the current AGV and has not failed, then the node is a node that the current AGV extends backwards due to bypassing the failed device. If the node is used as the termination node, the current AGV will have a risk of colliding with the device that conflicts with the node but has not failed after bypassing the failed device at the second node, so the node cannot be used as the termination node. At this time, there is no termination node that can be issued for the target segment path, so after driving the currently issued target segment path, the current AGV stops in place and waits for the system to issue the next target segment path.

[0055] S124: Determine whether the distance between the second node and any faulty device is greater than a distance threshold.

[0056] In S124, since the second node does not exist in the detour node set, the second node can be temporarily used as the end node of the target segment path. At this time, the second node needs to be judged to determine whether the second node conflicts with the faulty device at any node in the detour node set. If the distance is greater than the distance threshold, step S125 is executed; otherwise, the above step S123 is executed.

[0057] In one embodiment, the distance threshold is equal to twice the length of the hypotenuse of the AGV. It is understandable that the distance threshold can also be set according to other characteristics of the AGV device, which is not limited here.

[0058] S125: Determine the second node as the termination node.

[0059] Specifically, if the second node does not conflict with the faulty equipment at any node in the bypass node set, that is, it meets the collision-free requirement of the planned obstacle bypass target segment path, the second node can be used as a safe node of the target segment path, that is, the second node is determined as the termination node.

[0060] If the second node conflicts with the faulty device at any node in the detour set, although the second node does not exist in the detour node set, when the second node is used as the termination node, the second node conflicts with the faulty device at any node in the detour node set, which does not meet the collision-free requirement of the planned obstacle-avoiding target segment path, and the second node cannot be used as a safe node for the target segment path. At this time, the nodes after the second node need to be judged in turn to see if there is a node that can be used as the termination node to complete the planning of the target segment path.

[0061] It is understandable that when traversing the nodes after the second node, if a node has a device that conflicts with the current AGV and has not failed, then the node is a node that the current AGV extends backwards due to bypassing the failed device. If the node is used as the termination node, the current AGV will have a risk of colliding with the device that conflicts with the node but has not failed after bypassing the failed device at the second node, so the node cannot be used as the termination node. At this time, there is no termination node that can be issued for the target segment path, so after driving the currently issued target segment path, the current AGV stops in place and waits for the system to issue the next target segment path.

[0062] Please also read Figure 3 and Figure 4 In one embodiment, step S121 includes:

[0063] S1211: During the traversal process, a set of devices to be detected around the current node is obtained.

[0064] Specifically, according to the position of the current node, the radiation range of twice the length of the AGV hypotenuse, and the segment path information sent by other devices, the set of devices to be detected that need to be collided with each other around the current node is obtained.

[0065] S1212: For each device to be detected in the set of devices to be detected, determine whether a lock grid area pre-occupied by the current AGV conflicts with a lock grid area occupied by the device to be detected.

[0066] If there is a conflict, execute step S1213. Otherwise, execute step S1214.

[0067] Specifically, based on the point and action information contained in the target segment path, combined with the current AGV's own size, load size, operating accuracy, and following distance information, one or more rectangular or circular areas on the map are locked for the current AGV, that is, the locked grid area pre-occupied by the current AGV is determined.

[0068] The locked grid area occupied by the equipment to be detected can also be determined based on the equipment's own size, load size, running accuracy, and following distance, and then compared with the locked grid area currently occupied by the AGV to see if there is an overlapping area. If there is an overlapping area, there is a conflict between the current AGV's pre-detected equipment.

[0069] S1213: Determine whether the device to be detected fails.

[0070] If the device to be detected fails, execute step S12131; otherwise, execute step S12132.

[0071] S12131: Add the current node to the detour node set.

[0072] S12132: Replace the second node with the previous node of the current node and stop the traversal process.

[0073] It is understandable that if the device to be detected that causes the conflict is faulty, the current AGV needs to bypass the faulty device to avoid collision with the faulty device to be detected. If the device to be detected that causes the conflict is not faulty, the current AGV needs to treat the previous node of the current node as the second node to avoid collision with the normally operating device to be detected, thereby improving the safety of the AGV during operation.

[0074] S1214: Determine whether there is any undetected device in the set of devices to be detected.

[0075] If there is a device to be detected that has not been detected, step S1212 is executed again. Otherwise, step S122 is executed. That is, it is ensured that all devices to be detected around the current node are detected, thereby further reducing the risk of collision between the AGV and the surrounding devices to be detected at the current node.

[0076] Please continue reading Figure 3 and Figure 4 In one embodiment, step S120 further includes:

[0077] S126: Replace the second node with the previous node of the current node, stop the traversal process, and then determine whether the second node is located after the first node.

[0078] Specifically, when there is a device that conflicts with the current AGV and has not failed, and the current node is not a node that is extended backward due to bypassing the failed device, the current node is only prone to the risk of conflicting with the device that has not failed. At this time, the second node needs to be replaced with the previous node of the current node, so as to avoid the current AGV from colliding with other normal devices in the target segment path, and improve the safety of the AGV during operation.

[0079] At this time, it is necessary to determine whether the second node is after the first node, that is, whether a complete target segment path can be formed.

[0080] If the second node is located after the first node, then the step S122 is executed to determine whether the second node exists in the detour node set, that is, to determine whether the second node can be used as the terminal node of the target segment path.

[0081] Otherwise, if the second node coincides with the first node or is located before the first node, then the current AGV is controlled to stop moving when the current AGV moves to the target segment path in step S123. This means that the current pre-issued target segment path is detected to be dangerous and there is no node to be issued. Therefore, after driving the currently issued target segment path, the current AGV is stopped and waits.

[0082] See also Figure 4 In one embodiment, before determining whether there is a second node in the detour node set in step S122, the method further includes:

[0083] S127: Determine whether the detour node set is an empty set.

[0084] That is, it is determined whether there are any nodes in the target segment path that need to be detoured, thereby improving the efficiency of planning the target segment path.

[0085] If the detour node set is not an empty set, the step of determining whether there is a second node in the detour node set in step S122 is executed.

[0086] Otherwise, the above step S130 is executed, i.e., the first node is used as the starting point, the terminating node is used as the end point, and the target route of the target segment path is generated according to the detour node set. At this time, since the detour node set is empty, the first node can be used as the starting point, the terminating node can be used as the end point, and the target segment path without detour can be generated.

[0087] In one embodiment, before step S130, the method further includes:

[0088] S150: Determine whether the target segment path passes the detection of the deadlock prevention detection algorithm.

[0089] If the result is passed, step S130 is executed. Otherwise, when the current AGV moves to the target segment path, the current AGV is controlled to stop moving.

[0090] Specifically, deadlock refers to multiple AGV devices applying for areas that have been occupied by each other, forming a mutual blocking relationship. The deadlock prevention detection algorithm can be used to determine whether the current pre-issued target segment path has the risk of deadlocking with other devices. If the deadlock prevention detection algorithm passes the test, it means that the current pre-issued target segment path is safe, and the steps of taking the first node as the starting point and the end node as the end point, and generating the target route of the target segment path based on the detour node set can be executed. If the deadlock prevention detection algorithm fails the test, it means that the current pre-issued target segment path is not safe and will cause a risk of deadlock with other devices. Therefore, after driving the currently issued target segment path, the current AGV is stopped and waited in place.

[0091] In one embodiment, before step S140, the method further includes:

[0092] S160: Determine whether the target route passes the safety detection of the conflict detection algorithm.

[0093] If the result is passed, step S140 is executed. Otherwise, when the current AGV moves to the target segment path, the current AGV is controlled to stop moving.

[0094] Specifically, the conflict collision detection algorithm is an algorithm used to evaluate path safety and detect potential conflicts and collision risks. The conflict collision detection algorithm can be used to perform safety detection on the target route to ensure that the AGV can pass safely and without conflict or collision in actual operation, thereby avoiding potential conflicts and collision risks for the AGV, thereby improving the safety and reliability of the planning process.

[0095] In one embodiment, before step S130, the method further includes:

[0096] S170: Occupy a locked grid area according to a first node, a terminal node, and a node between the first node and the terminal node. After the target route is generated, the locked grid area corresponding to the node in the detour node set is replaced with the locked grid area of ​​the detour route, wherein the detour route refers to a route generated in the target route to detour the node in the detour node set.

[0097] Specifically, the locked grid areas of the first node, the terminal node, and the nodes between the first node and the terminal node in the target segment path are locked and cannot be used by other devices, so that the subsequent current AGV can exclusively use each node in the target segment path to achieve safe operation of the current AGV. At the same time, after the target route is generated, the locked grid areas of the nodes in the detour node set need to be replaced with the locked grid areas of the detour route to update all the locked grid areas of the target segment path, so that the subsequent AGV can run safely and without collision on the target segment path.

[0098] Among them, after the target route is sent to the current AGV, the locked area that the current AGV has passed through is cleared in time during the movement of the AGV according to the target route, so as to ensure that other devices can use the area and improve the operation efficiency of the AGV.

[0099] In one embodiment, the method further comprises:

[0100] S180: Determine whether it is necessary to send the next target segment path to the current AGV.

[0101] If necessary, proceed to step S110; if not necessary, proceed to step S140.

[0102] It can be understood that when the current target segment path of the AGV is not the last target segment path on the global path, the next target segment path to be run needs to be sent to the current AGV to complete the planning of the entire global path.

[0103] In one embodiment, the method further comprises:

[0104] S190: When the current AGV reaches the end node of the target segment path, it is determined whether the end node is the task end point of the current running task.

[0105] If it is the task end point, the task is terminated; if it is not the task end point, step S180 is performed.

[0106] It should be noted that if the target segment path of the current AGV is not the last target segment path on the global path, after the current AGV reaches the end node of the target segment path, the system still has not sent the next target segment path to be run to the current AGV (indicating that the running segment paths of other AGVs have occupied part or all of the area of ​​the next target segment path to be run, and it is necessary to wait for other AGVs to leave and release the lock grid), then the current AGV needs to stop and wait until it receives the next target segment path to be run, and then the current AGV can continue to run.

[0107] See also Figure 5 , Figure 5 1 is a schematic diagram of the structure of an embodiment of an electronic device of the present application. The electronic device 200 includes a processor 210, a memory 220, and a communication circuit 230. The processor is coupled to the memory 220 and the communication circuit 230 respectively. The memory 220 stores program data. The processor 210 implements the steps in any of the above implementation methods by executing the program data in the memory 220. The detailed steps can be found in the above implementation and will not be repeated here.

[0108] The electronic device 200 may be any device with algorithm processing capability, such as a computer or a mobile phone, and is not limited here.

[0109] See also Figure 6 ,in Figure 6 The electronic device 300 includes a path planning module 310, a path acquisition module 320, a node determination module 330, a path generation module 340 and a path delivery module 350 which are connected in sequence.

[0110] The path planning module 310 is used to plan the global path of the current AGV, wherein the global path includes multiple nodes.

[0111] The path acquisition module 320 is used to determine a pre-issued target segment path, wherein the target segment path includes at least some nodes, and at least some nodes include a first node, a second node, and at least one node between the first node and the second node.

[0112] The node determination module 330 is used to determine the termination node, wherein the termination node is the safety node closest to the second node, wherein the safety node at least satisfies: the safety node is located after the first node, and there is no equipment around the safety node that conflicts with the current AGV.

[0113] The path generation module 340 is used to generate a target route of the target segment path with the first node as the starting point and the terminating node as the end point, and based on the detour node set, wherein the detour node set includes nodes between the first node and the terminating node where there are nodes that conflict with the current AGV and where faulty equipment occurs.

[0114] The path sending module 350 is used to send the target route to the current AGV, so that the current AGV bypasses the nodes in the bypass node set when passing through the target segment path according to the target route.

[0115] The electronic device 300 may be any device with algorithm processing capability, such as a computer or a mobile phone, and is not limited here.

[0116] Among them, the electronic device 300 implements the method steps in any of the above-mentioned implementation modes when working. The detailed steps can be found in the above-mentioned implementation modes and will not be repeated here.

[0117] See also Figure 7 , Figure 7 The computer-readable storage medium 400 stores a computer program 410, which can be executed by a processor to implement the steps in any of the above methods.

[0118] Among them, the computer-readable storage medium 400 can specifically be a device that can store the computer program 410, such as 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, or it can also be a server that stores the computer program 410. The server can send the stored computer program 410 to other devices for execution, or it can also run the stored computer program 410 by itself.

[0119] The above are only implementation methods of the present application, and are not intended to limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A method for dispatching an AGV, characterized in that: The scheduling method comprises: Planning a global path of the current AGV, wherein the global path includes a plurality of nodes; Determine a pre-delivered target segment path, wherein the target segment path includes at least some of the nodes, and at least some of the nodes include a first node, a second node, and at least one of the nodes located between the first node and the second node; Determine a termination node, wherein the termination node is a safety node closest to the second node, wherein the safety node at least satisfies: the safety node is located after the first node, and there is no equipment around the safety node that conflicts with the current AGV; Taking the first node as a starting point and the termination node as an end point, and generating a target route of the target segment path according to a detour node set, wherein the detour node set includes the nodes between the first node and the termination node where there are devices that conflict with the current AGV and have failed; The target route is sent to the current AGV, so that the current AGV bypasses the nodes in the detour node set when passing through the target segment path according to the target route.

2. The method according to claim 1, characterized in that The step of determining the termination node includes: Traversing all the nodes included in the target segment path, wherein during the traversal process, a current node with equipment that conflicts with the current AGV and fails around it is added to the detour node set, and in response to equipment that conflicts with and does not fail around the current node, the second node is replaced with the node before the current node, and the traversal process is stopped; After traversing all the nodes included in the target segment path or stopping the traversal process, determining whether the second node exists in the detour node set; If the second node does not exist in the detour node set, the second node is determined as the termination node.

3. The method according to claim 2, characterized in that The method further comprises: If the second node exists in the detour node set, the nodes after the second node are searched in order from front to back until a node is found that does not have a device that conflicts with the current AGV and has a fault, and the node is used as the termination node; Wherein, during the search process, in response to the presence of equipment around the node that conflicts with the current AGV and has not failed, the search process is stopped, and when the current AGV subsequently moves to the target segment path, the current AGV is controlled to stop moving.

4. The method according to claim 2, characterized in that: The step of determining the second node as the termination node if the second node does not exist in the detour node set comprises: If the second node does not exist in the detour node set, determining whether the distance between the second node and any faulty device is greater than a distance threshold; If the distance is greater than the distance threshold, determining the second node as the termination node; If it is not greater than the distance threshold, then the nodes after the second node are searched in order from front to back until the node around which there is no equipment that conflicts with the current AGV and has failed is found, and the node is used as the termination node, wherein during the search process, in response to the presence of equipment around the node that conflicts with the current AGV and has not failed, the search process is stopped, and when the current AGV subsequently moves to the target segment path, the current AGV is controlled to stop moving.

5. The method according to claim 2, characterized in that: The method further comprises: Replacing the second node with the node preceding the current node and stopping the traversal process, and then determining whether the second node is located after the first node; If the second node is located after the first node, executing the step of determining whether the second node exists in the detour node set; Otherwise, when the current AGV subsequently moves to the target segment path, the current AGV is controlled to stop moving.

6. The method according to claim 2, characterized in that Before determining whether the second node exists in the detour node set, the method further includes: Determining whether the detour node set is an empty set; If the detour node set is not an empty set, executing the step of determining whether the second node exists in the detour node set; If the detour node set is an empty set, the step of taking the first node as the starting point and the termination node as the end point and generating a target route of the target segment path according to the detour node set is performed.

7. The method according to claim 1, characterized in that Before generating the target route of the target segment path with the first node as the starting point and the terminating node as the end point according to the detour node set, the method further includes: Determining whether the target segment path passes the detection of a deadlock prevention detection algorithm; If it passes, the step of taking the first node as the starting point and the terminating node as the end point and generating a target route of the target segment path according to the detour node set is executed; Otherwise, when the current AGV subsequently moves to the target segment path, the current AGV is controlled to stop moving.

8. The method according to claim 1, characterized in that Before sending the target route to the current AGV, the method further includes: Determining whether the target route passes the safety detection of the conflict collision detection algorithm; If passed, the step of sending the target route to the current AGV is executed; Otherwise, when the current AGV subsequently moves to the target segment path, the current AGV is controlled to stop moving.

9. An electronic device, characterized in that: The electronic device includes a processor and a memory, the processor is coupled to the memory, program data is stored in the memory, and the processor implements the steps in the method according to any one of claims 1 to 8 by executing the program data in the memory.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and the computer program can be executed by a processor to implement the steps in the method according to any one of claims 1 to 8.

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