AGV scheduling method, device, system and equipment for material stacking scene

Abstract

The embodiment of the invention provides an AGV scheduling method, device, system and equipment for a stacking scene, and relates to the technical field of automatic carrying. The specific implementation mode is as follows: carrying state monitoring is performed on a target carrying grid of the AGV through a sensor unit arranged on the AGV, so that state information of the target carrying grid is obtained; on the basis of the obtained state information of the target carrier grid, identifying whether any condition in each state reporting condition is met or not; in response to a state reporting condition, determining a current loading grid state of the target loading grid based on a material receiving rule of the target loading grid and the current state information; reporting the current carrying grid state of the target carrying grid to a scheduling server; whenever a scheduling instruction issued by the scheduling server is received, a material receiving task is executed according to the target material type indicated by the received scheduling instruction. By applying the scheme provided by the embodiment of the invention, a material stacking scene can be effectively adapted, and a material receiving task is executed.

Description

Technical Field

[0001] The present application relates to the field of automated handling technology, and in particular to an AGV scheduling method, device, system and equipment for stacking scenarios. Background Art

[0002] With the development of automation technology, AGV (Automated Guided Vehicle) is widely used in automated handling scenarios to transport materials. In the existing technology, AGV can report to the dispatch server whether there is material or no material in the loading compartment. Therefore, the dispatch server can dispatch the AGV with no material in the loading compartment to receive the material according to the information reported by the AGV.

[0003] In the stacking scenario, the receiving and delivering tasks require stacking multiple materials. For example, after receiving material A, the AGV carrier needs to stack material B on material A and transport material A and material B together. The existing technical solutions cannot adapt to the stacking transportation scenario to perform the receiving task. Therefore, there is an urgent need for an AGV scheduling method for the stacking scenario to effectively adapt to the stacking scenario and achieve the receiving task. Summary of the invention

[0004] The purpose of the embodiments of the present application is to provide an AGV scheduling method, device, system and equipment for stacking scenes, so as to effectively adapt to the stacking scenes and thus achieve the material receiving task. The specific technical solution is as follows:

[0005] In a first aspect, the present application provides an AGV scheduling method for a stacking scenario, which is applied to an AGV; the method comprises:

[0006] The sensor unit provided on the AGV monitors the loading state of the target compartment of the AGV to obtain the state information of the target compartment; wherein the state information includes whether there is material and the material type of the material when there is material;

[0007] Based on the obtained state information of the target compartment, identifying whether any of the various state reporting conditions is satisfied; wherein the various state reporting conditions include that the AGV is in an empty state, and that the load state of the target compartment changes;

[0008] In response to satisfying the status reporting condition, based on the material receiving rule of the target carrier and the current status information, the current carrier state of the target carrier is determined; wherein the material receiving rule is used to characterize the material types of various materials that the target carrier can receive and the material stacking relationship of various materials, and the carrier state is used to characterize the material type of the next material that the target carrier can receive according to the material receiving rule;

[0009] Reporting the current compartment status of the target compartment to the dispatch server; wherein the dispatch server is used to receive the compartment status of the target compartment reported by the controlled AGV, and determine the target material type of the material to be received and processed in the stacking scene, and based on the compartment status of the target compartment reported by the controlled AGV, select the AGV used to receive the material of the target material type, and send a dispatch instruction for receiving the material of the target material type to the selected AGV;

[0010] Whenever a scheduling instruction issued by the scheduling server is received, the material receiving task is executed according to the target material type indicated by the received scheduling instruction.

[0011] In a second aspect, the present application provides a scheduling system for a stacking scenario, including a scheduling server and a plurality of AGVs controlled by the scheduling server;

[0012] Each AGV is used to monitor the loading state of the target compartment of the AGV through a sensor unit arranged on the AGV to obtain the status information of the target compartment; based on the obtained status information of the target compartment, identify whether any of the various status reporting conditions is met; in response to meeting the status reporting conditions, determine the current compartment status of the target compartment based on the material receiving rule of the target compartment and the current status information, and report the current compartment status of the target compartment to the scheduling server; and, whenever a scheduling instruction issued by the scheduling server is received, perform the material receiving task according to the target material type indicated by the received scheduling instruction; wherein the status information includes whether there is material and the material type when there is material; each status reporting condition includes whether the AGV is in an empty vehicle state, and whether the loading state of the target compartment changes; the material receiving rule is used to characterize the material type of each type of material that the target compartment can receive and the material stacking relationship of each type of material, and the compartment status is used to characterize the material type of the next material that the target compartment can receive according to the material receiving rule;

[0013] The scheduling server is used to receive the target compartment status of the controlled AGV itself reported by the controlled AGV; and determine the target material type of the material to be received and processed in the stacking scene, and select the AGV used to receive the material of the target material type based on the target compartment status of the controlled AGV itself reported by the controlled AGV, and send a scheduling instruction for receiving the material of the target material type to the selected AGV, so that the AGV that receives the scheduling instruction performs the material receiving task according to the target material type indicated by the received scheduling instruction.

[0014] In a third aspect, the present application provides an AGV scheduling device for stacking scenes, which is applied to AGV; the device includes:

[0015] A monitoring module, used to monitor the loading status of the target compartment of the AGV through a sensor unit arranged on the AGV to obtain status information of the target compartment; wherein the status information includes whether there is material and the material type of the material when there is material;

[0016] An identification module, used for identifying whether any of the various status reporting conditions is satisfied based on the obtained status information of the target compartment; wherein the various status reporting conditions include that the AGV is in an empty vehicle state, and that the loading state of the target compartment changes;

[0017] A state determination module, for determining the current compartment state of the target compartment in response to satisfying the state reporting condition, based on the material receiving rule of the target compartment and the current state information; wherein the material receiving rule is used to characterize the material types of various materials that the target compartment can receive and the material stacking relationship of various materials, and the compartment state is used to characterize the material type of the next material that the target compartment can receive according to the material receiving rule;

[0018] A reporting module, used for reporting the current compartment status of the target compartment to the dispatch server; wherein the dispatch server is used for receiving the compartment status of the target compartment reported by the controlled AGV, and determining the target material type of the material to be received and processed in the stacking scene, and selecting the AGV for receiving the material of the target material type based on the compartment status of the target compartment reported by the controlled AGV, and sending a dispatch instruction for receiving the material of the target material type to the selected AGV;

[0019] The first receiving module is used to execute the material receiving task according to the target material type indicated by the received scheduling instruction whenever receiving the scheduling instruction sent by the scheduling server.

[0020] In a fourth aspect, the present application provides an AGV scheduling device for stacking scenes, which is applied to a scheduling server, and the device includes:

[0021] The second receiving module is used to receive the compartment status of the target compartment of the controlled AGV reported by the controlled AGV; wherein, the manner in which any AGV reports the compartment status to the scheduling server includes: the AGV monitors the load status of the target compartment of the AGV through a sensor unit arranged on the AGV to obtain the status information of the target compartment, and when any condition in each status reporting condition is identified to be satisfied based on the obtained status information of the target compartment, the current compartment status of the target compartment is determined based on the material receiving rule of the target compartment and the current status information; wherein, the status information includes whether there is material and the material type of the material when there is material, and each status reporting condition includes that the AGV is in an empty vehicle state, and that the load status of the target compartment changes; wherein, the material receiving rule is used to characterize the material types of various materials that the target compartment of the AGV can receive and the material stacking relationship of various materials, and the compartment status is used to characterize the material type of the next material that the target compartment of the AGV can receive according to the material receiving rule;

[0022] A determination module is used to determine the target material type of the material to be processed in the stacking scene;

[0023] A selection module is used to select an AGV for receiving materials of the target material type based on the target compartment status reported by the controlled AGV, and send a scheduling instruction for receiving materials of the target material type to the selected AGV, so that the AGV that receives the scheduling instruction performs the material receiving task according to the target material type indicated by the received scheduling instruction.

[0024] In a fifth aspect, the present application provides an electronic device, including:

[0025] Memory, used to store computer programs;

[0026] The processor is used to implement any of the above-mentioned AGV scheduling methods for stacking scenarios when executing the program stored in the memory.

[0027] In a sixth aspect, the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the computer program implements any of the above-mentioned AGV scheduling methods for stacking scenarios.

[0028] An embodiment of the present application also provides a computer program product comprising instructions, which, when executed on a computer, enables the computer to execute any of the above-described AGV scheduling methods for stacking scenarios.

[0029] Beneficial effects of the embodiments of the present application:

[0030] The solution of the present application, in order to adapt to the stacking scene, sets the material receiving rules corresponding to the target compartment of the AGV, and the AGV is provided with a sensor unit, so that the AGV monitors the loading status of the target compartment through the sensor unit, obtains the status information of the target compartment, and based on the status information, after identifying that the status reporting conditions are met, the current compartment status of the target compartment can be determined and reported based on the material receiving rules of the target compartment and the current status information, so that the scheduling server can use the compartment status of the target compartment reported by the AGV to select the AGV used to receive the materials to be received and processed in the stacking scene, to perform the material receiving task. It can be seen that the solution of the present application can effectively adapt to the stacking scene and perform the material receiving task.

[0031] Of course, implementing any product or method of the present application does not necessarily require achieving all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application, and for ordinary technicians in this field, other embodiments can also be obtained based on these drawings.

[0033] Figure 1 A schematic diagram of a flow chart of an AGV scheduling method for a stacking scenario provided in an embodiment of the present application;

[0034] Figure 2 A schematic diagram of an exemplary material receiving rule provided for this application;

[0035] Figure 3 A flow chart of another AGV scheduling method for stacking scenarios provided in an embodiment of the present application;

[0036] Figure 4 A schematic diagram of a process for selecting an AGV for receiving materials of the target material type provided in an embodiment of the present application;

[0037] Figure 5 A schematic diagram of the structure of a scheduling system for stacking scenarios provided in an embodiment of the present application;

[0038] Figure 6 A schematic diagram of a flow chart of an AGV scheduling device for a stacking scenario provided in an embodiment of the present application;

[0039] Figure 7 A schematic diagram of a flow chart of another AGV scheduling device for stacking scenarios provided in an embodiment of the present application;

[0040] Figure 8 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0041] 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 based on the present application belong to the scope of protection of the present application.

[0042] In the technical solution of this application, the operations involved in obtaining, storing, using, processing, transmitting, providing and disclosing user personal information are all carried out with the user's authorization.

[0043] In order to effectively adapt to the stacking scenario and thus realize the material receiving task, the embodiment of the present application provides an AGV scheduling method for the stacking scenario, which is applied to the AGV; the method includes:

[0044] The sensor unit provided on the AGV monitors the loading state of the target compartment of the AGV to obtain the state information of the target compartment; wherein the state information includes whether there is material and the material type of the material when there is material;

[0045] Based on the obtained state information of the target compartment, identifying whether any of the various state reporting conditions is satisfied; wherein the various state reporting conditions include that the AGV is in an empty state, and that the load state of the target compartment changes;

[0046] In response to satisfying the status reporting condition, based on the material receiving rule of the target carrier and the current status information, the current carrier state of the target carrier is determined; wherein the material receiving rule is used to characterize the material types of various materials that the target carrier can receive and the material stacking relationship of various materials, and the carrier state is used to characterize the material type of the next material that the target carrier can receive according to the material receiving rule;

[0047] Reporting the current compartment status of the target compartment to the dispatch server; wherein the dispatch server is used to receive the compartment status of the target compartment reported by the controlled AGV, and determine the target material type of the material to be received and processed in the stacking scene, and based on the compartment status of the target compartment reported by the controlled AGV, select the AGV used to receive the material of the target material type, and send a dispatch instruction for receiving the material of the target material type to the selected AGV;

[0048] Whenever a scheduling instruction issued by the scheduling server is received, the material receiving task is executed according to the target material type indicated by the received scheduling instruction.

[0049] The solution of the present application, in order to adapt to the stacking scene, sets the material receiving rules corresponding to the target compartment of the AGV, and the AGV is provided with a sensor unit, so that the AGV monitors the loading status of the target compartment through the sensor unit, obtains the status information of the target compartment, and based on the status information, after identifying that the status reporting conditions are met, the current compartment status of the target compartment can be determined and reported based on the material receiving rules of the target compartment and the current status information, so that the scheduling server can use the compartment status of the target compartment reported by the AGV to select the AGV used to receive the materials to be received and processed in the stacking scene, to perform the material receiving task. It can be seen that the solution of the present application can effectively adapt to the stacking scene and perform the material receiving task.

[0050] In conjunction with the accompanying drawings, an AGV scheduling method for a stacking scenario provided by an embodiment of the present application is introduced below.

[0051] Figure 1 The following is a flow chart of an AGV scheduling method for stacking scenes provided in this application. The method is applied to AGV, such as Figure 1 As shown, the method includes:

[0052] S101, monitoring the loading status of a target compartment of the AGV by means of a sensor unit disposed on the AGV to obtain status information of the target compartment; wherein the status information includes whether there is material and the material type of the material when there is material;

[0053] In the present application, the timing for the sensor unit of the AGV to monitor the load status of the target compartment of the AGV can be periodic, for example, once every 1 minute; or it can be performed every time a material receiving task and / or a material delivery task is completed.

[0054] The application scenario of the scheme of the present application is a stacking scenario. In the stacking scenario, there is a need to stack multiple materials for transportation. It is understandable that the stacking scenario may exist for a variety of reasons. For example, in order to improve transportation efficiency, materials can be stacked for transportation. At this time, multiple materials can be transported at the same time to achieve the purpose of improving transportation efficiency. For another example, in order to avoid contamination of components such as crystal rods, there is a need for a placement environment. At this time, in order to achieve the transportation of components, the components can be placed in a material frame. At this time, the transportation scenario of the components can belong to a stacking scenario. In this stacking scenario, the material frame can be used as material A and the component as material B, and material B is stacked on material A. It is understandable that in different stacking scenarios, the materials are different and the stacking relationship between materials is also different.

[0055] In the present application, there may be multiple types of sensor units, such as visual sensors, pressure sensors, photoelectric sensors, etc.; the present application does not limit the specific type of sensor units.

[0056] Exemplarily, in one implementation, the sensor unit may include a visual sensor unit; wherein the visual sensor unit is disposed at a position such that a field of view of the visual sensor unit includes a grid space of the target grid;

[0057] The visual sensor unit may specifically be a camera or other device. The visual sensor unit may be one or more, and different AGVs may have different numbers of visual sensor units. The visual sensor unit is set at a position such that the field of view of the visual sensor unit includes the grid space of the target grid. When the number of the visual sensor unit is 1, the position of the visual sensor makes the field of view of the visual sensor unit include the grid space of the target grid; when the number of the visual sensor units is multiple, the positions of the multiple visual sensors are respectively set so that the field of view of the multiple visual sensor units includes the grid space of the target grid.

[0058] The visual sensor unit can capture an image of the target compartment space, so that the AGV determines whether there is material in the target compartment space and the material type of the material if there is material based on the captured image.

[0059] Exemplarily, in one implementation, the sensor unit may include a plurality of pressure sensor units, which are disposed at different positions of the target carrier, each pressure sensor unit having a unique correspondence with a material type represented by a material receiving rule of the target carrier, and the position at which each pressure sensor unit is disposed is a position at which material pressure can be sensed after the material of the material type corresponding to the pressure sensor unit is placed in the carrier space of the target carrier according to the material stacking relationship.

[0060] It is understandable that when stacking materials, each material is located at a different position in the target carrier when stacked. Therefore, the present application can set a pressure sensor at the corresponding position of each material when stacked to detect whether the target carrier has the corresponding material. For example, for material A, a pressure sensor 1 can be set at the height corresponding to material A. When the pressure sensor 1 detects the pressure data corresponding to material A, it indicates that the current carrier has material A.

[0061] If the pressure sensor does not sense any pressure, it means that no material exists in the carrier space of the target carrier. After the pressure sensor senses pressure, the material type of the material in the carrier space of the target carrier can be determined based on the pressure data.

[0062] Exemplarily, in one implementation, the sensor unit may include one or more photoelectric sensor units, wherein the photoelectric sensor units are arranged at positions such that a detection range of the photoelectric sensor units includes a carrier space of the target carrier.

[0063] Photoelectric sensors can detect the existence of materials and the shape of materials. Therefore, the present application can set one or more photoelectric sensors to detect the existence and type of materials. When the number of photoelectric sensors is one, the photoelectric sensor can determine the type of objects existing in the current target carrier based on the shapes of materials of each material type represented by the material receiving rules for the target carrier, and the corresponding shapes when stacked. For example, the various material types represented by the material receiving rules for the target carrier are A, B, and C. Type B materials can be stacked on type A materials, and type C materials can be stacked on type B materials. The shape of material A is detected by the photoelectric sensor, indicating that the type of object existing in the current target carrier is material A; the corresponding shape of material B when stacked on material A is detected by the photoelectric sensor, indicating that the types of objects existing in the current target carrier are material A and material B.

[0064] When there are multiple photoelectric sensors, the multiple photoelectric sensor units are set at different positions of the target carrier, and each photoelectric sensor unit has a unique correspondence with a material type represented by the material receiving rule of the target carrier. The position of each photoelectric sensor unit makes the material of the material type corresponding to the photoelectric sensor unit, after being placed in the carrier space of the target carrier according to the material stacking relationship, be located within the detection range of the photoelectric sensor. For example, the material types represented by the material receiving rule of the target carrier are A, B, and C. Type B materials can be stacked on type A materials, and type C materials can be stacked on type B materials. Type A materials correspond to photoelectric sensor unit 1, type B materials correspond to photoelectric sensor unit 2, and type C materials correspond to photoelectric sensor unit 3. Photoelectric sensor unit 1 detects the shape of material A, indicating that material A exists in the current target carrier, photoelectric sensor unit 2 detects the shape of material B, indicating that material B exists in the current target carrier, and photoelectric sensor unit 3 detects the shape of material C, indicating that material C exists in the current target carrier.

[0065] The above-mentioned specific forms of the sensor unit are merely examples and should not constitute a limitation on the embodiments of the present application. Any form that can monitor the load status of the target carrier can be applied to the present application.

[0066] S102, based on the obtained state information of the target compartment, identifying whether any of the various state reporting conditions is satisfied; wherein the various state reporting conditions include that the AGV is in an empty state, and that the load state of the target compartment changes;

[0067] The AGV is in an empty state and can be used to receive materials. At this time, the reporting condition is met. Another reporting condition is that the loading state of the target compartment changes. The AGV can record the status information of the target compartment detected in the past. When the status information of the target compartment obtained changes from the status information of the target compartment obtained last time, the reporting condition is met. It can be understood that each time the status information changes, it will be reported. If there is no change, there is no need to report it repeatedly.

[0068] S103, in response to satisfying the status reporting conditions, determining the current compartment status of the target compartment based on the material receiving rules of the target compartment and the current status information; wherein the material receiving rules are used to characterize the material types of each type of material that the target compartment can receive and the material stacking relationship of each type of material, and the compartment status is used to characterize the material type of the next material that the target compartment can receive according to the material receiving rules.

[0069] The material receiving rules of each AGV's target carrier are pre-set. It is understandable that since materials need to be stacked, the carrier structure design determines the material type of the bottom layer in the material stacking relationship. In the material stacking relationship, the material type of the upper layer is determined by the material type of the lower layer of the upper layer.

[0070] After determining the state information, the material receiving rule can be used to determine the material type that the current target carrier can receive. Figure 2 A schematic diagram of an exemplary material receiving rule provided for this application, such as Figure 2 As shown, the types of materials received by the target carrier are type A, type B and type C; type B materials are stacked on type A materials, and type C materials are stacked on type B materials; when the status information represents the current carrier, and the material therein is type B material stacked on type A material, then it can be determined that the type of material that the current carrier can receive is type C.

[0071] It is understandable that in different scenarios, the material receiving rules are different, and each material type can not only stack one type of material, for example, on the material of type A, materials of type B, type D or type E can be stacked. Moreover, in the material receiving rules of the present application, each layer is not limited to only one material type. Exemplarily, a material receiving rule can be: A-(B and / or C)-D, that is, on the material of type A, materials of type B and type C can be stacked at the same time, or materials of type B or type C can be stacked separately, and on the materials of type B and type C stacked at the same time, materials of type D can be stacked. In the present application, the material receiving rules do not limit the material receiving rules.

[0072] Optionally, each target compartment has one or more material receiving rules; and determining the current compartment status of the target compartment based on the material receiving rules of the target compartment and the current status information includes:

[0073] If the current status information indicates that no material exists, then determine the material type whose material stacking relationship is at the bottom layer among the material types represented by one or more material receiving rules of the target carrier, and use the determined material type as the current carrier state of the target carrier;

[0074] If the current status information indicates that material exists, the current compartment status of the target compartment is determined based on the material type of the material located at the uppermost layer among the material types of the materials existing in the target compartment.

[0075] Typically, in a material stacking scenario, the AGV usually receives materials in sequence according to the stacking rules indicated by the material receiving rules of the target carrier. Therefore, if there is no material in the target carrier, the material type with the lowest material stacking relationship among the material types represented by the material receiving rules can be determined as the current carrier state of the target carrier.

[0076] Of course, in some scenarios, the AGV can determine the material type at the bottom of the material stacking relationship in the current scene based on the material types existing in the scene, as the current compartment state of the target compartment. Exemplarily, the stacking relationship of the AGV indicates that type E is placed on type C material, type C is placed on type B material, and type B is placed on type A material. However, in the current scene, there are only type E and type C materials, so type C can be used as the material type at the bottom of the material stacking relationship. The information on the material types existing in the current scene can be sent by the scheduling server to each AGV in the current scene. The scheduling server can communicate with each AGV in the current scene.

[0077] Each target carrier can have one or more material receiving rules. When there is no material in the current carrier, the material type at the bottom layer in the material stacking relationship represented by any material receiving rule can be used as the current carrier state of the target carrier. That is, when there is only one material receiving rule, the material type at the bottom layer represented by the material receiving rule can be used as the current carrier state of the target carrier; and when there are multiple material receiving rules, a material receiving rule can be selected according to the selection rule, and the material type at the bottom layer represented by the selected material receiving rule can be used as the current carrier state of the target carrier. The selection rule can be a random selection rule; of course, the rule content of the selection rule can also be based on the mapping relationship between each material receiving rule and the scene identifier, to select the material receiving rule based on the current scene identifier, wherein the scene identifier can be a workshop identifier, a park identifier, a product line identifier, etc.

[0078] Optionally, determining the current state of the target carrier based on the material type of the material located at the top layer among the material types of the materials existing in the target carrier includes:

[0079] If the designated material type is not the material type of the top layer in the target material stacking relationship represented by the target material receiving rule, then based on the target material stacking relationship, determine the material type of the upper layer of the designated material type among the material types represented by the material receiving rule as the carrier state of the target carrier; wherein the designated material type is the material type stacked on the top layer among the material types existing in the target carrier; the target material receiving rule is: a material receiving rule that matches the material type of the material existing in the target carrier, determined from one or more material receiving rules of the target carrier;

[0080] If the designated material type is the material type of the top layer in the stacking relationship of the target material, the type value representing the empty value is used as the carrier state of the target carrier.

[0081] If the specified material type is not the material type of the top layer in the stacking relationship of the target material, it means that materials can be stacked on the basis of the material of this material type. At this time, the material type of the upper layer of the specified material type can be determined as the carrier state of the target carrier. If the specified material type is the material type of the top layer in the stacking relationship of the target material, it means that materials cannot be stacked on the basis of the material of this material type. In this case, the type value representing the null value can be used as the carrier state of the target carrier.

[0082] It is understandable that when there are multiple material receiving rules for the target carrier, there may be a situation where the material types corresponding to some layers in the material stacking relationship represented by the multiple material receiving rules are the same. For example, material receiving rule 1 for the target carrier is: ABCDE; material receiving rule 2 is: ABCZY; Material receiving rule 3 is: ABEFG; when the material type and sequence currently received by the target carrier are: AB, the material type currently existing in the target carrier matches material receiving rules 1, 2 and 3, then material receiving rules 1, 2 and 3 can all be used as the target material receiving rules, and the target carrier can currently use material types C and E as the carrier state of the target carrier; when the material type and sequence currently received by the target carrier are: ABC, the material type currently existing in the target carrier matches material receiving rules 1 and 2, then material receiving rules 1 and 2 can be used as the target material receiving rules, and the target carrier can currently use material types D and Z as the carrier state of the target carrier; when the material type and sequence currently received by the target carrier are: ABCD, the material type currently existing in the target carrier matches material receiving rule 1, then material receiving rule 1 can be used as the target material receiving rule, and the target carrier can currently use material type E as the carrier state of the target carrier.

[0083] Therefore, the present application can determine the material receiving rule that matches the material type of the material in the target carrier from one or more material receiving rules of the target carrier as the target material receiving rule. It can be understood that the target material receiving rule can be one or more. Moreover, for the above-mentioned scheme of using the sensor unit to monitor the load status of the target carrier of the AGV, the sensor parameters can be adjusted to parameters that match the target material receiving rule when monitoring the load status, so that the load status monitoring can be performed more accurately.

[0084] In addition, when there are multiple material receiving rules for the target carrier, one of the multiple material receiving rules can be selected as the current material receiving rule for the target carrier, so that subsequent material receiving tasks are performed using the current material receiving rule.

[0085] S104, reporting the current compartment status of the target compartment to the dispatch server; wherein the dispatch server is used to receive the compartment status of the target compartment reported by the controlled AGV, and determine the target material type of the material to be received and processed in the stacking scene, select the AGV for receiving the material of the target material type based on the compartment status of the target compartment reported by the controlled AGV, and send a dispatch instruction for receiving the material of the target material type to the selected AGV;

[0086] It is understandable that in a stacking scenario, there are multiple AGVs, and these AGVs are the AGVs controlled by the scheduling service. Each AGV can report the compartment status to the scheduling server after satisfying the status reporting conditions. When the scheduling server needs to select an AGV to complete the material receiving task, it can use the compartment status of the target compartment reported by each AGV received, as well as determine the target material type of the material to be received and processed in the stacking scenario, and select the AGV for receiving the material of the target material type based on the compartment status of the target compartment reported by the controlled AGV. Exemplarily, if the target material type of the material to be received and processed corresponding to the material receiving task is type B material, then the AGV with the compartment status representation capable of receiving type B is selected.

[0087] Optionally, the method of selecting an AGV for receiving the material of the target material type based on the target compartment status reported by the controlled AGV includes:

[0088] From the controlled AGVs, determine each candidate AGV whose reported target compartment status represents the target material type;

[0089] An AGV is selected from each candidate AGV to obtain an AGV for receiving materials of the target material type.

[0090] The candidate AGV is an AGV that is not performing a feeding task and can receive materials of the target material type. There can be multiple candidate AGVs. A feeding task is a task for feeding various types of materials. In one implementation, any candidate AGV can be selected from the candidate AGVs as the selected AGV.

[0091] In one implementation, the AGV also has a positioning unit. When the AGV reports the current compartment status of the target compartment to the scheduling server, it can upload the location information of the AGV. Thus, the scheduling server can select the AGV that is closest to the materials to be processed from all AGVs that can receive the target material type as the selected AGV.

[0092] S105, whenever a scheduling instruction issued by the scheduling server is received, the material receiving task is executed according to the target material type indicated by the received scheduling instruction.

[0093] The target material type indicated by the dispatch instruction sent by the dispatch server received by the AGV is the material that the current AGV can receive. The AGV performs the material receiving task according to the instruction of the dispatch instruction and receives the material of the target material type indicated by the dispatch instruction.

[0094] Optionally, in response to receiving a feeding instruction, the feeding task is performed in accordance with the feeding instruction; wherein, the feeding instruction is an instruction for characterizing the feeding task sent to the AGV by the scheduling server when it is detected that the material type of the next material that can be received by the loading status characterization of any AGV is a type value characterizing an empty value.

[0095] Based on the contents introduced in the above embodiments, it can be known that when the material type of the next material that can be received by any AGV represented by the load status is a type value representing an empty value, it means that any AGV has received the material type of the top layer in the material stacking relationship and can no longer receive other types of materials. Therefore, the scheduling server can send a material instruction to the AGV to enable the AGV to perform the material delivery task.

[0096] The solution of the present application, in order to adapt to the stacking scene, sets the material receiving rules corresponding to the target compartment of the AGV, and the AGV is provided with a sensor unit, so that the AGV monitors the loading status of the target compartment through the sensor unit, obtains the status information of the target compartment, and based on the status information, after identifying that the status reporting conditions are met, the current compartment status of the target compartment can be determined and reported based on the material receiving rules of the target compartment and the current status information, so that the scheduling server can use the compartment status of the target compartment reported by the AGV to select the AGV used to receive the materials to be received and processed in the stacking scene, to perform the material receiving task. It can be seen that the solution of the present application can effectively adapt to the stacking scene and perform the material receiving task.

[0097] Optionally, in the present application, each AGV may have one or more compartments. When the AGV has multiple target compartments, the status information of each target compartment may be determined. And the material receiving rules corresponding to each target compartment on the same AGV, as well as the set sensor units, may be different. For example, the material receiving rules for compartment 1 indicate an order of ABC, the material receiving rules for compartment 2 indicate an order of A-C, the material receiving rules for compartment 3 indicate an order of BC, and the material receiving rules for compartment 4 indicate an order of DEFAULT. DEFAULT means that any type of material is acceptable.

[0098] In the above S104, the scheduling server selects the AGV for receiving the material of the target material type, which may be the loading space of the AGV selected by the scheduling server for receiving the material of the target material type, so that when the AGV receives the scheduling instruction issued by the scheduling server, it performs the material receiving task according to the target material type indicated by the received scheduling instruction and using the loading space indicated by the scheduling instruction.

[0099] Exemplarily, an AGV has compartment 1, compartment 2, compartment 3 and compartment 4; the AGV reports the status information corresponding to compartment 2 and the status information corresponding to compartment 3, and the scheduling server selects compartment 3 of the AGV to receive materials based on the respective status information. After the AGV receives the scheduling instruction, it uses compartment 3 indicated by the scheduling instruction to perform the material receiving task.

[0100] The solution of this embodiment can select, in a material stacking scenario, from multiple carriers of the AGV, an AGV carrier that can receive materials of the target material type to perform the material receiving task.

[0101] Corresponding to the above-mentioned AGV scheduling method for the stacking scenario, the embodiment of the present application provides another AGV scheduling method for the stacking scenario, which is applied to the scheduling server; Figure 3 A flow chart of another AGV scheduling method for a stacking scenario provided in an embodiment of the present application, the method comprising:

[0102] S301, receiving the compartment status of the target compartment of the controlled AGV reported by the controlled AGV; wherein, the manner in which any AGV reports the compartment status to the dispatch server includes: the AGV monitors the load status of the target compartment of the AGV through a sensor unit arranged on the AGV to obtain the status information of the target compartment, and when any condition in each status reporting condition is identified to be satisfied based on the obtained status information of the target compartment, the current compartment status of the target compartment is determined based on the material receiving rule of the target compartment and the current status information; wherein, the status information includes whether there is material and the material type of the material when there is material, and each status reporting condition includes that the AGV is in an empty vehicle state, and that the load status of the target compartment changes; wherein, the material receiving rule is used to characterize the material types of various materials that the target compartment of the AGV can receive and the material stacking relationship of various materials, and the compartment status is used to characterize the material type of the next material that the target compartment of the AGV can receive according to the material receiving rule;

[0103] For the specific implementation of S301, please refer to the content in the above-mentioned embodiment of the AGV scheduling method for the stacking scenario, which will not be elaborated here.

[0104] S302, determining the target material type of the material to be processed in the stacking scene;

[0105] The scheduling server can schedule the AGV to perform corresponding material receiving tasks and material delivery tasks. These material receiving tasks and material delivery tasks can be pre-set, and the AGV schedules the AGV to perform tasks in sequence; or the AGV can be scheduled to perform after receiving the material receiving tasks and material delivery tasks sent by the staff. This application does not limit the source of the material receiving tasks and material delivery tasks. The target material type of the material to be received and processed in the stacking scene can be determined by taking the material type of the material to be received and processed corresponding to the current material receiving task as the target material type.

[0106] S303, based on the target compartment status reported by the controlled AGV, select an AGV for receiving materials of the target material type, and send a scheduling instruction for receiving materials of the target material type to the selected AGV, so that the AGV that receives the scheduling instruction performs the material receiving task according to the target material type indicated by the received scheduling instruction.

[0107] like Figure 4The figure shows a flow chart of selecting an AGV for receiving materials of the target material type. For any AGV, based on the AGV compartment status information, the material type that the compartment can receive is determined, based on the task information, that is, the information of the above-mentioned receiving task, the material type that needs to be received for the task is determined, and the determined material type that the compartment can receive is matched with the determined material type that needs to be received for the task. If the matching result is a match, the AGV can be used to perform the receiving task.

[0108] For the specific implementation of S303, please refer to the content in the above-mentioned embodiment of the AGV scheduling method for the stacking scenario, which will not be described in detail here.

[0109] The solution of the present application, in order to adapt to the stacking scene, sets the material receiving rules corresponding to the target compartment of the AGV, and the AGV is provided with a sensor unit, so that the AGV monitors the loading status of the target compartment through the sensor unit, obtains the status information of the target compartment, and based on the status information, after identifying that the status reporting conditions are met, the current compartment status of the target compartment can be determined and reported based on the material receiving rules of the target compartment and the current status information, so that the scheduling server can use the compartment status of the target compartment reported by the AGV to select the AGV used to receive the materials to be received and processed in the stacking scene, to perform the material receiving task. It can be seen that the solution of the present application can effectively adapt to the stacking scene and perform the material receiving task.

[0110] Corresponding to the above-mentioned AGV scheduling method for the stacking scenario, the embodiment of the present application provides a scheduling system for the stacking scenario; Figure 5A structural schematic diagram of a scheduling system for a stacking scenario provided in an embodiment of the present application, the system comprising a plurality of AGVs 502 and a scheduling server 501; each AGV is used to monitor the loading state of a target compartment of the AGV through a sensor unit 5021 provided on the AGV to obtain the status information of the target compartment; based on the obtained status information of the target compartment, identifying whether any of the various status reporting conditions is satisfied; in response to satisfying the status reporting conditions, determining the current compartment status of the target compartment based on the material receiving rule of the target compartment and the current status information, and reporting the current compartment status of the target compartment to the scheduling server; wherein the status information includes whether there is material and the material type of the material when there is material; each status reporting condition includes that the AGV is in an empty vehicle state, and that the loading state of the target compartment changes; the material receiving rule is used to characterize the material types of various materials that the target compartment can receive and the material stacking relationship of various materials, and the compartment status is used to characterize the material type of the next material that the target compartment can receive according to the material receiving rule;

[0111] The scheduling server is used to determine the target material type of the material to be received and processed in the stacking scenario, select the AGV used to receive the material of the target material type based on the target compartment status reported by the controlled AGV, and send a scheduling instruction for receiving the material of the target material type to the selected AGV, so that the AGV that receives the scheduling instruction performs the material receiving task according to the target material type indicated by the received scheduling instruction.

[0112] Regarding the specific implementation method corresponding to the above-mentioned scheduling system for the stacking scenario, please refer to the content in the above-mentioned embodiment of the AGV scheduling method for the stacking scenario, which will not be repeated here.

[0113] The solution of the present application, in order to adapt to the stacking scene, sets the material receiving rules corresponding to the target compartment of the AGV, and the AGV is provided with a sensor unit, so that the AGV monitors the loading status of the target compartment through the sensor unit, obtains the status information of the target compartment, and based on the status information, after identifying that the status reporting conditions are met, the current compartment status of the target compartment can be determined and reported based on the material receiving rules of the target compartment and the current status information, so that the scheduling server can use the compartment status of the target compartment reported by the AGV to select the AGV used to receive the materials to be received and processed in the stacking scene, to perform the material receiving task. It can be seen that the solution of the present application can effectively adapt to the stacking scene and perform the material receiving task.

[0114] Corresponding to the above-mentioned AGV scheduling method for stacking scenes, the present application provides an AGV scheduling device for stacking scenes. Figure 6 A schematic diagram of the structure of an AGV scheduling device for a stacking scenario provided in an embodiment of the present application; the device is applied to an AGV; the device includes:

[0115] The monitoring module 601 is used to monitor the loading status of the target compartment of the AGV through a sensor unit provided on the AGV to obtain status information of the target compartment; wherein the status information includes whether there is material and the material type of the material when there is material;

[0116] The identification module 602 is used to identify whether any of the various status reporting conditions is met based on the obtained status information of the target compartment; wherein the various status reporting conditions include that the AGV is in an empty vehicle state and that the loading state of the target compartment changes;

[0117] The state determination module 603 is used to determine the current compartment state of the target compartment based on the material receiving rule of the target compartment and the current state information in response to the status reporting condition being met; wherein the material receiving rule is used to characterize the material types of various materials that the target compartment can receive and the material stacking relationship of various materials, and the compartment state is used to characterize the material type of the next material that the target compartment can receive according to the material receiving rule;

[0118] The reporting module 604 is used to report the current compartment status of the target compartment to the scheduling server; wherein the scheduling server is used to receive the compartment status of the target compartment reported by the controlled AGV, and determine the target material type of the material to be received and processed in the stacking scene, select the AGV for receiving the material of the target material type based on the compartment status of the target compartment reported by the controlled AGV, and send a scheduling instruction for receiving the material of the target material type to the selected AGV;

[0119] The first receiving module 605 is used to execute the material receiving task according to the target material type indicated by the received scheduling instruction whenever receiving the scheduling instruction sent by the scheduling server.

[0120] The solution of the present application, in order to adapt to the stacking scene, sets the material receiving rules corresponding to the target compartment of the AGV, and the AGV is provided with a sensor unit, so that the AGV monitors the loading status of the target compartment through the sensor unit, obtains the status information of the target compartment, and based on the status information, after identifying that the status reporting conditions are met, the current compartment status of the target compartment can be determined and reported based on the material receiving rules of the target compartment and the current status information, so that the scheduling server can use the compartment status of the target compartment reported by the AGV to select the AGV used to receive the materials to be received and processed in the stacking scene, to perform the material receiving task. It can be seen that the solution of the present application can effectively adapt to the stacking scene and perform the material receiving task.

[0121] Optionally, the sensor unit comprises a visual sensor unit; wherein the visual sensor unit is arranged at a position such that the field of view of the visual sensor unit includes the grid space of the target grid;

[0122] or,

[0123] The sensor unit includes a plurality of pressure sensor units, which are arranged at different positions of the target carrier, each pressure sensor unit has a unique correspondence with a material type represented by the material receiving rule of the target carrier, and the position at which each pressure sensor unit is arranged is a position where the material pressure can be sensed after the material of the material type corresponding to the pressure sensor unit is placed in the carrier space of the target carrier according to the material stacking relationship.

[0124] Optionally, the state determination module includes:

[0125] A first state determination unit is used to determine the material type with the material stacking relationship at the bottom layer among the material types represented by the material receiving rule if the current state information indicates that the material does not exist, and use the determined material type as the current compartment state of the target compartment;

[0126] The second state determination unit is used to determine the current carrier state of the target carrier based on the material type of the material located at the top layer among the material types of the materials existing in the target carrier if the current state information is that material exists.

[0127] Optionally, the determining the current state of the target carrier based on the material type of the material located at the uppermost layer among the material types of the materials existing in the target carrier includes:

[0128] If the designated material type is not the material type of the top layer in the material stacking relationship, then based on the material stacking relationship, determine the material type of the upper layer of the designated material type among the material types represented by the material receiving rule as the carrier state of the target carrier; wherein the designated material type is the material type stacked on the uppermost layer among the material types existing in the target carrier;

[0129] If the designated material type is the material type of the top layer in the material stacking relationship, the type value representing the empty value is used as the carrier state of the target carrier.

[0130] Optionally, the device further comprises:

[0131] A task execution module is used to respond to receiving a feeding instruction and perform a feeding task according to the feeding instruction; wherein, the feeding instruction is an instruction sent to the AGV by the scheduling server when it is detected that the material type of the next material that can be received by any AGV represented by the loading status is a type value representing an empty value, and is used to represent the feeding task.

[0132] Optionally, the selection module includes:

[0133] A determination unit, used to determine, from the controlled AGVs, each candidate AGV whose reported target compartment status represents the target material type;

[0134] The selection unit is used to select an AGV from each candidate AGV to obtain an AGV for receiving materials of the target material type.

[0135] Corresponding to the above-mentioned AGV scheduling method for stacking material scenarios, the present application provides another AGV scheduling device for stacking material scenarios. Figure 7 A schematic diagram of the structure of a transport scheduling device provided in an embodiment of the present application; the device is applied to a scheduling server, and the device includes:

[0136] The second receiving module 701 is used to receive the compartment status of the target compartment of the controlled AGV reported by the controlled AGV; wherein, the manner in which any AGV reports the compartment status to the dispatch server includes: the AGV monitors the load status of the target compartment of the AGV through a sensor unit arranged on the AGV to obtain the status information of the target compartment, and when any condition in each status reporting condition is identified to be satisfied based on the obtained status information of the target compartment, the current compartment status of the target compartment is determined based on the material receiving rule of the target compartment and the current status information; wherein, the status information includes whether there is material and the material type of the material when there is material, and each status reporting condition includes that the AGV is in an empty vehicle state, and that the load status of the target compartment changes; wherein, the material receiving rule is used to characterize the material types of various materials that the target compartment of the AGV can receive and the material stacking relationship of various materials, and the compartment status is used to characterize the material type of the next material that the target compartment of the AGV can receive according to the material receiving rule;

[0137] A determination module 702 is used to determine the target material type of the material to be processed in the stacking scene;

[0138] Selection module 703 is used to select an AGV for receiving materials of the target material type based on the target compartment status reported by the controlled AGV, and send a scheduling instruction for receiving materials of the target material type to the selected AGV, so that the AGV that receives the scheduling instruction performs the material receiving task according to the target material type indicated by the received scheduling instruction.

[0139] The solution of the present application, in order to adapt to the stacking scene, sets the material receiving rules corresponding to the target compartment of the AGV, and the AGV is provided with a sensor unit, so that the AGV monitors the loading status of the target compartment through the sensor unit, obtains the status information of the target compartment, and based on the status information, after identifying that the status reporting conditions are met, the current compartment status of the target compartment can be determined and reported based on the material receiving rules of the target compartment and the current status information, so that the scheduling server can use the compartment status of the target compartment reported by the AGV to select the AGV used to receive the materials to be received and processed in the stacking scene, to perform the material receiving task. It can be seen that the solution of the present application can effectively adapt to the stacking scene and perform the material receiving task.

[0140] The present application also provides an electronic device, such as Figure 8 As shown, including:

[0141] Memory 801, used for storing computer programs;

[0142] The processor 802 is used to implement any of the above-mentioned AGV scheduling methods for stacking scenarios when executing the program stored in the memory 801.

[0143] Furthermore, the electronic device may further include a communication bus and / or a communication interface, and the processor 802, the communication interface, and the memory 801 communicate with each other via the communication bus.

[0144] The communication bus mentioned in the above electronic device can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The communication bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus.

[0145] The communication interface is used for communication between the above electronic device and other devices.

[0146] The memory may include a random access memory (RAM) or a non-volatile memory (NVM), such as at least one disk memory. Optionally, the memory may also be at least one storage device located away from the aforementioned processor.

[0147] The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0148] In another embodiment provided in the present application, a computer-readable storage medium is provided, in which a computer program is stored. When the computer program is executed by a processor, any of the above-mentioned AGV scheduling methods for stacking scenarios is implemented.

[0149] In another embodiment provided in the present application, a computer program product including instructions is also provided, which, when executed on a computer, enables the computer to execute the AGV scheduling method for the stacking scenario described in any one of the above embodiments.

[0150] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions may be transmitted from a website site, computer, server or data center to another website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium may be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrated. The available medium may be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a solid-state hard disk (SSD), etc.

[0151] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0152] Each embodiment in this specification is described in a related manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0153] The above description is only a preferred embodiment of the present application and is not intended to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application are included in the protection scope of the present application.

Claims

1. An AGV scheduling method for stacking scenes, characterized in that: Applied to AGV; the method comprises: The sensor unit provided on the AGV monitors the loading state of the target compartment of the AGV to obtain the state information of the target compartment; wherein the state information includes whether there is material and the material type of the material when there is material; Based on the obtained state information of the target compartment, identifying whether any of the various state reporting conditions is satisfied; wherein the various state reporting conditions include that the AGV is in an empty state, and that the load state of the target compartment changes; In response to satisfying the status reporting condition, based on the material receiving rule of the target carrier and the current status information, the current carrier state of the target carrier is determined; wherein the material receiving rule is used to characterize the material types of various materials that the target carrier can receive and the material stacking relationship of various materials, and the carrier state is used to characterize the material type of the next material that the target carrier can receive according to the material receiving rule; Reporting the current compartment status of the target compartment to the dispatch server; wherein the dispatch server is used to receive the compartment status of the target compartment reported by the controlled AGV, and determine the target material type of the material to be received and processed in the stacking scene, and based on the compartment status of the target compartment reported by the controlled AGV, select the AGV used to receive the material of the target material type, and send a dispatch instruction for receiving the material of the target material type to the selected AGV; Whenever a scheduling instruction issued by the scheduling server is received, the material receiving task is executed according to the target material type indicated by the received scheduling instruction.

2. The method according to claim 1, characterized in that: The sensor unit comprises a visual sensor unit; wherein the visual sensor unit is arranged at a position such that the visual sensor unit has a field of view that includes the grid space of the target grid; or, The sensor unit includes a plurality of pressure sensor units, which are arranged at different positions of the target carrier, each pressure sensor unit has a unique correspondence with a material type represented by the material receiving rule of the target carrier, and each pressure sensor unit is arranged at a position where the material pressure can be sensed after the material of the material type corresponding to the pressure sensor unit is placed in the carrier space of the target carrier according to the material stacking relationship; or, The sensor unit may include one or more photoelectric sensor units, wherein the photoelectric sensor units are arranged at positions such that a detection range of the photoelectric sensor units includes the grid space of the target grid.

3. The method according to claim 1, characterized in that There are one or more material receiving rules for each target compartment; and determining the current compartment status of the target compartment based on the material receiving rules of the target compartment and the current status information includes: If the current status information indicates that no material exists, then determine the material type whose material stacking relationship is at the bottom layer among the material types represented by one or more material receiving rules of the target carrier, and use the determined material type as the current carrier state of the target carrier; If the current status information indicates that material exists, the current compartment status of the target compartment is determined based on the material type of the material located at the uppermost layer among the material types of the materials existing in the target compartment.

4. The method according to claim 3, characterized in that: The determining of the current state of the target carrier based on the material type of the material located at the uppermost layer among the material types of the materials existing in the target carrier includes: If the designated material type is not the material type of the top layer in the target material stacking relationship represented by the target material receiving rule, then based on the target material stacking relationship, determine the material type of the upper layer of the designated material type among the material types represented by the target material receiving rule as the carrier state of the target carrier; wherein the designated material type is the material type stacked on the upper layer among the material types existing in the target carrier; the target material receiving rule is: a material receiving rule that matches the material type of the material existing in the target carrier, determined from one or more material receiving rules of the target carrier; If the designated material type is the material type of the top layer in the stacking relationship of the target material, the type value representing the empty value is used as the carrier state of the target carrier.

5. The method according to claim 4, characterized in that Also includes: In response to receiving a feeding instruction, performing a feeding task in accordance with the feeding instruction; wherein, the feeding instruction is an instruction for characterizing a feeding task, which is sent to the AGV by the scheduling server when it is detected that the material type of the next material that can be received by the loading status characterization of any AGV is a type value characterizing an empty value.

6. The method according to any one of claims 1 to 3, characterized in that: The method of selecting an AGV for receiving the material of the target material type based on the target compartment status of the controlled AGV itself reported by the controlled AGV includes: From the controlled AGVs, determine each candidate AGV whose reported target compartment status represents the target material type; An AGV is selected from each candidate AGV to obtain an AGV for receiving materials of the target material type.

7. An AGV scheduling method for stacking scenes, characterized in that: Applied to a scheduling server, the method comprises: Receive the compartment status of the target compartment of the controlled AGV reported by the controlled AGV; wherein, the manner in which any AGV reports the compartment status to the dispatch server includes: the AGV monitors the load status of the target compartment of the AGV through a sensor unit arranged on the AGV to obtain the status information of the target compartment, and when any condition in each status reporting condition is identified to be satisfied based on the obtained status information of the target compartment, the current compartment status of the target compartment is determined based on the material receiving rule of the target compartment and the current status information; wherein, the status information includes whether there is material and the material type of the material when there is material, and each status reporting condition includes that the AGV is in an empty vehicle state, and that the load status of the target compartment changes; wherein, the material receiving rule is used to characterize the material types of various materials that the target compartment of the AGV can receive and the material stacking relationship of various materials, and the compartment status is used to characterize the material type of the next material that the target compartment of the AGV can receive according to the material receiving rule; Determine the target material type of the material to be processed in the stacking scenario; Based on the target compartment status reported by the controlled AGV, an AGV for receiving materials of the target material type is selected, and a scheduling instruction for receiving materials of the target material type is sent to the selected AGV, so that the AGV receiving the scheduling instruction performs the material receiving task according to the target material type indicated by the received scheduling instruction.

8. A scheduling system for stacking scenes, characterized in that: It includes a dispatching server and a plurality of AGVs controlled by the dispatching server; Each AGV is used to monitor the object status of the target compartment of the AGV through a sensor unit arranged on the AGV to obtain the status information of the target compartment; based on the obtained status information of the target compartment, identify whether any of the status reporting conditions is met; In response to satisfying the status reporting condition, based on the material receiving rule of the target compartment and the current status information, determining the current compartment status of the target compartment, and reporting the current compartment status of the target compartment to the scheduling server; And, whenever a dispatch instruction issued by the dispatch server is received, the material receiving task is performed according to the target material type indicated by the received dispatch instruction; wherein the status information includes whether there is material and the material type when there is material; each status reporting condition includes that the AGV is in an empty vehicle state, and that the loading state of the target carrier has changed; the material receiving rule is used to characterize the material types of various materials that the target carrier can receive and the material stacking relationship of various materials, and the carrier state is used to characterize the material type of the next material that the target carrier can receive according to the material receiving rule; The scheduling server is used to receive the target compartment status of the controlled AGV itself reported by the controlled AGV; and determine the target material type of the material to be received and processed in the stacking scene, and select the AGV used to receive the material of the target material type based on the target compartment status of the controlled AGV itself reported by the controlled AGV, and send a scheduling instruction for receiving the material of the target material type to the selected AGV, so that the AGV that receives the scheduling instruction performs the material receiving task according to the target material type indicated by the received scheduling instruction.

9. An AGV scheduling device for stacking scenes, characterized in that: Applied to AGV; the device comprises: A monitoring module, used to monitor the loading status of the target compartment of the AGV through a sensor unit arranged on the AGV to obtain status information of the target compartment; wherein the status information includes whether there is material and the material type of the material when there is material; An identification module, used for identifying whether any of the various status reporting conditions is satisfied based on the obtained status information of the target compartment; wherein the various status reporting conditions include that the AGV is in an empty vehicle state, and that the loading state of the target compartment changes; A state determination module, for determining the current compartment state of the target compartment in response to satisfying the state reporting condition, based on the material receiving rule of the target compartment and the current state information; wherein the material receiving rule is used to characterize the material types of various materials that the target compartment can receive and the material stacking relationship of various materials, and the compartment state is used to characterize the material type of the next material that the target compartment can receive according to the material receiving rule; A reporting module, used for reporting the current compartment status of the target compartment to the dispatch server; wherein the dispatch server is used for receiving the compartment status of the target compartment reported by the controlled AGV, and determining the target material type of the material to be received and processed in the stacking scene, and selecting the AGV for receiving the material of the target material type based on the compartment status of the target compartment reported by the controlled AGV, and sending a dispatch instruction for receiving the material of the target material type to the selected AGV; The first receiving module is used to execute the material receiving task according to the target material type indicated by the received scheduling instruction whenever receiving the scheduling instruction sent by the scheduling server.

10. An AGV scheduling device for stacking scenes, characterized in that: Applied to a scheduling server, the device comprises: The second receiving module is used to receive the compartment status of the target compartment of the controlled AGV reported by the controlled AGV; wherein, the manner in which any AGV reports the compartment status to the scheduling server includes: the AGV monitors the load status of the target compartment of the AGV through a sensor unit arranged on the AGV to obtain the status information of the target compartment, and when any condition in each status reporting condition is identified to be satisfied based on the obtained status information of the target compartment, the current compartment status of the target compartment is determined based on the material receiving rule of the target compartment and the current status information; wherein, the status information includes whether there is material and the material type of the material when there is material, and each status reporting condition includes that the AGV is in an empty vehicle state, and that the load status of the target compartment changes; wherein, the material receiving rule is used to characterize the material types of various materials that the target compartment of the AGV can receive and the material stacking relationship of various materials, and the compartment status is used to characterize the material type of the next material that the target compartment of the AGV can receive according to the material receiving rule; A determination module is used to determine the target material type of the material to be processed in the stacking scene; A selection module is used to select an AGV for receiving materials of the target material type based on the target compartment status reported by the controlled AGV, and send a scheduling instruction for receiving materials of the target material type to the selected AGV, so that the AGV that receives the scheduling instruction performs the material receiving task according to the target material type indicated by the received scheduling instruction.

11. An electronic device, characterized in that: include: Memory, used to store computer programs; A processor, for implementing any of the methods described in claims 1-7 when executing a program stored in a memory.

12. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

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