An AGV scheduling method, device, system and equipment for stacked material scenarios

Abstract

The embodiments of the present application provide an AGV scheduling method, device, system and equipment for the stacked material scenario, which relates to the technical field of automated handling. The specific implementation method is as follows: The sensor unit provided on the AGV monitors the loading state of the target carrier grid of the AGV to obtain the state information of the target carrier grid; based on the obtained state information of the target carrier grid, it is identified whether any of the state reporting conditions is satisfied; in response to satisfying the state reporting condition, based on the material receiving rule of the target carrier grid and the current state information, the current carrier grid state of the target carrier grid is determined; the current carrier grid state of the target carrier grid is reported to the scheduling server; whenever the 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. Applying the solution provided by the embodiments of the present application can effectively adapt to the stacked material scenario and execute the material receiving task.

Description

Technical Field

[0001] The present application relates to the technical field of automated handling, and particularly to an AGV scheduling method, device, system and equipment for a stacked material scenario. Background Art

[0002] With the development of automation technology, AGVs (Automated Guided Vehicles) are widely used in automated handling scenarios to transport materials. In the prior art, an AGV can report information on whether a load cell has materials or not to a scheduling server. Thus, the scheduling server can, based on the information reported by the AGV, schedule an AGV with an empty load cell to receive materials.

[0003] In a stacked material scenario, for the receiving and feeding tasks performed, there is a need to stack multiple materials. For example, it is required that after the load cell of an AGV receives material A, material B is stacked on material A, and materials A and B are transported together. Using the solution of the prior art, it is impossible to adapt to the stacked material transportation scenario to perform the receiving task. Therefore, there is an urgent need for an AGV scheduling method for a stacked material scenario to effectively adapt to the stacked material scenario and thus 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 a stacked material scenario to effectively adapt to the stacked material scenario and thus achieve the receiving task. The specific technical solutions are as follows:

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

[0006] By means of a sensor unit provided on the AGV, monitor the load state of a target load cell of the AGV to obtain the state information of the target load cell; wherein, the state information includes whether there is a material and the material type of the material existing when there is a material.

[0007] Based on the obtained state information of the target load cell, identify whether any one of the state reporting conditions is satisfied; wherein, each state reporting condition includes that the AGV is in an empty vehicle state, and the load state of the target load cell changes.

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

[0009] Report the current carrier grid status of the target carrier grid to the scheduling server; wherein, the scheduling server is used to receive the carrier grid status of its own target carrier grid reported by the controlled AGV, and determine the target material type of the material to be received in the stacking scenario, and based on the carrier grid status of its own target carrier grid reported by the controlled AGV, select an AGV for receiving the material of the target material type, and send a scheduling instruction for receiving the material of the target material type to the selected AGV.

[0010] Whenever receiving the scheduling instruction sent by the scheduling server, perform the material receiving task 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 multiple AGVs controlled by the scheduling server.

[0012] Each AGV is used to monitor the load status of the target carrier grid of the AGV through a sensor unit provided on the AGV to obtain the status information of the target carrier grid; based on the obtained status information of the target carrier grid, identify whether any of the status reporting conditions is met; in response to meeting the status reporting condition, based on the material receiving rule of the target carrier grid and the current status information, determine the current carrier grid status of the target carrier grid, and report the current carrier grid status of the target carrier grid to the scheduling server; and, whenever receiving the scheduling instruction sent by the scheduling server, 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 a material and the material type when there is a material; each status reporting condition includes that the AGV is in an empty vehicle state, and the load status of the target carrier grid changes; the material receiving rule is used to characterize the material types of various materials that the target carrier grid can receive and the material stacking relationship of various materials, and the carrier grid status is used to characterize the material type of the next material that the target carrier grid can receive according to the material receiving rule.

[0013] The scheduling server is configured to receive the carrier status of the target carrier of the AGV under its control; and determine the target material type of the material to be received and processed in the stacking scenario. Based on the carrier status of the target carrier of the AGV under its control, it selects an AGV for receiving the material of the target material type and sends 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 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 a stacking scenario, which is applied to an AGV. The device includes:

[0015] A monitoring module for monitoring the loading status of the target carrier of the AGV through a sensor unit disposed on the AGV to obtain the status information of the target carrier. Wherein, the status information includes whether there is a material and the material type of the material when there is a material.

[0016] An identification module for identifying whether any of the status reporting conditions is satisfied based on the obtained status information of the target carrier. Wherein, each status reporting condition includes that the AGV is in an empty vehicle state and the loading status of the target carrier changes.

[0017] A status determination module for, in response to satisfying the status reporting condition, determining the current carrier status of the target carrier based on the material receiving rule of the target carrier and the current status information. 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 status is used to characterize the material type of the next material that the target carrier can receive according to the material receiving rule.

[0018] A reporting module for reporting the current carrier status of the target carrier to the scheduling server. Wherein, the scheduling server is configured to receive the carrier status of the target carrier of the AGV under its control, and determine the target material type of the material to be received and processed in the stacking scenario. Based on the carrier status of the target carrier of the AGV under its control, it selects an AGV for receiving the material of the target material type and sends a scheduling instruction for receiving the material of the target material type to the selected AGV.

[0019] A first receiving module for, whenever receiving the scheduling instruction issued by the scheduling server, performing the receiving task according to the target material type indicated by the received scheduling instruction.

[0020] Fourth aspect, the present application provides an AGV scheduling device for a stacked material scenario, which is applied to a scheduling server. The device includes:

[0021] A second receiving module, configured to receive the carrier status of the target carrier of the AGV under its control. Among them, the method for any AGV to report the carrier status to the scheduling server includes: the AGV monitors the loading status of the target carrier through a sensor unit provided on the AGV to obtain the status information of the target carrier. When any condition in each status reporting condition is recognized based on the obtained status information of the target carrier, based on the material receiving rule of the target carrier and the current status information, determine the current carrier status of the target carrier. Among them, 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 the loading status of the target carrier changes. Among them, the material receiving rule is used to characterize the material types of various materials that the target carrier of the AGV can receive and the material stacking relationship of various materials. The carrier status is used to characterize the material type of the next material that the target carrier of the AGV can receive according to the material receiving rule.

[0022] A determination module, configured to determine the target material type of the material to be received and processed in the stacked material scenario.

[0023] A selection module, configured to select an AGV for receiving the material of the target material type based on the carrier status of the target carrier of the AGV under its control, 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 executes the receiving task according to the target material type indicated by the received scheduling instruction.

[0024] Fifth aspect, the present application provides an electronic device, including:

[0025] A memory, configured to store a computer program;

[0026] A processor, configured to implement the above-mentioned AGV scheduling method for a stacked material scenario when executing the program stored on the memory.

[0027] Sixth aspect, the present application provides a computer-readable storage medium, in which a computer program is stored, and when the computer program is executed by a processor, the above-mentioned AGV scheduling method for a stacked material scenario is implemented.

[0028] An embodiment of the present application also provides a computer program product including instructions. When it runs on a computer, it causes the computer to execute any one of the above-mentioned AGV scheduling methods for the stacking scenario.

[0029] Advantages of the embodiment of the present application:

[0030] In the solution of the present application, in order to adapt to the stacking scenario, for the target carrier of the AGV, a corresponding material receiving rule for the target carrier is set, and the AGV is provided with a sensor unit. Thus, when the AGV monitors the loading state of the target carrier through the sensor unit to obtain the state information of the target carrier, and based on the state information, after identifying that the state reporting condition is met, the current carrier state of the target carrier can be determined and reported based on the material receiving rule of the target carrier and the current state information, so that the scheduling server can use the reported carrier state of its own target carrier by the AGV to select an AGV for receiving the material to be processed in the stacking scenario to perform the receiving task. It can be seen that the solution of the present application can effectively adapt to the stacking scenario and execute the receiving task.

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

[0032] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required to be used in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present application. For those of ordinary skill in the art, other embodiments can also be obtained according to these drawings.

[0033] Figure 1 It is a schematic flow chart of an AGV scheduling method for a stacking scenario provided by an embodiment of the present application;

[0034] Figure 2 It is a schematic diagram of an exemplary material receiving rule provided by the present application;

[0035] Figure 3 [[ID=2……]]

[0036] Figure 4 It is a schematic flow chart of selecting an AGV for receiving the material of the target material type provided by an embodiment of the present application;

[0037] Figure 5 It is a schematic structural diagram of a scheduling system for a stacking scenario provided by an embodiment of the present application;

[0038] ​Figure 6 Flow schematic diagram of an AGV scheduling device for a stacking scenario provided by an embodiment of the present application;

[0039] Figure 7 Another flow schematic diagram of an AGV scheduling device for a stacking scenario provided by an embodiment of the present application;

[0040] Figure 8 Structural schematic diagram of an electronic device provided by an embodiment of the present application. Detailed implementation manners

[0041] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art based on the present application belong to the scope of protection of the present application.

[0042] In the technical solutions of the present application, operations such as acquisition, storage, use, processing, transmission, provision, and disclosure of user personal information are all carried out under the condition of obtaining user authorization.

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

[0044] Through a sensor unit disposed on the AGV, monitor the loading state of a target carrier of the AGV to obtain the state information of the target carrier; wherein, the state information includes whether there is a material and the material type of the material existing when there is a material.

[0045] Based on the obtained state information of the target carrier, identify whether any of the state reporting conditions is satisfied; wherein, each state reporting condition includes that the AGV is in an empty vehicle state, and the loading state of the target carrier changes.

[0046] In response to satisfying the state reporting condition, based on the material receiving rule of the target carrier and the current state information, determine the current carrier state of the target carrier; wherein, the material receiving rule is used to represent 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 represent the material type of the next material that the target carrier can receive according to the material receiving rule.

[0047] Report the current carrier grid status of the target carrier grid to the scheduling server; wherein, the scheduling server is used to receive the carrier grid status of its own target carrier grid reported by the controlled AGV, and determine the target material type of the material to be received and processed in the stacking scenario. Based on the carrier grid status of its own target carrier grid reported by the controlled AGV, select an AGV for receiving the material of the target material type, and send a scheduling instruction for receiving the material of the target material type to the selected AGV;

[0048] Whenever the 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.

[0049] In the solution of the present application, in order to adapt to the stacking scenario, for the target carrier grid of the AGV, a material receiving rule corresponding to the target carrier grid is set, and the AGV is provided with a sensor unit. Thus, when the AGV monitors the loading state of the target carrier grid through the sensor unit to obtain the state information of the target carrier grid, and based on the state information, after identifying that the state reporting condition is satisfied, the current carrier grid status of the target carrier grid can be determined and reported based on the material receiving rule of the target carrier grid and the current state information, so that the scheduling server can use the carrier grid status of its own target carrier grid reported by the AGV to select an AGV for receiving the material to be received and processed in the stacking scenario to perform the material receiving task. It can be seen that the solution of the present application can effectively adapt to the stacking scenario and perform the material receiving task.

[0050] Next, with reference to the accompanying drawings, an AGV scheduling method for a stacking scenario provided by the present application will be introduced.

[0051] Figure 1 It is a schematic flowchart of an AGV scheduling method for a stacking scenario provided by the present application. This method is applied to the AGV, as Figure 1 shown, the method includes:

[0052] S101, monitor the loading state of the target carrier grid of the AGV through the sensor unit provided on the AGV to obtain the state information of the target carrier grid; wherein, the state information includes whether there is a material and the material type of the material when there is a material;

[0053] In the present application, the timing of the sensor unit of the AGV to monitor the loading state of the target carrier grid of the AGV can be periodic, for example, detect once every 1 minute; or it can be performed every time after the material receiving task and / or the material delivery task is completed.

[0054] The solution of this application is applied to the stacking scenario. In the stacking scenario, there is a need to stack and transport multiple materials. It can be understood that there are various reasons for the stacking scenario. For example, to improve transportation efficiency, materials can be stacked and transported. At this time, multiple materials can be transported simultaneously to achieve the purpose of improving transportation efficiency. Another example is that components such as wafers need to avoid being contaminated. Therefore, there is a need for a placement environment. At this time, to transport the components, the components can be placed in a carrier frame. At this time, the transportation scenario of the components can belong to a stacking scenario. In this stacking scenario, the carrier frame can be regarded as material A and the components as material B, and material B is stacked on material A. It can be understood that in different stacking scenarios, the targeted materials are different, and the stacking relationships between the materials are also different.

[0055] In this application, there can be various types of the sensor unit. For example, visual sensors, pressure sensors, optoelectronic sensors, and so on. This application does not limit the specific type of the sensor unit.

[0056] Exemplarily, in one implementation, the sensor unit can include a visual sensor unit. Among them, the position where the visual sensor unit is set is such that the field of view range of the visual sensor unit includes the carrier space of the target carrier grid.

[0057] The visual sensor unit can specifically be devices such as cameras. The visual sensor unit can be one or more. Different AGVs can have different numbers of visual sensor units. The position where the visual sensor unit is set is such that the field of view range of the visual sensor unit includes the carrier space of the target carrier grid. When the number of visual sensor units is 1, the position of this visual sensor is such that the field of view range of the visual sensor unit includes the carrier space of the target carrier grid. When the number of visual sensor units is multiple, the positions where the multiple visual sensors are respectively set are such that the field of view ranges of the multiple visual sensor units include the carrier space of the target carrier grid.

[0058] The visual sensor unit can collect images of the carrier space of the target carrier grid, so that the AGV can determine whether there are materials in the carrier space of the target carrier grid and the material types of the existing materials when there are materials based on the collected images.

[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 grid. Each pressure sensor unit has a unique correspondence with one material type characterized by the material receiving rule of the target carrier grid. The position where each pressure sensor unit is disposed is: the material of the material type corresponding to the pressure sensor unit can be sensed for material pressure after being placed in the carrier space of the target carrier grid according to the material stacking relationship.

[0060] It can be understood that when stacking materials, each material is in a different position on the target carrier grid during stacking. Therefore, in the present application, a pressure sensor can be set at the position corresponding to each material during stacking to detect whether the target carrier grid 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 grid has material A.

[0061] If the pressure sensor does not sense pressure, it indicates that there is no material in the carrier space of the target carrier grid. After the pressure sensor senses pressure, the material type of the material existing in the carrier space of the target carrier grid 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 position where the photoelectric sensor unit is disposed is such that the detection range of the photoelectric sensor unit includes the carrier space of the target carrier grid.

[0063] The photoelectric sensor can detect whether the material exists and the shape of the material. Therefore, in the present application, one or more photoelectric sensors can be set to detect the existence and type of the material. When the number of photoelectric sensors is one, the photoelectric sensor can determine the type of the object existing in the current target carrier grid based on the shapes of the materials of each material type characterized by the material receiving rule of the target carrier grid and the corresponding shapes during stacking. For example, the material types characterized by the material receiving rule of the target carrier grid are A, B, and C. Material B can be stacked on material A, and material C can be stacked on material B. Detecting the shape of material A with the photoelectric sensor indicates that the type of the object existing in the current target carrier grid is material A; detecting the corresponding shape when material B is stacked on material A with the photoelectric sensor indicates that the type of the object existing in the current target carrier grid is material A and material B.

[0064] When there are multiple photoelectric sensors, the multiple photoelectric sensor units are arranged at different positions of the target carrier, and each photoelectric sensor unit has a unique correspondence with a material type represented by the material acceptance rule of the target carrier. The position of each photoelectric sensor unit ensures that the material of the material type corresponding to the photoelectric sensor unit is within the detection range of the photoelectric sensor after being placed in the carrier space of the target carrier according to the material stacking relationship. For example, the material types represented by the material acceptance rule of the target carrier are A, B, and C. Type B material can be stacked on Type A material, and Type C material can be stacked on Type B material. Type A material corresponds to photoelectric sensor unit 1, Type B material corresponds to photoelectric sensor unit 2, and Type C material corresponds 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. 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 various state reporting conditions are met; wherein the various state reporting conditions include the AGV being in an empty state and the load state of the target compartment changing;

[0067] The AGV is in an empty state and can be used to receive materials, which satisfies the reporting condition. Another reporting condition is when the target compartment's loading status changes. The AGV can record historically detected target compartment status information. If the current target compartment status information changes from the previous one, the reporting condition is met. It should be understood that each change in status information will be reported; if no change occurs, no repeated reporting is required.

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

[0069] The material receiving rules for the target storage cell of each AGV are preset. It can be understood that since the materials need to be stacked, the design of the storage cell structure 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 lower layer of the material type of this upper layer.

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

[0071] It can be understood that in different scenarios, the material receiving rules are different, and each material type can stack more than one type of material. For example, on the materials of type A, materials of type B, type D, or type E can be stacked. Moreover, for the material receiving rules of this 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 materials of type A, materials of type B and type C can be stacked simultaneously, or materials of type B or type C can be stacked separately. On the materials of type B and type C stacked simultaneously, materials of type D can be stacked. In this application, there is no limitation on the material receiving rules for the material receiving rules.

[0072] Optionally, the material receiving rules for each target storage cell are one or more; determining the current storage cell state of the target storage cell based on the material receiving rules of the target storage cell and the current state information includes:

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

[0074] If the current state information is that there is material, determine the current storage cell state of the target storage cell based on the material type of the material at the top layer among the material types of the materials existing in the target storage cell.

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

[0076] Of course, in some scenarios, the AGV can determine the material type with the lowest material stacking relationship in the current scenario based on the material types existing in the scenario as the current carrier grid state of the target carrier grid. Exemplarily, the stacking relationship indicated by the AGV is that type E is placed on the material of type C, type C is placed on the material of type B, and type B is placed on the material of type A. However, in the current scenario, only materials of type E and type C exist, then type C can be used as the material type with the lowest material stacking relationship. The information about the material types existing in the current scenario can be sent by the scheduling server to each AGV in the current scenario. The scheduling server can communicate with each AGV in the current scenario.

[0077] Each target carrier grid can have one or more material receiving rules. When there is no material in the current carrier grid, among the material stacking relationships represented by any material receiving rule, the material type at the bottom layer can be used as the current carrier grid state of the target carrier grid. That is, when there is one material receiving rule, the material type at the bottom layer represented by this one material receiving rule can be used as the current carrier grid state of the target carrier grid; and when there are multiple material receiving rules, according to the selection rule, one material receiving rule can be selected, and the material type at the bottom layer represented by the selected material receiving rule can be used as the current carrier grid state of the target carrier grid. Among them, 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 scenario identifier, and based on the current scenario identifier, the material receiving rule can be selected, where the scenario identifier can be a workshop identifier, a park identifier, a product line identifier, etc.

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

[0079] If the specified material type is not the material type at the top layer in the target material stacking relationship characterized by the target material receiving rule, then based on the target material stacking relationship, determine the material type that belongs to the layer above the specified material type among the material types characterized by the material receiving rule, as the carrier status of the target carrier; wherein, the specified material type is the material type stacked at the top layer among the material types existing in the target carrier; the target material receiving rule is: among one or more material receiving rules of the target carrier, the material receiving rule that matches the material type of the material existing in the target carrier is determined;

[0080] If the specified material type is the material type at the top layer in the target material stacking relationship, then use the type value representing null as the carrier status of the target carrier.

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

[0082] It can be understood 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 are the same in the material stacking relationships characterized by multiple material receiving rules. For example, the material receiving rule 1 of the target carrier is: A - B - C - D - E; the material receiving rule 2 is: A - B - C - Z - Y; the material receiving rule 3 is: A - B - E - F - G; when the material type and order currently received by the target carrier are: A - B, the material types currently existing in the target carrier match the material receiving rules 1, 2, and 3, then the material receiving rules 1, 2, and 3 can all be used as the target material receiving rule, and the target carrier can currently use the material types C and E as the carrier status of the target carrier; when the material type and order currently received by the target carrier are: A - B - C, the material types currently existing in the target carrier match the material receiving rules 1 and 2, then the material receiving rules 1 and 2 can be used as the target material receiving rule, and the target carrier can currently use the material types D and Z as the carrier status of the target carrier; when the material type and order currently received by the target carrier are: A - B - C - D, the material types currently existing in the target carrier match the material receiving rule 1, then the material receiving rule 1 can be used as the target material receiving rule, and the target carrier can currently use the material type E as the carrier status of the target carrier.

[0083] Therefore, in the present application, a material receiving rule that is determined from one or more material receiving rules of the target carrier and matches the material type of the material existing in the target carrier can be used 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 solution of using the sensor unit to monitor the loading state of the target carrier of the AGV, when monitoring the loading state, the sensor parameters can be adjusted to parameters that match the target material receiving rule, so that the loading state can be monitored more accurately.

[0084] In addition, when there are multiple material receiving rules for the target carrier, any one of the multiple material receiving rules can be selected as the current material receiving rule for the target carrier. Thus, subsequent material receiving tasks are all carried out using this current material receiving rule.

[0085] S104. Report the current carrier state of the target carrier to the scheduling server; wherein, the scheduling server is configured to receive the carrier state of its own target carrier reported by the AGV under its control, and determine the target material type of the material to be processed for receiving materials in the stacking scenario. Based on the carrier state of its own target carrier reported by the AGV under its control, select an AGV for receiving the material of the target material type, and send a scheduling instruction for receiving the material of the target material type to the selected AGV.

[0086] It can be understood that in a stacking scenario, there are multiple AGVs, and these AGVs are the AGVs controlled by the scheduling service. After each AGV meets the status reporting condition, it can report the carrier state to the scheduling server. When the scheduling server needs to select an AGV to complete the material receiving task, it can use the carrier state of its own target carrier reported by each received AGV, and determine the target material type of the material to be processed for receiving materials in the stacking scenario. Based on the carrier state of its own target carrier reported by the AGV under its control, select an AGV for receiving the material of the target material type. Exemplarily, if the target material type of the material to be processed for the material receiving task is material of type B, then select the AGV whose carrier state indicates that it can receive type B.

[0087] Optionally, the method of selecting an AGV for receiving the material of the target material type based on the carrier state of its own target carrier reported by the AGV under its control includes:

[0088] Determine, from the AGVs under its control, each candidate AGV whose reported carrier state of the target carrier indicates the target material type;

[0089] Select an AGV from each candidate AGV to obtain an AGV for receiving the 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. The feeding task is a task for feeding various materials. In one implementation, any one of the candidate AGVs can be selected from each candidate AGV as the selected AGV.

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

[0092] S105. Whenever a scheduling instruction sent by the scheduling server is received, perform a receiving task according to the target material type indicated by the received scheduling instruction.

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

[0094] Optionally, in response to receiving a feeding instruction, perform a feeding task according to the feeding instruction; wherein, the feeding instruction is an instruction sent by the scheduling server to the AGV when it detects that the material type of the next material that an AGV can receive indicated by the load status of the AGV is a type value representing a null value, for representing performing a feeding task.

[0095] Based on the content introduced in the above embodiments, when the material type of the next material that an AGV can receive indicated by the load status of the AGV is a type value representing a null value, it means that the AGV has received the material of the top layer material type in the material stacking relationship and cannot receive other types of materials anymore. Therefore, the scheduling server can send a feeding instruction to this AGV to make this AGV perform a feeding task.

[0096] In the solution of this application, in order to adapt to the stacked material scenario, for the target carrier of the AGV, a material receiving rule corresponding to the target carrier is set, and the AGV is provided with a sensor unit. Thus, the AGV monitors the loading state of the target carrier through the sensor unit to obtain the status information of the target carrier. And based on the status information, after it is recognized that the status reporting condition is met, the current carrier status of the target carrier can be determined and reported based on the material receiving rule of the target carrier and the current status information, so that the scheduling server can use the carrier status of its own target carrier reported by the AGV to select an AGV for receiving the material to be processed in the stacked material scenario to perform the receiving task. It can be seen that the solution of this application can effectively adapt to the stacked material scenario and perform the receiving task.

[0097] Optionally, in this application, each AGV can have one or more carriers. When the AGV has multiple target carriers, the status information of each target carrier can be determined. And the material receiving rules corresponding to the respective target carriers on the same AGV, as well as the set sensor unit, can all be different. For example, the order indicated by the material receiving rule of carrier 1 is A - B - C, the order indicated by the material receiving rule of carrier 2 is A - C, the order indicated by the material receiving rule of carrier 3 is B - C, and the order indicated by the material receiving rule of carrier 4 is DEFAULT, where DEFAULT means that any type of material can be used.

[0098] In the above S104, the AGV selected by the scheduling server for receiving the material of the target material type can be the carrier of the AGV selected by the scheduling server for receiving the material of the target material type. Thus, when the AGV receives the scheduling instruction issued by the scheduling server, it will perform the receiving task using the carrier indicated by the scheduling instruction according to the target material type indicated by the received scheduling instruction.

[0099] Exemplarily, an AGV has carriers 1, 2, 3, and 4; the AGV reports the status information corresponding to carrier 2 and the status information corresponding to carrier 3. The scheduling server selects carrier 3 of this AGV to pick up the material based on each status information. Then, after the AGV receives the scheduling instruction, it uses carrier 3 indicated by the scheduling instruction to perform the receiving task.

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

[0101] Corresponding to the above AGV scheduling method for the stacked material scenario, the embodiment of this application provides another AGV scheduling method for the stacked material scenario, which is applied to the scheduling server;Figure 3 The flowchart of another AGV scheduling method for the stacked material scenario provided by the embodiment of the present application, the method includes:

[0102] S301. Receive the carrier status of the target carrier of the AGV under control; wherein, the method for an AGV to report the carrier status to the scheduling server includes: the AGV monitors the loading status of the target carrier through a sensor unit disposed on the AGV to obtain the status information of the target carrier, and when any condition in each status reporting condition is recognized based on the obtained status information of the target carrier, based on the material receiving rule of the target carrier and the current status information, determine the current carrier status of the target carrier; 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 the loading status of the target carrier changes; wherein, the material receiving rule is used to characterize the material types of various materials that the target carrier of the AGV can receive and the material stacking relationship of various materials, and the carrier status is used to characterize the material type of the next material that the target carrier of the AGV can receive according to the material receiving rule.

[0103] Regarding the specific implementation manner of S301, reference may be made to the content in the embodiment of the above-mentioned AGV scheduling method for the stacked material scenario, which will not be elaborated here.

[0104] S302. Determine the target material type of the material to be received in the stacked material scenario.

[0105] The scheduling server can schedule the AGV to execute corresponding material receiving tasks and material delivery tasks. These material receiving tasks and material delivery tasks can be preset, and the AGV schedules the AGV to execute tasks in sequence; or they can be executed after receiving the material receiving tasks and material delivery tasks sent by the staff. The present application does not limit the sources of the material receiving tasks and material delivery tasks. The determination of the target material type of the material to be received in the stacked material scenario can be to use the material type of the material to be received in the current material receiving task as the target material type.

[0106] S303. Based on the carrier status of the target carrier of the AGV under control, select the AGV for receiving the material of the target material type, 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 executes the material receiving task according to the target material type indicated by the received scheduling instruction.

[0107] Such as Figure 4As shown in the figure, it is a schematic flowchart of a process for selecting an AGV for receiving materials of the target material type. For any AGV, based on the AGV carrier grid status information, determine the material types that the carrier grid can receive. Based on the task information, that is, the information of the above-mentioned material receiving task, determine the material types that the task requires to receive. Match the determined material types that the carrier grid can receive with the determined material types that the task requires to receive. If the matching result is a match, then this AGV can be used to execute the material receiving task.

[0108] For the specific implementation manner of S303, reference can be made to the content in the embodiments of the AGV scheduling method for the stacking scenario described above, and details are not described here.

[0109] In the solution of the present application, in order to adapt to the stacking scenario, for the target carrier grid of the AGV, set the material receiving rules corresponding to the target carrier grid, and the AGV is provided with a sensor unit. Thus, when the AGV monitors the loading state of the target carrier grid through the sensor unit to obtain the status information of the target carrier grid, and based on the status information, after identifying that the status reporting condition is met, it can determine the current carrier grid status of the target carrier grid and report it based on the material receiving rules of the target carrier grid and the current status information, so that the scheduling server can use the carrier grid status of its own target carrier grid reported by the AGV to select an AGV for receiving materials to be received in the stacking scenario to execute the material receiving task. It can be seen that the solution of the present application can effectively adapt to the stacking scenario and execute the material receiving task.

[0110] Corresponding to the above-mentioned AGV scheduling method for the stacking scenario, an embodiment of the present application provides a scheduling system for the stacking scenario; Figure 5Schematic structural diagram of a scheduling system for a stacked material scenario provided by an embodiment of the present application. The system includes multiple AGVs 502 and a scheduling server 501; each AGV is configured to monitor the loading state of the target carrier of the AGV through a sensor unit 5021 provided on the AGV to obtain the state information of the target carrier; based on the obtained state information of the target carrier, identify whether any of the state reporting conditions is satisfied; in response to satisfying the state reporting condition, based on the material receiving rule of the target carrier and the current state information, determine the current carrier state of the target carrier, and report the current carrier state of the target carrier to the scheduling server; wherein, the state information includes whether there is material and the material type of the material existing when there is material; each state reporting condition includes that the AGV is in an empty vehicle state, and the loading state of the target carrier changes; 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.

[0111] The scheduling server is configured to determine the target material type of the material to be received and processed in the stacked material scenario, select an AGV for receiving the material of the target material type based on the carrier state of the target carrier of the AGV 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 receiving the scheduling instruction executes the receiving task according to the target material type indicated by the received scheduling instruction.

[0112] Regarding the specific implementation manner corresponding to the above scheduling system for the stacked material scenario, reference can be made to the content in the embodiment of the AGV scheduling method for the stacked material scenario described above, which will not be elaborated here.

[0113] In the solution of the present application, in order to adapt to the stacked material scenario, a material receiving rule corresponding to the target carrier of the AGV is set, and the AGV is provided with a sensor unit. Thus, when the AGV monitors the loading state of the target carrier through the sensor unit to obtain the state information of the target carrier, and based on the state information, after identifying that the state reporting condition is satisfied, the current carrier state of the target carrier can be determined and reported based on the material receiving rule of the target carrier and the current state information, so that the scheduling server can select an AGV for receiving the material to be received and processed in the stacked material scenario by using the carrier state of the target carrier of the AGV reported by the AGV to execute the receiving task. It can be seen that the solution of the present application can effectively adapt to the stacked material scenario and execute the receiving task.

[0114] Corresponding to the above AGV scheduling method for the stacking scenario, the present application provides an AGV scheduling device for the stacking scenario. Figure 6 FIG. 2 is a schematic structural diagram of an AGV scheduling device for a stacking scenario provided by an embodiment of the present application; the device is applied to an AGV; the device includes:

[0115] A monitoring module 601, configured to monitor the loading state of a target load carrier of the AGV through a sensor unit disposed on the AGV, so as to obtain status information of the target load carrier; wherein, the status information includes whether there is a material and the material type of the material existing when there is a material.

[0116] An identification module 602, configured to identify whether any of the status reporting conditions is satisfied based on the obtained status information of the target load carrier; wherein, each status reporting condition includes that the AGV is in an empty vehicle state, and the loading state of the target load carrier changes.

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

[0118] A reporting module 604, configured to report the current load carrier state of the target load carrier to a scheduling server; wherein, the scheduling server is configured to receive the load carrier state of the target load carrier of the AGV under its control, and determine the target material type of the material to be received in the stacking scenario, select an AGV for receiving the material of the target material type based on the load carrier state of the target load carrier of the AGV under its control, and send a scheduling instruction for receiving the material of the target material type to the selected AGV.

[0119] A first receiving module 605, configured to, whenever receiving a scheduling instruction issued by the scheduling server, perform a receiving task according to the target material type indicated by the received scheduling instruction.

[0120] In the solution of this application, in order to adapt to the stacking material scenario, for the target carrier grid of the AGV, a corresponding material receiving rule for the target carrier grid is set, and the AGV is provided with a sensor unit. Thus, the AGV monitors the loading state of the target carrier grid through the sensor unit to obtain the state information of the target carrier grid. And based on the state information, after identifying that the condition for state reporting is met, the current carrier grid state of the target carrier grid can be determined and reported based on the material receiving rule of the target carrier grid and the current state information, so that the scheduling server can use the reported carrier grid state of its own target carrier grid by the AGV to select an AGV for receiving the material to be processed in the stacking material scenario to perform the material receiving task. It can be seen that the solution of this application can effectively adapt to the stacking material scenario and perform the material receiving task.

[0121] Optionally, the sensor unit includes a vision sensor unit; wherein, the position where the vision sensor unit is set makes the field of view range of the vision sensor unit include the carrier grid space of the target carrier grid;

[0122] Or,

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

[0124] Optionally, the state determination module includes:

[0125] The first state determination unit is used to, if the current state information is that there is no material, determine the material type of the material whose stacking relationship is at the bottom layer among the various material types characterized by the material receiving rule, and use the determined material type as the current carrier grid state of the target carrier grid;

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

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

[0128] If the specified material type is not the material type at the top layer in the material stacking relationship, then based on the material stacking relationship, determine the material type that belongs to the upper layer of the specified material type among the material types represented by the material receiving rule as the cell state of the target cell; wherein, the specified material type is the material type stacked at the top layer among the material types existing in the target cell.

[0129] If the specified material type is the material type at the top layer in the material stacking relationship, then use the type value representing a null value as the cell state of the target cell.

[0130] Optionally, the device further includes:

[0131] A task execution module, configured to perform a feeding task according to the feeding instruction in response to receiving the feeding instruction; wherein, the feeding instruction is an instruction sent by the scheduling server to the AGV when it detects that the material type of the next material that can be received by the carrying state representation of any AGV represents a null value, and is used to represent the feeding task.

[0132] Optionally, the selection module includes:

[0133] A determination unit, configured to determine, from the AGVs under control, each candidate AGV whose reported cell state of the target cell represents the target material type;

[0134] A selection unit, configured to select an AGV from each candidate AGV to obtain an AGV for receiving the material of the target material type.

[0135] Corresponding to the above-mentioned AGV scheduling method for a stacking scenario, the present application provides another AGV scheduling device for a stacking scenario. Figure 7 It is a schematic structural diagram of a carrying scheduling device provided by an embodiment of the present application; the device is applied to a scheduling server, and the device includes:

[0136] A second receiving module 701, configured to receive the carrier status of the target carrier of the AGV under its control; wherein, the manner in which any AGV reports the carrier status to the scheduling server includes: the AGV monitors the material loading status of the target carrier of the AGV through a sensor unit disposed on the AGV to obtain the status information of the target carrier, and when any condition in each status reporting condition is recognized based on the obtained status information of the target carrier, based on the material receiving rule of the target carrier and the current status information, determine the current carrier status of the target carrier; wherein, the status information includes whether there is material and the material type of the material existing when there is material, and each status reporting condition includes that the AGV is in an empty vehicle state, and the material loading status of the target carrier changes; wherein, the material receiving rule is used to characterize the material types of various materials that the target carrier of the AGV can receive and the material stacking relationship of various materials, and the carrier status is used to characterize the material type of the next material that the target carrier of the AGV can receive according to the material receiving rule.

[0137] A determination module 702, configured to determine the target material type of the material to be received and processed in the stacking scenario.

[0138] A selection module 703, configured to select an AGV for receiving the material of the target material type based on the carrier status of the target carrier of the AGV under its control, 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 receiving task according to the target material type indicated by the received scheduling instruction.

[0139] In the solution of the present application, in order to adapt to the stacking scenario, for the target carrier of the AGV, a corresponding material receiving rule for the target carrier is set, and the AGV is provided with a sensor unit. Thus, when the AGV monitors the material loading status of the target carrier through the sensor unit to obtain the status information of the target carrier, and based on the status information, after recognizing that the status reporting condition is satisfied, the current carrier status of the target carrier can be determined and reported based on the material receiving rule of the target carrier and the current status information, so that the scheduling server can select an AGV for receiving the material to be received and processed in the stacking scenario based on the carrier status of the target carrier of the AGV reported by itself to perform the receiving task. It can be seen that the solution of the present application can effectively adapt to the stacking scenario and perform the receiving task.

[0140] The embodiment of the present application further provides an electronic device, as Figure 8 shown, including:

[0141] A memory 801, configured to store a computer program;

[0142] A processor 802, when executing a program stored in a memory 801, implements the AGV scheduling method for the stacking scenario described in any one of the above.

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

[0144] The communication bus mentioned in the above electronic device may be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. This communication bus can be divided into an address bus, a data bus, a control bus, etc. For the sake of representation, only a 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 may also include a Non-Volatile Memory (NVM), such as at least one disk memory. Optionally, the memory may also be at least one storage device located far from the aforementioned processor.

[0147] The above processor may be a general-purpose processor, including a Central Processing Unit (CPU), a Network Processor (NP), etc.; it may 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 by the present application, a computer-readable storage medium is further provided. The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, it implements the AGV scheduling method for the stacking scenario described in any one of the above.

[0149] In another embodiment provided by the present application, a computer program product including instructions is further provided. When it runs on a computer, it causes the computer to execute the AGV scheduling method for the stacking scenario described in any one of the above embodiments.

[0150] In the above embodiment, 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 processes or functions described in the embodiments of the present application are generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from a website, computer, server, or data center to another website, computer, server, or data center by wire (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (such as infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that the computer can access or a data storage device such as a server or data center that includes one or more integrated available media. The available medium can be a magnetic medium (such as a floppy disk, hard disk, magnetic tape), an optical medium (such as a DVD), or a solid-state disk (SSD), etc.

[0151] It should be noted that in this document, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including", or any other variant thereof is intended to cover non-exclusive inclusion, such that a process, method, article, or device including a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or device. Without further limitation, an element defined by the statement "including a..." does not exclude the existence of additional identical elements in the process, method, article, or device including the element.

[0152] Each embodiment in this specification is described in a related manner. For the same or similar parts among the embodiments, reference can be made to each other. 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 for the related parts, reference can be made to the partial description of the method embodiment.

[0153] The above are only the preferred embodiments of this application and are not intended to limit the protection scope of this application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of this application are all included in the protection scope of this application.

Claims

1. An AGV scheduling method for the stacked material scenario, characterized in that, Applied to an AGV; the method includes: Monitoring the loading state of the target carrier grid of the AGV through a sensor unit provided on the AGV to obtain the state information of the target carrier grid; wherein, the state information includes whether there is any material and the material type of the material existing when there is material; Based on the obtained state information of the target carrier grid, identifying whether any of the state reporting conditions is satisfied; wherein, each state reporting condition includes that the AGV is in an empty vehicle state, and the loading state of the target carrier grid changes; In response to satisfying the state reporting condition, determining the current carrier grid state of the target carrier grid based on the material receiving rule of the target carrier grid and the current state information; wherein, the material receiving rule is pre-set and used to characterize the material types of various materials that the target carrier grid can receive and the material stacking relationship of various materials, and the carrier grid state is used to characterize the material type of the next material that the target carrier grid can receive according to the material receiving rule; Reporting the current carrier grid state of the target carrier grid to the scheduling server; wherein, the scheduling server is used to receive the carrier grid states of its own target carrier grids reported by the controlled AGVs, and determine the target material type of the material to be received and processed in the stacking scenario, select the AGV for receiving the material of the target material type based on the carrier grid states of its own target carrier grids reported by the controlled AGVs, and send a scheduling instruction for receiving the material of the target material type to the selected AGV; Whenever receiving the scheduling instruction sent by the scheduling server, perform the receiving task according to the target material type indicated by the received scheduling instruction.

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

3. The method according to claim 1, characterized in that, There is one or more material receiving rules for each target carrier grid; the determining the current carrier grid state of the target carrier grid based on the material receiving rule of the target carrier grid and the current state information includes: If the current status information indicates that there is no material, determine the material type with the lowest stacking relationship among the material types represented by one or more material receiving rules of the target carrier grid, and use the determined material type as the current carrier grid status of the target carrier grid; If the current status information indicates that there is material, determine the current carrier grid status of the target carrier grid based on the material type of the material at the top layer among the material types of the materials existing in the target carrier grid.

4. The method according to claim 3, wherein The determining the current carrier grid status of the target carrier grid based on the material type of the material at the top layer among the material types of the materials existing in the target carrier grid includes: If the specified material type is not the material type at 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 that belongs to the upper layer of the specified material type among the material types represented by the target material receiving rule as the carrier grid status of the target carrier grid; wherein, the specified material type is the material type of the materials existing in the target carrier grid that is stacked at the top layer; the target material receiving rule is: among the one or more material receiving rules of the target carrier grid, the material receiving rule determined to match the material type of the materials existing in the target carrier grid; If the specified material type is the material type at the top layer in the target material stacking relationship, then use the type value representing a null value as the carrier grid status of the target carrier grid.

5. The method according to claim 4, wherein It further includes: In response to receiving a feeding instruction, perform a feeding task according to the feeding instruction; wherein, the feeding instruction is an instruction sent by the scheduling server to an AGV when it detects that the material type of the next material that can be received as represented by the loading status of the AGV indicates a null value type, and is used to represent the instruction to perform a feeding task.

6. The method according to any one of claims 1-3, characterized in that, The method of selecting an AGV for receiving the material of the target material type based on the carrier grid status of the target carrier grid reported by the controlled AGV includes: Among the controlled AGVs, determine each candidate AGV whose reported carrier grid status of the target carrier grid represents the target material type; Select an AGV from each candidate AGV to obtain an AGV for receiving the material of the target material type.

7. An AGV scheduling method for the stacked material scenario, characterized in that, Applied to a scheduling server, the method includes: Receive the carrier status of its target carrier reported by the controlled AGV; wherein, the manner in which any AGV reports the carrier status to the scheduling server includes: the AGV monitors the material loading status of its target carrier through a sensor unit provided on the AGV to obtain the status information of the target carrier, and when any condition in each status reporting condition is recognized based on the obtained status information of the target carrier, based on the material receiving rule of the target carrier and the current status information, determine the current carrier status of the target carrier; wherein, the status information includes whether there is material and the material type of the material existing when there is material, and each status reporting condition includes that the AGV is in an empty vehicle state, and the material loading status of the target carrier changes; wherein, the material receiving rule is pre-set and used to represent the material types of various materials that the target carrier of the AGV can receive and the material stacking relationship of various materials, and the carrier status is used to represent the material type of the next material that the target carrier of the AGV can receive according to the material receiving rule. Determine the target material type of the material to be received and processed in the stacking scenario. Based on the carrier status of the target carrier of the controlled AGV reported by itself, select an AGV for receiving the material of the target material type, and send a scheduling instruction for receiving the material of the target material type to the selected AGV, so that the AGV receiving the scheduling instruction executes the receiving task according to the target material type indicated by the received scheduling instruction.

8. A scheduling system for a stacked material scenario, characterized in that, It includes a scheduling server and multiple AGVs controlled by the scheduling server. Each AGV is used to monitor the material loading status of its target carrier through a sensor unit provided on the AGV to obtain the status information of the target carrier; based on the obtained status information of the target carrier, identify whether any condition in each status reporting condition is satisfied. In response to satisfying the status reporting condition, based on the material receiving rule of the target carrier and the current status information, determine the current carrier status of the target carrier, and report the current carrier status of the target carrier to the scheduling server. And whenever receiving the scheduling instruction issued by the scheduling server, execute the 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 existing when there is material; each status reporting condition includes that the AGV is in an empty vehicle state, and the material loading status of the target carrier changes; the material receiving rule is pre-set and used to represent the material types of various materials that the target carrier can receive and the material stacking relationship of various materials, and the carrier status is used to represent the material type of the next material that the target carrier can receive according to the material receiving rule. The scheduling server is configured to receive the carrier status of the target carrier of the AGV under its control; and determine the target material type of the material to be received in the stacking scenario. Based on the carrier status of the target carrier of the AGV under its control, select an AGV for receiving the material of the target material type, 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 receiving task according to the target material type indicated by the received scheduling instruction.

9. An AGV scheduling device for a stacked material scenario, characterized in that, Applied to an AGV; the device includes: A monitoring module, configured to monitor the loading status of the target carrier of the AGV through a sensor unit disposed on the AGV to obtain the status information of the target carrier; wherein, the status information includes whether there is a material and the material type of the material that exists when there is a material. An identification module, configured to identify whether any one of the various status reporting conditions is satisfied based on the obtained status information of the target carrier; wherein, the various status reporting conditions include that the AGV is in an empty vehicle state, and the loading status of the target carrier changes. A status determination module, configured to, in response to satisfying the status reporting condition, determine the current carrier status of the target carrier based on the material receiving rule of the target carrier and the current status information; wherein, the material receiving rule is pre-set and 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 status is used to characterize the material type of the next material that the target carrier can receive according to the material receiving rule. A reporting module, configured to report the current carrier status of the target carrier to the scheduling server; wherein, the scheduling server is configured to receive the carrier status of the target carrier of the AGV under its control, and determine the target material type of the material to be received in the stacking scenario. Based on the carrier status of the target carrier of the AGV under its control, select an AGV for receiving the material of the target material type, and send a scheduling instruction for receiving the material of the target material type to the selected AGV. A first receiving module, configured to, whenever receiving the scheduling instruction issued by the scheduling server, perform the receiving task according to the target material type indicated by the received scheduling instruction.

10. An AGV scheduling device for a stacked material scenario, characterized in that, Applied to a scheduling server, the device includes: A second receiving module, configured to receive the carrier status of the target carrier of the AGV under its control; wherein, the manner in which any AGV reports the carrier status to the scheduling server includes: the AGV monitors the material carrying status of the target carrier of the AGV through the sensor unit provided on the AGV to obtain the status information of the target carrier, and when any one of the status reporting conditions is recognized based on the obtained status information of the target carrier, based on the material receiving rule of the target carrier and the current status information, determine the current carrier status of the target carrier; wherein, the status information includes whether there is material and the material type of the material existing when there is material, and each status reporting condition includes that the AGV is in an empty vehicle state, and, the material carrying status of the target carrier changes; wherein, the material receiving rule is pre-set and is used to represent the material types of various materials that the target carrier of the AGV can receive and the material stacking relationship of various materials, and the carrier status is used to represent the material type of the next material that the target carrier of the AGV can receive according to the material receiving rule. A determining module, configured to determine the target material type of the material to be received and processed in the stacking scenario. A selecting module, configured to select an AGV for receiving the material of the target material type based on the carrier status of the target carrier of the AGV under its control, and send a scheduling instruction for receiving the material of the target material type to the selected AGV, so that the AGV receiving the scheduling instruction performs the receiving task according to the target material type indicated by the received scheduling instruction.

11. An electronic device, characterized in that, Including: A memory, configured to store a computer program. A processor, configured to implement the method according to any one of claims 1-7 when executing the program stored on the 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 the processor, the method according to any one of claims 1-7 is implemented.

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