Scheduling method, device and system for automated guided vehicles

Abstract

The invention provides an automatic guided vehicle scheduling method, device and scheduling system, and the method comprises the steps: obtaining: obtaining a plurality of to-be-processed task path requests; a planning step of performing path planning on the corresponding execution vehicles according to the plurality of to-be-processed task path requests and the map of the moving space of the automated guided vehicle to obtain next-step planning paths of the plurality of execution vehicles, so that all the next-step planning paths in the map of the moving space of the automated guided vehicle are not overlapped; a conversion step: controlling each execution vehicle to move according to the corresponding next planning path, and converting the to-be-processed task path request corresponding to the execution vehicle arriving at the task end point into a processed task path request; the obtaining step, the planning step and the conversion step are repeated at least once in sequence until all the to-be-processed task path requests are converted into processed task path requests, and the problem that in the prior art, the multi-vehicle task scheduling efficiency is low is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of task scheduling, and in particular to a scheduling method, device, computer program product and scheduling system for an automatic guided vehicle. Background Art

[0002] In unmanned factories or workshops, path planning for automated guided vehicles (AGVs) is a critical task because it directly affects production efficiency, resource utilization, and the operating efficiency of the entire system. These factories or workshops are usually composed of various equipment, production lines, and workstations, and AGVs need to travel through them to complete tasks such as material transportation and parts supply. Therefore, path planning must take into account the following issues:

[0003] 1. Path feasibility detection: How to determine whether there is a feasible path from the starting point to the target point.

[0004] 2. Conflict resolution: How to plan a non-blocking, non-conflicting, and non-deadlocking path for the AGV.

[0005] 3. Operation efficiency optimization: How to ensure that the path planned for the AGV car makes the operation efficiency of the entire system achieve a better effect.

[0006] For situations where multiple AGVs are needed, the scheduling problem of multiple AGVs needs to be solved. This means that an optimization target parameter needs to be determined, and a reasonable resource allocation plan needs to be formulated based on task requirements and available factory resources to allocate the material transportation tasks of the unmanned workshop to each AGV. These AGVs need to avoid collisions when performing tasks and complete material transportation tasks with high efficiency. Summary of the invention

[0007] The main purpose of the present application is to provide a scheduling method, device, computer program product and scheduling system for an automatic guided vehicle, so as to at least solve the problem of low efficiency in multi-vehicle task scheduling in the prior art.

[0008] In order to achieve the above-mentioned purpose, according to one aspect of the present application, a scheduling method for an automatic guided vehicle is provided, including: an acquisition step, acquiring a plurality of pending task path requests, the pending task path requests at least including the location information of the execution vehicle and the location information of the task end point, the pending task path requests corresponding to the execution vehicle one by one, and the execution vehicle is one of the automatic guided vehicles; a planning step, performing path planning for the corresponding execution vehicle according to the plurality of pending task path requests and a map of the moving space of the automatic guided vehicle, obtaining the next step planning paths of the plurality of execution vehicles, so that the map of the moving space of the automatic guided vehicle All of the next planned paths have no overlap, and the next planned path is the path along which the executing vehicle moves for a specific period of time; a conversion step, controlling each of the executing vehicles to move according to the corresponding next planned path, and converting the pending task path request corresponding to the executing vehicle that arrives at the task endpoint into a processed task path request, and converting the executing vehicle that arrives at the task endpoint into a non-executing vehicle, and the non-executing vehicle is the automatic guided vehicle other than the executing vehicle; repeating the acquisition step, the planning step and the conversion step at least once in sequence until all of the pending task path requests are converted into the processed task path requests.

[0009] Optionally, obtaining multiple pending task path requests includes: obtaining multiple original pending task path requests, the original pending task path requests including the location information of the task starting point and the location information of the task end point; determining the non-executing vehicle with the smallest distance from the task starting point as the executing vehicle of each of the original pending task path requests; obtaining the location information of the executing vehicles of the multiple original pending task path requests, and generating multiple pending task path requests.

[0010] Optionally, obtaining multiple pending task path requests includes: obtaining the unfinished pending task path requests; updating the position information of the execution vehicle of the unfinished pending task path requests, and obtaining multiple pending task path requests.

[0011] Optionally, path planning is performed on the corresponding execution vehicle according to multiple pending task path requests and the map of the moving space of the automatic guided vehicle to obtain multiple next-step planning paths of the execution vehicles, so that all the next-step planning paths in the map of the moving space of the automatic guided vehicle have no overlap, including: generating multiple shortest passing paths according to the position information of each execution vehicle and the corresponding position information of the task end point, the shortest passing path being the shortest path for the execution vehicle to reach the task end point from the current position; determining a preliminary next-step planning path for each execution vehicle according to the multiple shortest passing paths, the preliminary next-step planning path being the path for the execution vehicle to move from the current position along the corresponding shortest passing path for the specific length of time; in the case where any two of the preliminary next-step planning paths overlap, adjusting one of the preliminary next-step planning paths so that the two preliminary next-step planning paths do not overlap; in the case where any two of the preliminary next-step planning paths do not overlap, determining each of the preliminary next-step planning paths as the next-step planning path of each execution vehicle.

[0012] Optionally, the preliminary next planned path of each of the executing vehicles is determined based on the multiple shortest paths, including: when the executing vehicle can reach the corresponding task end point within the specific time period, determining that the preliminary next planned path of the executing vehicle is the path from the current position to the task end point.

[0013] Optionally, after determining that the preliminary next planned path of the execution vehicle is the path from the current position to the task endpoint, the method further includes: when the preliminary next planned path of the execution vehicle is the path from the current position to the task endpoint and the preliminary next planned path of the execution vehicle is one of two overlapping preliminary next planned paths, adjusting the other preliminary next planned path.

[0014] Optionally, obtaining multiple original pending task path requests includes: sorting the original pending task path requests according to priority to obtain a task sequence; obtaining multiple original pending task path requests in the order of the task sequence, so that the number of the original pending task path requests is less than or equal to the number of non-executing vehicles.

[0015] According to another aspect of the present application, a scheduling device for an automatic guided vehicle is provided, comprising: an acquisition unit, configured to execute an acquisition step, to acquire a plurality of pending task path requests, wherein the pending task path requests at least include location information of an executing vehicle and location information of a task end point, wherein the pending task path requests correspond one-to-one to the executing vehicle, and the executing vehicle is one of the automatic guided vehicles; and a planning unit, configured to execute a planning step, to perform path planning for the corresponding executing vehicle according to the plurality of pending task path requests and a map of the moving space of the automatic guided vehicle, to obtain the next step planning paths of the plurality of executing vehicles, so that all the paths in the map of the moving space of the automatic guided vehicle are located on the same path as the executing vehicle. The next planned path has no overlap, and the next planned path is the path along which the executing vehicle moves for a specific period of time; a conversion unit is used to execute the conversion step, control each of the executing vehicles to move according to the corresponding next planned path, and convert the pending task path request corresponding to the executing vehicle that arrives at the task end point into a processed task path request, and convert the executing vehicle that arrives at the task end point into a non-executing vehicle, and the non-executing vehicle is the automatic guided vehicle other than the executing vehicle; a repeating unit is used to repeat the acquisition step, the planning step and the conversion step in sequence at least once until all of the pending task path requests are converted into the processed task path requests.

[0016] According to another aspect of the present application, a computer program product is provided, comprising a computer program, wherein when the computer program is executed by a processor, any one of the methods described above is implemented.

[0017] According to another aspect of the present application, a scheduling system is provided, comprising: a plurality of automatic guided vehicles, one or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and are configured to be executed by the one or more processors, and the one or more programs include methods for executing any one of the described methods.

[0018] By applying the technical solution of the present application, in the above-mentioned automatic guided vehicle scheduling method, the next planned path is planned for the executing vehicle of each pending task path request, that is, the path for which the executing vehicle moves for a specific period of time, and path conflicts can be avoided by ensuring that there is no overlap in the paths. Then, each executing vehicle is controlled to move according to the corresponding next planned path, and the completed pending task path request is converted into a processed task path request. The planning of the next planned path is repeated until all pending task path requests are converted into processed task path requests. There is no need to stop and re-plan to avoid path conflicts, and the system operation overhead caused by frequently issuing stops and re-planning paths is reduced, which greatly improves the scheduling efficiency and solves the problem of low efficiency in multi-vehicle task scheduling in the prior art. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 A hardware structure block diagram of a mobile terminal for executing a method for dispatching an automatic guided vehicle provided in an embodiment of the present application is shown;

[0020] Figure 2 A schematic flow chart of a method for dispatching an automatic guided vehicle provided according to an embodiment of the present application is shown;

[0021] Figure 3 A schematic flow chart of another automatic guided vehicle scheduling method provided according to an embodiment of the present application is shown;

[0022] Figure 4 A structural block diagram of a dispatching device for an automatic guided vehicle provided according to an embodiment of the present application is shown.

[0023] The above drawings include the following reference numerals:

[0024] 102, processor; 104, memory; 106, transmission device; 108, input and output devices. DETAILED DESCRIPTION

[0025] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0026] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0027] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present application described here. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0028] As introduced in the background technology, the efficiency of multi-vehicle task scheduling in the prior art is low. To solve this technical problem, the embodiments of the present application provide a scheduling method, device, computer program product and scheduling system for an automatic guided vehicle.

[0029] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0030] The method embodiments provided in the embodiments of the present application can be executed in a mobile terminal, a computer terminal or a similar computing device. Taking running on a mobile terminal as an example, Figure 1 FIG. 1 is a hardware structure block diagram of a mobile terminal of an automatic guided vehicle dispatching method according to an embodiment of the present invention. Figure 1 As shown, the mobile terminal may include one or more ( Figure 1 Only one is shown in the figure) a processor 102 (the processor 102 may include but is not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA) and a memory 104 for storing data, wherein the mobile terminal may also include a transmission device 106 and an input / output device 108 for communication functions. It can be understood by those skilled in the art that Figure 1 The structure shown is for illustration only and does not limit the structure of the mobile terminal. Figure 1 More or fewer components as shown, or with Figure 1 Different configurations are shown.

[0031] The memory 104 can be used to store computer programs, for example, software programs and modules of application software, such as the computer program corresponding to the display method of device information in the embodiment of the present invention. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, that is, the above method is implemented. The memory 104 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include a memory remotely arranged relative to the processor 102, and these remote memories can be connected to the mobile terminal via a network. Examples of the above-mentioned network include but are not limited to the Internet, an intranet, a local area network, a mobile communication network, and a combination thereof. The transmission device 106 is used to receive or send data via a network. The above-mentioned specific examples of the network may include a wireless network provided by a communication provider of the mobile terminal. In one example, the transmission device 106 includes a network adapter (Network Interface Controller, referred to as NIC), which can be connected to other network devices through a base station so as to communicate with the Internet. In one example, the transmission device 106 may be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0032] In this embodiment, a dispatching method for automatic guided vehicles running on a mobile terminal, a computer terminal or a similar computing device is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0033] Figure 2 FIG. 1 is a flow chart of a method for dispatching an automatic guided vehicle according to an embodiment of the present application. Figure 2 As shown, the method comprises the following steps:

[0034] Step S201, an acquisition step, acquiring a plurality of pending task path requests, wherein the pending task path requests at least include location information of the execution vehicle and location information of the task endpoint, the pending task path requests correspond one to one with the execution vehicle, and the execution vehicle is one of the automatic guided vehicles;

[0035] Step S202, a planning step, performing path planning for the corresponding execution vehicle according to the plurality of pending task path requests and the map of the moving space of the automatic guided vehicle, obtaining the next planned paths of the plurality of execution vehicles, so that all the next planned paths in the map of the moving space of the automatic guided vehicle have no overlap, and the next planned path is a path for the execution vehicle to move for a specific time period;

[0036] Step S203, a conversion step, controlling each of the above-mentioned execution vehicles to move according to the corresponding next step planning path, and converting the above-mentioned pending task path request corresponding to the above-mentioned execution vehicle that has arrived at the above-mentioned task end point into a processed task path request, and converting the above-mentioned execution vehicle that has arrived at the above-mentioned task end point into a non-execution vehicle, and the above-mentioned non-execution vehicle is the above-mentioned automatic guided vehicle other than the above-mentioned execution vehicle;

[0037] Step S204, repeating the above acquisition step, the above planning step and the above conversion step at least once in sequence until all of the above pending task path requests are converted into the above processed task path requests.

[0038] In the above-mentioned scheduling method for automatic guided vehicles, the next planned path is planned for the executing vehicle of each pending task path request, that is, the path for the executing vehicle to move for a specific time, and the path conflict can be avoided by ensuring that there is no overlap in the path. Then, each executing vehicle is controlled to move according to the corresponding next planned path, and the completed pending task path request is converted into a processed task path request. The planning of the next planned path is repeated until all pending task path requests are converted into processed task path requests. There is no need to stop and re-plan to avoid path conflicts, which reduces the system operation overhead caused by frequently issuing stops and re-planning paths, greatly improves the scheduling efficiency, and solves the problem of low efficiency of multi-vehicle task scheduling in the prior art.

[0039] To facilitate path planning, in an optional implementation, the above step S202 includes:

[0040] Step S2021, generating a directed acyclic graph according to the map of the moving space of the automatic guided vehicle, wherein the directed acyclic graph includes a plurality of points and a passage path, wherein the point is a location that can be used as a task starting point or a task end point, and the passage path is a path between two of the points;

[0041] Step S2022, performing path planning for the corresponding execution vehicles according to the plurality of path requests for the pending tasks and the directed acyclic graph, and obtaining the next planned paths for the plurality of execution vehicles.

[0042] In the above implementation, the map of the moving space of the automatic guided vehicle is simplified into a directed acyclic graph, including multiple points and the passage paths between the points, eliminating interference information that is useless for path planning, making the path planning clearer and more specific.

[0043] In order to implement the scheduling of the new task, in an optional implementation, the above step S201 includes:

[0044] Step S2011, obtaining a plurality of original pending task path requests, wherein the original pending task path requests include the location information of the task starting point and the location information of the task end point;

[0045] Step S2012, determining the non-executing vehicles with the shortest distance from the task starting point as the executing vehicles of the original to-be-processed task path requests;

[0046] Step S2013, obtaining the position information of the executing vehicles of the plurality of the original pending task path requests, and generating a plurality of the pending task path requests.

[0047] In the above implementation, multiple new tasks, i.e., original pending task path requests, are obtained. To complete the original pending task path requests, an execution vehicle is arranged to execute, i.e., the non-execution vehicle with the smallest distance from the starting point of the above task. The original pending task path request can be converted into a pending task path request, including the location information of the execution vehicle and the location information of the end point of the above task. Then, the next step of path planning can be carried out to realize the scheduling of new tasks. The above original pending task path request is a newly initiated task request that has not been assigned an execution vehicle, and the pending task path request is a task request that has been assigned an execution vehicle.

[0048] In order to continue scheduling of unfinished tasks, in an optional implementation, the above step S201 includes:

[0049] Step S2014, obtaining the above unfinished task path request to be processed;

[0050] Step S2015, updating the position information of the executing vehicle of the unfinished pending task path request, and obtaining a plurality of the pending task path requests.

[0051] In the above implementation mode, each of the above-mentioned execution vehicles is controlled to move once according to the corresponding above-mentioned next step planned path, and may not reach the task end point, that is, the task path request cannot be completed. Due to the movement, it is necessary to update the position information of the above-mentioned execution vehicle of the above-mentioned pending task path request that has not been completed, and the pending task path request can be obtained, including the updated position information of the execution vehicle and the position information of the above-mentioned task end point, and the next step of path planning can be carried out to continue the scheduling of the unfinished tasks.

[0052] In order to avoid path conflicts, in an optional implementation manner, the above step S202 includes:

[0053] Step S2023, generating a plurality of shortest paths according to the position information of each of the executing vehicles and the position information of the corresponding task endpoint, wherein the shortest path is the shortest path from the current position of the executing vehicle to the task endpoint;

[0054] Step S2024, determining a preliminary next planning path for each of the executing vehicles based on the multiple shortest travel paths, the preliminary next planning path being a path along which the executing vehicle moves from the current position along the corresponding shortest travel path for the specified time period;

[0055] Step S2025, when any two of the above-mentioned prepared next step planning paths overlap, adjusting one of the above-mentioned prepared next step planning paths so that the two above-mentioned prepared next step planning paths do not overlap;

[0056] Step S2026, when there is no overlap between any two of the above-mentioned prepared next-step planning paths, determining that each of the above-mentioned prepared next-step planning paths is the above-mentioned next-step planning path of each of the above-mentioned execution vehicles.

[0057] In the above implementation mode, the specific process of using the PBS algorithm to plan the path is to generate multiple shortest paths according to the position information of each of the above-mentioned executing vehicles and the corresponding position information of the above-mentioned task endpoints, and determine the preliminary next planned path of each of the above-mentioned executing vehicles according to the multiple shortest paths, so as to reduce the distance and improve the scheduling efficiency. However, there may be overlaps between two of the above-mentioned preliminary next planned paths, and one of the above-mentioned preliminary next planned paths can be adjusted so that all of the above-mentioned next planned paths in the map of the moving space of the above-mentioned automatic guided vehicle do not overlap, thereby avoiding path conflicts.

[0058] In order to ensure that the task endpoint is reached, in an optional implementation, the above step S2024 includes:

[0059] Step S20241, when the execution vehicle can reach the corresponding task destination within the specific time period, determine that the prepared next planned path of the execution vehicle is the path from the current position to the task destination.

[0060] In the above embodiment, the above-mentioned execution vehicle can reach the corresponding above-mentioned task end point within the above-mentioned specific time period. In order to avoid crossing the task end point, the above-mentioned prepared next planned path of the above-mentioned execution vehicle is determined to be the path from the above-mentioned current position to the above-mentioned task end point, ensuring that it stops when reaching the task end point.

[0061] In order to complete the task as quickly as possible, in an optional implementation manner, after determining that the prepared next planned path of the execution vehicle is a path from the current position to the task endpoint, the method further includes:

[0062] Step S301, when the above-mentioned prepared next-step planning path of the above-mentioned execution vehicle is the path from the above-mentioned current position to the above-mentioned task end point and the above-mentioned prepared next-step planning path of the above-mentioned execution vehicle is one of the two overlapping above-mentioned prepared next-step planning paths, adjust the other above-mentioned prepared next-step planning path.

[0063] In the above implementation mode, the above-mentioned preparatory next-step planning path of the above-mentioned execution vehicle is the path from the above-mentioned current position to the above-mentioned task end point, indicating that the preparatory next-step planning path is on the pass path from the second-to-last point to the first-to-last point (the point of the task end point), and the execution vehicle is about to complete the task, so there are other preparatory next-step planning paths overlapping with it, and the other preparatory next-step planning paths can be adjusted so that the execution vehicle can complete the task as soon as possible.

[0064] In order to ensure the scheduling efficiency of emergency tasks, in an optional implementation, the above step S2011 includes:

[0065] Step S20111, sorting the above-mentioned original pending task path requests according to priority to obtain a task sequence;

[0066] Step S20112: acquiring a plurality of original pending task path requests in the order of the task sequence, so that the number of the original pending task path requests is less than or equal to the number of the non-executing vehicles.

[0067] In the above implementation, the above original pending task path requests are sorted according to priority to obtain a task sequence, so that tasks with high priority are scheduled first, and the number of original pending task path requests (new tasks) cannot exceed the number of the above non-executing vehicles, thereby ensuring the scheduling efficiency of emergency tasks.

[0068] In order to enable those skilled in the art to more clearly understand the technical solution of the present application, the implementation process of the automatic guided vehicle scheduling method of the present application will be described in detail below in combination with specific embodiments.

[0069] This embodiment relates to a specific automatic guided vehicle scheduling method, such as Figure 3 As shown, the following steps are included:

[0070] Step S1: Initializing the dispatching system and the vehicle, i.e. generating a directed acyclic graph according to the map of the moving space of the automated guided vehicle, wherein the directed acyclic graph includes a plurality of points and passage paths, wherein the points are positions that can be used as the starting point or the end point of a task, and the passage path is a path between two of the points, and obtaining the position information of each automated guided vehicle;

[0071] Step S2: an acquisition step, acquiring a plurality of pending task path requests, wherein the pending task path requests at least include location information of the execution vehicle and location information of the task endpoint, the pending task path requests correspond one-to-one to the execution vehicle, and the execution vehicle is one of the automatic guided vehicles;

[0072] Step S3: Planning step, the specific process of using the PBS algorithm to plan the path is to generate multiple shortest paths according to the location information of each of the above-mentioned executing vehicles and the location information of the corresponding task endpoints, and determine the next step planning path of each of the above-mentioned executing vehicles according to the multiple shortest paths. There may be overlaps between two of the above-mentioned next step planning paths, and one of the above-mentioned next step planning paths can be adjusted so that all of the above-mentioned next step planning paths in the above-mentioned directed acyclic graph do not overlap to avoid path conflicts. The above-mentioned next step planning path is the path of the above-mentioned executing vehicle moving for a specific period of time;

[0073] Step S4: a conversion step, controlling each of the above-mentioned execution vehicles to move according to the corresponding next step planning path, and converting the above-mentioned pending task path request corresponding to the above-mentioned execution vehicle that has arrived at the above-mentioned task end point into a processed task path request, and converting the above-mentioned execution vehicle that has arrived at the above-mentioned task end point into a non-execution vehicle, and the above-mentioned non-execution vehicle is the above-mentioned automatic guided vehicle other than the above-mentioned execution vehicle;

[0074] Step S5: Repeat the above acquisition step, the above planning step and the above conversion step at least once in sequence until all of the above pending task path requests are converted into the above processed task path requests.

[0075] It should be noted that the steps shown in the flowcharts of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and that, although a logical order is shown in the flowcharts, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0076] The present application embodiment also provides a kind of dispatching device of automatic guided vehicle, it should be noted that the dispatching device of automatic guided vehicle of the present application embodiment can be used to execute the dispatching method for automatic guided vehicle provided by the present application embodiment. The device is used to realize the above-mentioned embodiment and preferred implementation mode, and the description has been made no more. As used below, the term "module" can realize the combination of software and / or hardware of predetermined function. Although the device described in the following embodiments is preferably realized with software, the realization of hardware, or the combination of software and hardware is also possible and conceived.

[0077] The following is an introduction to the dispatching device for the automatic guided vehicle provided in the embodiment of the present application.

[0078] Figure 4 is a structural block diagram of a dispatching device for an automatic guided vehicle according to an embodiment of the present application. Figure 4 As shown, the device comprises:

[0079] The acquisition unit 10 is used to execute the acquisition step to acquire a plurality of pending task path requests, wherein the pending task path requests at least include the location information of the execution vehicle and the location information of the task endpoint, and the pending task path requests correspond to the execution vehicles one by one, and the execution vehicle is one of the automatic guided vehicles;

[0080] The planning unit 20 is used to execute the planning step, perform path planning for the corresponding execution vehicle according to the plurality of pending task path requests and the map of the moving space of the automatic guided vehicle, and obtain the next planned paths of the plurality of execution vehicles, so that all the next planned paths in the map of the moving space of the automatic guided vehicle have no overlap, and the next planned path is the path of the execution vehicle moving for a specific time length;

[0081] The conversion unit 30 is used to execute the conversion step, control each of the above-mentioned execution vehicles to move according to the corresponding above-mentioned next planned path, and convert the above-mentioned pending task path request corresponding to the above-mentioned execution vehicle that has arrived at the above-mentioned task end point into a processed task path request, and convert the above-mentioned execution vehicle that has arrived at the above-mentioned task end point into a non-execution vehicle, and the above-mentioned non-execution vehicle is the above-mentioned automatic guided vehicle other than the above-mentioned execution vehicle;

[0082] The repeating unit 40 is used to sequentially repeat the above-mentioned acquisition step, the above-mentioned planning step and the above-mentioned conversion step at least once until all of the above-mentioned pending task path requests are converted into the above-mentioned processed task path requests.

[0083] In the above-mentioned automatic guided vehicle scheduling device, the next planned path is planned for the executing vehicle of each pending task path request, that is, the path for the executing vehicle to move for a specific time, and the path conflict can be avoided by ensuring that there is no overlap in the path. Then, each executing vehicle is controlled to move according to the corresponding next planned path, and the completed pending task path request is converted into a processed task path request. The planning of the next planned path is repeated until all pending task path requests are converted into processed task path requests. There is no need to stop and re-plan to avoid path conflicts, and the system operation overhead caused by frequently issuing stops and re-planning paths is reduced, which greatly improves the scheduling efficiency and solves the problem of low efficiency of multi-vehicle task scheduling in the prior art.

[0084] To facilitate path planning, in an optional implementation, the planning unit includes:

[0085] A first generating module is used to generate a directed acyclic graph according to the map of the moving space of the automatic guided vehicle, wherein the directed acyclic graph includes a plurality of points and a passage path, wherein the points are locations that can be used as a task starting point or a task end point, and the passage path is a path between two of the points;

[0086] The planning module is used to perform path planning for the corresponding execution vehicles according to the plurality of path requests for the pending tasks and the directed acyclic graph, so as to obtain the next planned paths for the plurality of execution vehicles.

[0087] In the above implementation, the map of the moving space of the automatic guided vehicle is simplified into a directed acyclic graph, including multiple points and the passage paths between the points, eliminating interference information that is useless for path planning, making the path planning clearer and more specific.

[0088] In order to implement the scheduling of the new task, in an optional implementation, the acquisition unit includes:

[0089] A first acquisition module is used to acquire a plurality of original pending task path requests, wherein the original pending task path requests include location information of the task starting point and location information of the task end point;

[0090] A first determination module is used to determine the non-executing vehicle with the shortest distance from the task starting point as the executing vehicle of each of the original to-be-processed task path requests;

[0091] The second generating module is used to obtain the position information of the executing vehicles of the plurality of the original pending task path requests and generate a plurality of the pending task path requests.

[0092] In the above implementation, multiple new tasks, i.e., original pending task path requests, are obtained. To complete the original pending task path requests, an execution vehicle is arranged to execute, i.e., the non-execution vehicle with the smallest distance from the starting point of the above task. The original pending task path request can be converted into a pending task path request, including the location information of the execution vehicle and the location information of the end point of the above task. Then, the next step of path planning can be carried out to realize the scheduling of new tasks. The above original pending task path request is a newly initiated task request that has not been assigned an execution vehicle, and the pending task path request is a task request that has been assigned an execution vehicle.

[0093] In order to continue scheduling the unfinished tasks, in an optional implementation manner, the acquisition unit further includes:

[0094] A second acquisition module is used to acquire the unfinished path request of the above-mentioned pending task;

[0095] The updating module is used to update the position information of the executing vehicle of the unfinished pending task path request to obtain a plurality of the pending task path requests.

[0096] In the above implementation mode, each of the above-mentioned execution vehicles is controlled to move once according to the corresponding above-mentioned next step planned path, and may not reach the task end point, that is, the task path request cannot be completed. Due to the movement, it is necessary to update the position information of the above-mentioned execution vehicle of the above-mentioned pending task path request that has not been completed, and the pending task path request can be obtained, including the updated position information of the execution vehicle and the position information of the above-mentioned task end point, and the next step of path planning can be carried out to continue the scheduling of the unfinished tasks.

[0097] In order to avoid path conflicts, in an optional implementation manner, the planning unit includes:

[0098] A third generating module is used to generate a plurality of shortest passing paths according to the position information of each of the executing vehicles and the position information of the corresponding task endpoint, wherein the shortest passing path is the shortest path from the current position of the executing vehicle to the task endpoint;

[0099] A second determination module is used to determine a preliminary next planning path for each of the above-mentioned executing vehicles based on the multiple shortest passing paths, wherein the above-mentioned preliminary next planning path is a path for the above-mentioned executing vehicle to move from the above-mentioned current position along the corresponding shortest passing path for the above-mentioned specific time length;

[0100] An adjustment module, used for adjusting one of the above-mentioned prepared next-step planning paths when any two of the above-mentioned prepared next-step planning paths overlap, so that the two above-mentioned prepared next-step planning paths do not overlap;

[0101] The third determination module is used to determine that each of the above-mentioned prepared next-step planning paths is the above-mentioned next-step planning path of each of the above-mentioned execution vehicles when there is no overlap between any two of the above-mentioned prepared next-step planning paths.

[0102] In the above implementation mode, the specific process of using the PBS algorithm to plan the path is to generate multiple shortest paths according to the position information of each of the above-mentioned executing vehicles and the corresponding position information of the above-mentioned task endpoints, and determine the preliminary next planned path of each of the above-mentioned executing vehicles according to the multiple shortest paths, so as to reduce the distance and improve the scheduling efficiency. However, there may be overlaps between two of the above-mentioned preliminary next planned paths, and one of the above-mentioned preliminary next planned paths can be adjusted so that all of the above-mentioned next planned paths in the map of the moving space of the above-mentioned automatic guided vehicle do not overlap, thereby avoiding path conflicts.

[0103] In order to ensure that the task endpoint is reached, in an optional implementation, the second determination module includes:

[0104] The determination submodule determines that the prepared next planned path of the execution vehicle is a path from the current position to the task end point, if the execution vehicle can reach the corresponding task end point within the specific time period.

[0105] In the above embodiment, the above-mentioned execution vehicle can reach the corresponding above-mentioned task end point within the above-mentioned specific time period. In order to avoid crossing the task end point, the above-mentioned prepared next planned path of the above-mentioned execution vehicle is determined to be the path from the above-mentioned current position to the above-mentioned task end point, ensuring that it stops when reaching the task end point.

[0106] In order to complete the task as quickly as possible, in an optional implementation manner, the above-mentioned device further includes:

[0107] An adjustment unit is used to adjust the other of the above-mentioned prepared next-step planning paths after determining that the above-mentioned prepared next-step planning path of the above-mentioned execution vehicle is the path from the above-mentioned current position to the above-mentioned task end point, when the above-mentioned prepared next-step planning path of the above-mentioned execution vehicle is the path from the above-mentioned current position to the above-mentioned task end point and the above-mentioned prepared next-step planning path of the above-mentioned execution vehicle is one of the two overlapping above-mentioned prepared next-step planning paths.

[0108] In the above implementation mode, the above-mentioned preparatory next-step planning path of the above-mentioned execution vehicle is the path from the above-mentioned current position to the above-mentioned task end point, indicating that the preparatory next-step planning path is on the pass path from the second-to-last point to the first-to-last point (the point of the task end point), and the execution vehicle is about to complete the task, so there are other preparatory next-step planning paths overlapping with it, and the other preparatory next-step planning paths can be adjusted so that the execution vehicle can complete the task as soon as possible.

[0109] In order to ensure the scheduling efficiency of emergency tasks, in an optional implementation, the first acquisition module includes:

[0110] A sorting submodule is used to sort the original pending task path requests according to priority to obtain a task sequence;

[0111] The acquisition submodule is used to acquire multiple original pending task path requests in the order of the task sequence, so that the number of the original pending task path requests is less than or equal to the number of the non-executing vehicles.

[0112] In the above implementation, the above original pending task path requests are sorted according to priority to obtain a task sequence, so that tasks with high priority are scheduled first, and the number of original pending task path requests (new tasks) cannot exceed the number of the above non-executing vehicles, thereby ensuring the scheduling efficiency of emergency tasks.

[0113] The above-mentioned dispatching device for an automatic guided vehicle includes a processor and a memory, and the above-mentioned generating unit, acquiring unit, planning unit, converting unit and repeating unit are all stored in the memory as program units, and the processor executes the above-mentioned program units stored in the memory to realize corresponding functions. The above-mentioned modules are all located in the same processor; or, the above-mentioned modules are respectively located in different processors in the form of any combination.

[0114] The processor includes a kernel, which retrieves the corresponding program unit from the memory. One or more kernels can be set, and the problem of low efficiency of multi-vehicle task scheduling in the prior art can be solved by adjusting kernel parameters.

[0115] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0116] An embodiment of the present invention provides a computer-readable storage medium, which includes a stored program, wherein when the program is running, the device where the computer-readable storage medium is located is controlled to execute the automatic guided vehicle scheduling method.

[0117] Specifically, the dispatching method of the automatic guided vehicle includes:

[0118] Step S201, an acquisition step, acquiring a plurality of pending task path requests, wherein the pending task path requests at least include location information of the execution vehicle and location information of the task endpoint, the pending task path requests correspond one to one with the execution vehicle, and the execution vehicle is one of the automatic guided vehicles;

[0119] Step S202, a planning step, performing path planning for the corresponding execution vehicle according to the plurality of pending task path requests and the map of the moving space of the automatic guided vehicle, obtaining the next planned paths of the plurality of execution vehicles, so that all the next planned paths in the map of the moving space of the automatic guided vehicle have no overlap, and the next planned path is a path for the execution vehicle to move for a specific time period;

[0120] Step S203, a conversion step, controlling each of the above-mentioned execution vehicles to move according to the corresponding next step planning path, and converting the above-mentioned pending task path request corresponding to the above-mentioned execution vehicle that has arrived at the above-mentioned task end point into a processed task path request, and converting the above-mentioned execution vehicle that has arrived at the above-mentioned task end point into a non-execution vehicle, and the above-mentioned non-execution vehicle is the above-mentioned automatic guided vehicle other than the above-mentioned execution vehicle;

[0121] Step S204, repeating the above acquisition step, the above planning step and the above conversion step at least once in sequence until all of the above pending task path requests are converted into the above processed task path requests.

[0122] An embodiment of the present invention provides a processor, which is used to run a program, wherein the above-mentioned automatic guided vehicle scheduling method is executed when the above-mentioned program is run.

[0123] Step S201, an acquisition step, acquiring a plurality of pending task path requests, wherein the pending task path requests at least include location information of the execution vehicle and location information of the task endpoint, the pending task path requests correspond one to one with the execution vehicle, and the execution vehicle is one of the automatic guided vehicles;

[0124] Step S202, a planning step, performing path planning for the corresponding execution vehicle according to the plurality of pending task path requests and the map of the moving space of the automatic guided vehicle, obtaining the next planned paths of the plurality of execution vehicles, so that all the next planned paths in the map of the moving space of the automatic guided vehicle have no overlap, and the next planned path is a path for the execution vehicle to move for a specific time period;

[0125] Step S203, a conversion step, controlling each of the above-mentioned execution vehicles to move according to the corresponding next step planning path, and converting the above-mentioned pending task path request corresponding to the above-mentioned execution vehicle that has arrived at the above-mentioned task end point into a processed task path request, and converting the above-mentioned execution vehicle that has arrived at the above-mentioned task end point into a non-execution vehicle, and the above-mentioned non-execution vehicle is the above-mentioned automatic guided vehicle other than the above-mentioned execution vehicle;

[0126] Step S204, repeating the above acquisition step, the above planning step and the above conversion step at least once in sequence until all of the above pending task path requests are converted into the above processed task path requests.

[0127] An embodiment of the present invention provides a dispatching system, which includes a plurality of automatic guided vehicles, a processor, a memory, and a program stored in the memory and executable on the processor. When the processor executes the program, at least the following steps are implemented:

[0128] Step S201, an acquisition step, acquiring a plurality of pending task path requests, wherein the pending task path requests at least include location information of the execution vehicle and location information of the task endpoint, the pending task path requests correspond one to one with the execution vehicle, and the execution vehicle is one of the automatic guided vehicles;

[0129] Step S202, a planning step, performing path planning for the corresponding execution vehicle according to the plurality of pending task path requests and the map of the moving space of the automatic guided vehicle, obtaining the next planned paths of the plurality of execution vehicles, so that all the next planned paths in the map of the moving space of the automatic guided vehicle have no overlap, and the next planned path is a path for the execution vehicle to move for a specific time period;

[0130] Step S203, a conversion step, controlling each of the above-mentioned execution vehicles to move according to the corresponding next step planning path, and converting the above-mentioned pending task path request corresponding to the above-mentioned execution vehicle that has arrived at the above-mentioned task end point into a processed task path request, and converting the above-mentioned execution vehicle that has arrived at the above-mentioned task end point into a non-execution vehicle, and the above-mentioned non-execution vehicle is the above-mentioned automatic guided vehicle other than the above-mentioned execution vehicle;

[0131] Step S204, repeating the above acquisition step, the above planning step and the above conversion step at least once in sequence until all of the above pending task path requests are converted into the above processed task path requests.

[0132] The present application also provides a computer program product, which, when executed on a data processing device, is suitable for executing a program for initializing at least the following method steps:

[0133] Step S201, an acquisition step, acquiring a plurality of pending task path requests, wherein the pending task path requests at least include location information of the execution vehicle and location information of the task endpoint, the pending task path requests correspond one to one with the execution vehicle, and the execution vehicle is one of the automatic guided vehicles;

[0134] Step S202, a planning step, performing path planning for the corresponding execution vehicle according to the plurality of pending task path requests and the map of the moving space of the automatic guided vehicle, obtaining the next planned paths of the plurality of execution vehicles, so that all the next planned paths in the map of the moving space of the automatic guided vehicle have no overlap, and the next planned path is a path for the execution vehicle to move for a specific time period;

[0135] Step S203, a conversion step, controlling each of the above-mentioned execution vehicles to move according to the corresponding next step planning path, and converting the above-mentioned pending task path request corresponding to the above-mentioned execution vehicle that has arrived at the above-mentioned task end point into a processed task path request, and converting the above-mentioned execution vehicle that has arrived at the above-mentioned task end point into a non-execution vehicle, and the above-mentioned non-execution vehicle is the above-mentioned automatic guided vehicle other than the above-mentioned execution vehicle;

[0136] Step S204, repeating the above acquisition step, the above planning step and the above conversion step at least once in sequence until all of the above pending task path requests are converted into the above processed task path requests.

[0137] Obviously, those skilled in the art should understand that the above modules or steps of the present invention can be implemented by a general computing device, they can be concentrated on a single computing device, or distributed on a network composed of multiple computing devices, they can be implemented by a program code executable by a computing device, so that they can be stored in a storage device and executed by the computing device, and in some cases, the steps shown or described can be executed in a different order than here, or they can be made into individual integrated circuit modules, or multiple modules or steps therein can be made into a single integrated circuit module for implementation. Thus, the present invention is not limited to any specific combination of hardware and software.

[0138] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0139] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0140] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0141] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0142] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0143] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0144] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0145] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity 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, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0146] From the above description, it can be seen that the above embodiments of the present application achieve the following technical effects:

[0147] 1) In the scheduling method for automatic guided vehicles of the present application, the next planned path is planned for the executing vehicle of each pending task path request, that is, the path for the executing vehicle to move for a specific time, and the path conflict can be avoided by ensuring that there is no overlap in the path. Then, each executing vehicle is controlled to move according to the corresponding next planned path, and the completed pending task path request is converted into a processed task path request. The planning of the next planned path is repeated until all pending task path requests are converted into processed task path requests. There is no need to stop and re-plan to avoid path conflicts, which reduces the system operation overhead caused by frequently issuing stops and re-planning paths, greatly improves the scheduling efficiency, and solves the problem of low efficiency of multi-vehicle task scheduling in the prior art.

[0148] 2) In the scheduling device of the automatic guided vehicle of the present application, the next planned path is planned for the executing vehicle of each pending task path request, that is, the path for the executing vehicle to move for a specific time, and the path conflict can be avoided by ensuring that there is no overlap in the path. Then, each executing vehicle is controlled to move according to the corresponding next planned path, and the completed pending task path request is converted into a processed task path request. The planning of the next planned path is repeated until all pending task path requests are converted into processed task path requests. There is no need to stop and re-plan to avoid path conflicts, which reduces the system operation overhead caused by frequently issuing stops and re-planning paths, greatly improves the scheduling efficiency, and solves the problem of low efficiency of multi-vehicle task scheduling in the prior art.

[0149] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A method for dispatching an automated guided vehicle, characterized in that: include: An acquisition step of acquiring a plurality of pending task path requests, wherein the pending task path requests at least include location information of an execution vehicle and location information of a task end point, the pending task path requests correspond one to one with the execution vehicle, and the execution vehicle is one of the automatic guided vehicles; A planning step, performing path planning for the corresponding execution vehicle according to the plurality of pending task path requests and the map of the moving space of the automatic guided vehicle, to obtain the next planned paths of the plurality of execution vehicles, so that all the next planned paths in the map of the moving space of the automatic guided vehicle have no overlap, and the next planned path is the path of the execution vehicle moving for a specific length of time; a conversion step, controlling each of the execution vehicles to move according to the corresponding next planned path, and converting the pending task path request corresponding to the execution vehicle that has arrived at the task end point into a processed task path request, and converting the execution vehicle that has arrived at the task end point into a non-execution vehicle, wherein the non-execution vehicle is the automatic guided vehicle other than the execution vehicle; The obtaining step, the planning step and the converting step are sequentially repeated at least once until all of the pending task path requests are converted into the processed task path requests.

2. The method according to claim 1, characterized in that Get multiple pending task path requests, including: Acquire a plurality of original pending task path requests, wherein the original pending task path requests include location information of a task start point and location information of a task end point; Determine the non-executing vehicle with the shortest distance from the task starting point as the executing vehicle for each of the original to-be-processed task path requests; The position information of the executing vehicles of the plurality of the original pending task path requests is obtained to generate a plurality of the pending task path requests.

3. The method according to claim 1, characterized in that Get multiple pending task path requests, including: Obtaining the unfinished pending task path request; The position information of the executing vehicle of the unfinished task path request to be processed is updated to obtain a plurality of the task path requests to be processed.

4. The method according to claim 1, characterized in that The method further comprises: performing path planning for the corresponding execution vehicle according to the plurality of pending task path requests and the map of the moving space of the automatic guided vehicle, obtaining the next planned paths of the plurality of execution vehicles, so that all the next planned paths in the map of the moving space of the automatic guided vehicle do not overlap, including: Generate multiple shortest paths according to the position information of each executing vehicle and the corresponding position information of the task endpoint, wherein the shortest path is the shortest path from the current position of the executing vehicle to the task endpoint; Determine a preliminary next planning path for each of the executing vehicles according to the multiple shortest passing paths, wherein the preliminary next planning path is a path for the executing vehicle to move from the current position along the corresponding shortest passing path for the specified time period; In the case where any two of the prepared next step planning paths overlap, adjusting one of the prepared next step planning paths so that the two prepared next step planning paths do not overlap; In the case that there is no overlap between any two of the prepared next-step planning paths, each of the prepared next-step planning paths is determined to be the next-step planning path of each of the executing vehicles.

5. The method according to claim 4, characterized in that Determining the next planned path of each of the executing vehicles according to the multiple shortest travel paths includes: In the case where the executing vehicle can reach the corresponding task destination within the specific time period, the prepared next planned path of the executing vehicle is determined to be the path from the current position to the task destination.

6. The method according to claim 5, characterized in that After determining that the prepared next-step planned path of the execution vehicle is a path from the current position to the task endpoint, the method further includes: When the preliminary next planned path of the execution vehicle is a path from the current position to the task endpoint and the preliminary next planned path of the execution vehicle is one of two overlapping preliminary next planned paths, adjust the other preliminary next planned path.

7. The method according to claim 2, characterized in that: Get multiple original pending task path requests, including: Sorting the original pending task path requests according to priority to obtain a task sequence; According to the order of the task sequence, a plurality of original to-be-processed task path requests are acquired, so that the number of the original to-be-processed task path requests is less than or equal to the number of the non-executing vehicles.

8. A dispatching device for an automatic guided vehicle, characterized in that: include: an acquisition unit, configured to execute an acquisition step to acquire a plurality of pending task path requests, wherein the pending task path requests at least include location information of an execution vehicle and location information of a task end point, wherein the pending task path requests correspond one to one with the execution vehicle, and the execution vehicle is one of the automatic guided vehicles; a planning unit, configured to execute a planning step, perform path planning for the corresponding execution vehicle according to the plurality of pending task path requests and the map of the moving space of the automatic guided vehicle, and obtain the next planned paths of the plurality of execution vehicles, so that all the next planned paths in the map of the moving space of the automatic guided vehicle have no overlap, and the next planned path is a path for the execution vehicle to move for a specific time period; a conversion unit, configured to execute a conversion step, control each of the execution vehicles to move according to the corresponding next planned path, and convert the pending task path request corresponding to the execution vehicle that has arrived at the task end point into a processed task path request, and convert the execution vehicle that has arrived at the task end point into a non-execution vehicle, wherein the non-execution vehicle is the automatic guided vehicle other than the execution vehicle; A repeating unit is used to repeat the acquisition step, the planning step and the conversion step in sequence at least once until all of the pending task path requests are converted into the processed task path requests.

9. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

10. A scheduling system, characterized in that: include: A plurality of automated guided vehicles, one or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and are configured to be executed by the one or more processors, and the one or more programs include methods for executing any one of claims 1 to 7.

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