Method, device and system for scheduling automated guided vehicles

Abstract

The application provides a scheduling method, device and system of an automatic guided vehicle, the method comprising: a step of obtaining a plurality of to-be-processed task path requests; a step of planning, wherein a corresponding execution vehicle is path planned according to the plurality of to-be-processed task path requests and a map of a movement space of the automatic guided vehicle, a next step planning path of the plurality of execution vehicles is obtained, and all next step planning paths in the map of the movement space of the automatic guided vehicle are non-overlapping; a step of converting, wherein the execution vehicles are controlled to move according to the corresponding next step planning paths, and the execution vehicle that reaches a task terminal point converts the corresponding to-be-processed task path request into a processed task path request; the step of obtaining, the step of planning and the step of converting are repeated at least once in turn until all to-be-processed task path requests are converted into processed task path requests, and the problem of low task scheduling efficiency in the prior art is solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of task scheduling, in particular to a scheduling method and device for automatic guided vehicles, a computer program product and a scheduling system. BACKGROUND

[0002] In an unmanned factory or workshop, the path planning of automatic guided vehicles (AGVs) is a critical task as it directly affects the production efficiency, resource utilization and overall system efficiency. These factories or workshops are usually composed of various equipment, production lines and workstations, and AGVs need to navigate through them to complete tasks such as material transportation, component supply, etc. 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 path for AGVs that is non-blocking, non-conflicting and non-deadlock.

[0005] 3. Running efficiency optimization: how to ensure that the path planned for AGVs makes the overall system run efficiently.

[0006] For situations that require multiple AGVs, the problem of multi-AGV scheduling needs to be solved. This means that an optimization target parameter needs to be determined, and a reasonable resource allocation scheme needs to be developed based on task requirements and available factory resources to allocate material transportation tasks in the unmanned workshop to each AGV. These AGVs need to avoid collisions when executing tasks and complete material transportation tasks efficiently. SUMMARY

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

[0008] In order to achieve the above object, according to one aspect of the present application, a scheduling method of an automatic guided vehicle is provided, comprising: a step of obtaining a plurality of to-be-processed task path requests, the to-be-processed task path request comprising at least position information of an execution vehicle and position information of a task end point, the to-be-processed task path request corresponding to the execution vehicle one by one, the execution vehicle being one of the automatic guided vehicles; a step of planning, according to the plurality of to-be-processed task path requests and a map of a moving space of the automatic guided vehicle, a path for the corresponding execution vehicle to obtain a next step planning path of the execution vehicle, so that all the next step planning paths in the map of the moving space of the automatic guided vehicle are non-overlapping, the next step planning path being a path for the execution vehicle to move for a specific time length; a step of converting, controlling the execution vehicle to move according to the corresponding next step planning path, and converting the to-be-processed 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, the non-execution vehicle being the automatic guided vehicle other than the execution vehicle; repeating the steps of obtaining, planning and converting at least once until all the to-be-processed task path requests are converted into the processed task path requests.

[0009] Optionally, the step of obtaining a plurality of to-be-processed task path requests comprises: obtaining a plurality of original to-be-processed task path requests, the original to-be-processed task path request comprising position information of a task start point and position information of a task end point; determining the non-execution vehicle closest to the task start point as the execution vehicle of each original to-be-processed task path request; and obtaining position information of the execution vehicle of the plurality of original to-be-processed task path requests to generate the plurality of to-be-processed task path requests.

[0010] Optionally, the step of obtaining a plurality of to-be-processed task path requests comprises: obtaining the to-be-processed task path request that has not been completed; and updating position information of the execution vehicle of the to-be-processed task path request that has not been completed to obtain the plurality of to-be-processed task path requests.

[0011] Optionally, path planning is performed for the corresponding execution vehicles according to the plurality of task path requests and the map of the movement space of the automatic guided vehicle, to obtain a plurality of next-step planned paths for the execution vehicles, so that all the next-step planned paths in the map of the movement space of the automatic guided vehicle are non-overlapping, including: generating a plurality of shortest paths for passing according to the position information of each execution vehicle and the position information of the corresponding task end point, the shortest path for passing being the shortest path for the execution vehicle to reach the task end point from the current position; determining a preliminary next-step planned path for each execution vehicle according to the plurality of shortest paths for passing, the preliminary next-step planned path being a path for the execution vehicle to move along the corresponding shortest path for passing for the specific time length from the current position; in the case that any two of the preliminary next-step planned paths overlap, adjusting one of the preliminary next-step planned paths so that the two preliminary next-step planned paths do not overlap; in the case that any two of the preliminary next-step planned paths do not overlap, determining that each of the preliminary next-step planned paths is the next-step planned path for the corresponding execution vehicle.

[0012] Optionally, determining a preliminary next-step planned path for each execution vehicle according to the plurality of shortest paths for passing includes: in the case that the execution vehicle can reach the corresponding task end point within the specific time length, determining that the preliminary next-step planned path for the execution vehicle is a path from the current position to the task end point.

[0013] Optionally, after determining that the preliminary next-step planned path for the execution vehicle is a path from the current position to the task end point, the method further includes: in the case that the preliminary next-step planned path for the execution vehicle is a path from the current position to the task end point and the preliminary next-step planned path for the execution vehicle is one of the two preliminary next-step planned paths that overlap, adjusting the other preliminary next-step planned path.

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

[0015] According to another aspect of the present application, a dispatching device of an automated guided vehicle is provided, comprising: an obtaining unit configured to perform an obtaining step of obtaining a plurality of to-be-processed task path requests, the to-be-processed task path request comprising at least position information of an executing vehicle and position information of a task end point, the to-be-processed task path request corresponding to one of the executing vehicles, the executing vehicle being one of the automated guided vehicles; a planning unit configured to perform a planning step of planning a next step planning path for each of the executing vehicles according to the plurality of to-be-processed task path requests and a map of a moving space of the automated guided vehicle, so that all of the next step planning paths in the map of the moving space of the automated guided vehicle are non-overlapping, the next step planning path being a path for the executing vehicle to move for a specific time length; a converting unit configured to perform a converting step of controlling each of the executing vehicles to move according to the corresponding next step planning path, and converting the to-be-processed task path request corresponding to the executing vehicle that has reached the task end point into a processed task path request, and converting the executing vehicle that has reached the task end point into a non-executing vehicle, the non-executing vehicle being one of the automated guided vehicles other than the executing vehicle; and a repeating unit configured to repeat the obtaining step, the planning step and the converting step at least once in turn until all of the to-be-processed task path requests are converted into the processed task path requests.

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

[0017] According to yet another aspect of the present application, a dispatching system is provided, comprising: 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 configured to be executed by the one or more processors, and the one or more programs comprise instructions for implementing any of the methods described above.

[0018] By applying the technical solution of the present application, the dispatching method of the automated guided vehicle can plan a next step planning path for each to-be-processed task path request, i.e., a path for the executing vehicle to move for a specific time length, so as to avoid path conflicts by ensuring that the paths are non-overlapping, then control each executing vehicle to move according to the corresponding next step planning path, convert the completed to-be-processed task path request into a processed task path request, and repeat the planning of the next step planning path until all of the to-be-processed task path requests are converted into the processed task path requests, thereby avoiding the need to stop and re-plan to avoid path conflicts, reducing the system operation overhead caused by frequent stop and re-planning of paths, greatly improving the dispatching efficiency, and solving the problem of low efficiency of multi-vehicle task dispatching in the prior art. Attached Figure Description

[0019] Figure 1 A hardware structure block diagram of a mobile terminal for executing an automated guided vehicle scheduling method according to an embodiment of this application is shown.

[0020] Figure 2 A flowchart illustrating a method for scheduling automated guided vehicles according to an embodiment of this application is shown.

[0021] Figure 3 A flowchart illustrating another method for scheduling automated guided vehicles according to an embodiment of this application is shown.

[0022] Figure 4 A structural block diagram of an automated guided vehicle dispatching device according to an embodiment of this application is shown.

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

[0024] 102. Processor; 104. Memory; 106. Transmission device; 108. Input / output device. Detailed Implementation

[0025] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0026] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort 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, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate for the embodiments of this application described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0028] As described in the background section, the prior art suffers from low efficiency in multi-vehicle task scheduling. To address this technical problem, embodiments of this application provide an automatic vehicle scheduling method, apparatus, computer program product, and scheduling system.

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

[0030] The methods and embodiments provided in this application can be executed on a mobile terminal, computer terminal, or similar computing device. Taking running on a mobile terminal as an example, Figure 1 This is a hardware structure block diagram of a mobile terminal for an automated guided vehicle (AGV) scheduling method according to an embodiment of the present invention. Figure 1 As shown, a mobile terminal may include one or more ( Figure 1 Only one is shown in the diagram. A processor 102 (which may include, but is not limited to, a microprocessor MCU or a programmable logic device FPGA, etc.) and a memory 104 for storing data are also shown. The mobile terminal may further include a transmission device 106 for communication functions and an input / output device 108. Those skilled in the art will understand that... Figure 1 The structure shown is for illustrative purposes only and does not limit the structure of the mobile terminal described above. For example, the mobile terminal may also include components that are more... Figure 1 The more or fewer components shown, or having the same Figure 1 The different configurations shown.

[0031] The memory 104 can be used to store computer programs, such as software programs of application software and modules, such as a computer program corresponding to the device information display method in the embodiments of the present application. The processor 102 executes various functional applications and data processing, i.e., implements the above method, by running the computer programs stored in the memory 104. The memory 104 can include a high-speed random access memory, and can further include a non-volatile memory, such as one or more magnetic storage devices, flash memories, or other non-volatile solid-state memories. In some examples, the memory 104 can further include memories disposed remotely with respect to the processor 102, which can be connected to the mobile terminal through a network. Examples of the above network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof. The transmission device 106 is used to receive or send data via a network. The specific examples of the above network can include a wireless network provided by a communication provider of the mobile terminal. In one example, the transmission device 106 includes a network adapter (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 can be a radio frequency (RF) module, which is used to communicate with the Internet in a wireless manner.

[0032] In the embodiments, a scheduling method of an automated guided vehicle 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 is a flowchart of the scheduling method of the automated guided vehicle according to the embodiments of the present application. As shown in Figure 2 , the method includes the following steps:

[0034] In step S201, a plurality of to-be-processed task path requests are acquired, wherein each to-be-processed task path request includes position information of an execution vehicle and position information of a task end point, the to-be-processed task path request corresponds to one execution vehicle, and the execution vehicle is one of the automated guided vehicles.

[0035] Step S202, a planning step, path planning is performed on the corresponding execution vehicle according to the plurality of above-mentioned to-be-processed task path requests and the map of the moving space of the above-mentioned automatic guided vehicle, to obtain a plurality of next-step planning paths of the above-mentioned execution vehicle, so that all the above-mentioned next-step planning paths in the map of the moving space of the above-mentioned automatic guided vehicle are non-overlapping, and the above-mentioned next-step planning path is a path for the above-mentioned execution vehicle to move for a specific time length;

[0036] Step S203, a conversion step, each of the above-mentioned execution vehicle moves according to the corresponding above-mentioned next-step planning path, and the above-mentioned to-be-processed task path request corresponding to the above-mentioned execution vehicle that reaches the task end point is converted into a processed task path request, and the above-mentioned execution vehicle that reaches the task end point is converted 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, the above-mentioned obtaining step, the above-mentioned planning step and the above-mentioned conversion step are repeated at least once in sequence until all the above-mentioned to-be-processed task path requests are converted into the above-mentioned processed task path request.

[0038] In the above-mentioned scheduling method of the automatic guided vehicle, the next-step planning path of the execution vehicle for each to-be-processed task path request is planned, that is, the path for the execution vehicle to move for a specific time length, which can avoid path conflict by ensuring that the path is non-overlapping, and then the execution vehicle is controlled to move according to the corresponding next-step planning path, the completed to-be-processed task path request is converted into a processed task path request, the planning of the next-step planning path is repeated until all the to-be-processed task path requests are converted into the processed task path request, without stopping and re-planning to avoid path conflict, reducing the system running overhead caused by frequent stop and re-planning of the path, greatly improving the scheduling efficiency, and solving the problem of low scheduling efficiency of multiple vehicles in the prior art.

[0039] In order to facilitate path planning, in an optional embodiment, the above-mentioned step S202 includes:

[0040] Step S2021, a directed acyclic graph is generated according to the map of the moving space of the above-mentioned automatic guided vehicle, the above-mentioned directed acyclic graph includes a plurality of point positions and passing paths, the above-mentioned point position is a position that can be used as a task starting point or a task ending point, and the above-mentioned passing path is a path between two above-mentioned point positions;

[0041] Step S2022, path planning is performed on the corresponding execution vehicle according to the plurality of above-mentioned to-be-processed task path requests and the above-mentioned directed acyclic graph, to obtain a plurality of next-step planning paths of the above-mentioned execution vehicle.

[0042] In the above embodiment, the map of the moving space of the automatic guided vehicle is simplified into a directed acyclic graph including a plurality of points and passing paths between the points, and interference information useless for path planning is eliminated, so that the path planning is clearer and more explicit.

[0043] To realize the scheduling of new tasks, in an optional embodiment, the step S201 includes:

[0044] In step S2011, a plurality of original to-be-processed task path requests are obtained, and the original to-be-processed task path request includes the position information of the task starting point and the position information of the task ending point.

[0045] In step S2012, the non-execution vehicle with the minimum distance from the task starting point is determined as the execution vehicle of each original to-be-processed task path request.

[0046] In step S2013, the position information of the execution vehicle of each original to-be-processed task path request is obtained, and a plurality of to-be-processed task path requests are generated.

[0047] In the above embodiment, a plurality of new tasks, i.e., original to-be-processed task path requests, are obtained, and for completing the original to-be-processed task path request, the execution vehicle is arranged to perform, i.e., the non-execution vehicle with the minimum distance from the task starting point, so that the original to-be-processed task path request can be converted into a to-be-processed task path request including the position information of the execution vehicle and the position information of the task ending point, and the next path planning can be performed to realize the scheduling of new tasks. The original to-be-processed task path request is a task request newly initiated and not assigned with an execution vehicle, and the to-be-processed task path request is a task request assigned with an execution vehicle.

[0048] To continue the scheduling of unfinished tasks, in an optional embodiment, the step S201 includes:

[0049] In step S2014, an unfinished to-be-processed task path request is obtained.

[0050] In step S2015, the position information of the execution vehicle of the unfinished to-be-processed task path request is updated, and a plurality of to-be-processed task path requests are obtained.

[0051] In the above embodiment, each execution vehicle moves according to the corresponding next planned path once, and it is possible that the execution vehicle cannot reach the task ending point, i.e., cannot complete the task path request. Since the execution vehicle has moved, the position information of the execution vehicle of the unfinished to-be-processed task path request needs to be updated, so that the to-be-processed task path request including the updated position information of the execution vehicle and the position information of the task ending point can be obtained, and the next path planning can be performed to continue the scheduling of unfinished tasks.

[0052] To avoid path conflict, in an optional embodiment, the step S202 comprises:

[0053] Step S2023, generating 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 end point, the shortest passing path being the shortest path for the executing vehicle to reach the task end point from the current position;

[0054] Step S2024, determining a preliminary next step planning path for each of the executing vehicles according to the plurality of shortest passing paths, the preliminary next step planning path being the path for the executing vehicle to move along the corresponding shortest passing path for the specific time length from the current position;

[0055] Step S2025, 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;

[0056] Step S2026, in the case where any two of the preliminary next step planning paths do not overlap, determining that each of the preliminary next step planning paths is the next step planning path for each of the executing vehicles.

[0057] In the above embodiment, the specific process of planning the path by using the PBS algorithm comprises generating 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 end point, and determining a preliminary next step planning path for each of the executing vehicles according to the plurality of shortest passing paths, which can reduce the distance and improve the scheduling efficiency, but there may be overlap between two of the preliminary next step planning paths, and adjusting one of the preliminary next step planning paths can make all of the next step planning paths in the moving space map of the automated guided vehicle have no overlap, thereby avoiding path conflict.

[0058] To ensure reaching the task end point, in an optional embodiment, the step S2024 comprises:

[0059] Step S20241, in the case where the executing vehicle can reach the corresponding task end point within the specific time length, determining that the preliminary next step planning path for the executing vehicle is the path from the current position to the task end point.

[0060] In the above embodiment, the executing vehicle can reach the corresponding task end point within the specific time length, and to avoid crossing the task end point, the preliminary next step planning path for the executing vehicle is determined to be the path from the current position to the task end point, thereby ensuring reaching the task end point and stopping.

[0061] In order to complete the task as soon as possible, in an optional embodiment, after determining that the above-mentioned prepared next planning path of the above-mentioned execution vehicle is the path from the above-mentioned current position to the above-mentioned task end point, the above-mentioned method further comprises:

[0062] Step S301, in the case that the above-mentioned prepared next 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 planning path of the above-mentioned execution vehicle is one of the two above-mentioned prepared next planning paths which exist overlap, adjusting the other above-mentioned prepared next planning path.

[0063] In the above-mentioned embodiment, the above-mentioned prepared next planning path of the above-mentioned execution vehicle is the path from the above-mentioned current position to the above-mentioned task end point, which indicates that the prepared next planning path is on the passing path from the second last point to the first last point (the point of the task end point), and the execution vehicle is about to complete the task, so there exists other prepared next planning path which overlaps with it, and adjusting the other prepared next planning path can make the execution vehicle complete the task as soon as possible.

[0064] In order to ensure the scheduling efficiency of the emergency task, in an optional embodiment, the above-mentioned step S2011 comprises:

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

[0066] Step S20112, obtaining a plurality of original to-be-processed task path requests according to the order of the above-mentioned task sequence, so that the number of the above-mentioned original to-be-processed task path requests is less than or equal to the number of the above-mentioned non-execution vehicles.

[0067] In the above-mentioned embodiment, the above-mentioned original to-be-processed task path request is sorted according to the priority to obtain a task sequence, so that the task with high priority is scheduled first, and the number of the original to-be-processed task path request (new task) cannot exceed the number of the above-mentioned non-execution vehicles, thereby ensuring the scheduling efficiency of the emergency task.

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

[0069] The present embodiment relates to a specific scheduling method of an automatic guided vehicle, as shown in Figure 3 The method comprises the following steps:

[0070] Step S1: scheduling system and vehicle initialization, that is, generating a directed acyclic graph according to a map of a moving space of an automated guided vehicle, the directed acyclic graph comprising a plurality of point positions and passing paths, the point position being a position that can be a starting point or an end point of a task, and the passing path being a path between two point positions, and obtaining position information of each automated guided vehicle;

[0071] Step S2: obtaining step, obtaining a plurality of to-be-processed task path requests, the to-be-processed task path request comprising at least position information of an execution vehicle and position information of a task end point, the to-be-processed task path request corresponding to the execution vehicle one by one, the execution vehicle being one of the automated guided vehicles;

[0072] Step S3: planning step, the specific process of planning a path by using a PBS algorithm is as follows: generating a plurality of shortest passing paths according to position information of each execution vehicle and corresponding position information of a task end point, determining a preliminary next step planning path of each execution vehicle according to the plurality of shortest passing paths, there being a possibility that two preliminary next step planning paths overlap, adjusting one of the preliminary next step planning paths so that all next step planning paths in the directed acyclic graph do not overlap, thereby avoiding path conflicts, and the next step planning path being a path for the execution vehicle to move for a specific length of time;

[0073] Step S4: conversion step, controlling each execution vehicle to move according to the corresponding next step planning path, converting the to-be-processed task path request corresponding to the execution vehicle that has reached the task end point into a processed task path request, and converting the execution vehicle that has reached the task end point into a non-execution vehicle, the non-execution vehicle being an automated guided vehicle other than the execution vehicle;

[0074] Step S5: sequentially repeating the obtaining step, the planning step and the conversion step at least once until all to-be-processed task path requests are converted into processed task path requests.

[0075] 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 herein can be executed in an order different from that shown herein.

[0076] The embodiment of the present application further provides a scheduling device of an automatic guided vehicle. It should be noted that the scheduling device of the automatic guided vehicle of the embodiment of the present application can be used to execute the scheduling method for the automatic guided vehicle provided by the embodiment of the present application. The device is used to realize the above-mentioned embodiment and preferred embodiment, and the description has been made and will not be repeated. As used below, the term "module" can be a combination of software and / or hardware that realizes a predetermined function. Although the device described in the following embodiment is preferably realized in software, the realization of hardware or a combination of software and hardware is also possible and conceived.

[0077] The scheduling device of the automatic guided vehicle provided by the embodiment of the present application is introduced below.

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

[0079] The acquisition unit 10 is used to execute an acquisition step, acquire a plurality of to-be-processed task path requests, wherein the to-be-processed task path request at least comprises position information of an execution vehicle and position information of a task terminal point, the to-be-processed task path request corresponds to the execution vehicle one by one, and the execution vehicle is one of the automatic guided vehicles;

[0080] The planning unit 20 is used to execute a planning step, plan a path for the corresponding execution vehicle according to a plurality of to-be-processed task path requests and a map of a moving space of the automatic guided vehicle, obtain a next step planning path of the execution vehicle, and make all the next step planning paths in the map of the moving space of the automatic guided vehicle non-overlapping, wherein the next step planning path is a path for the execution vehicle to move for a specific time length;

[0081] The conversion unit 30 is used to execute a conversion step, control each execution vehicle to move according to the corresponding next step planning path, convert the to-be-processed task path request corresponding to the execution vehicle that has arrived at the task terminal point into a processed task path request, and convert the execution vehicle that has arrived at the task terminal point into a non-execution vehicle, wherein the non-execution vehicle is the automatic guided vehicle other than the execution vehicle;

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

[0083] The scheduling device of the automatic guided vehicle plans a next step planning path for each to-be-processed task path request, that is, the execution vehicle moves along the path for a specific time length, ensures that the path is not overlapped, and thus path conflicts are avoided, and then controls each execution vehicle to move according to the corresponding next step planning path, converts a completed to-be-processed task path request into a processed task path request, and repeatedly plans a next step planning path until all to-be-processed task path requests are converted into processed task path requests. The scheduling device does not need to be stopped and re-planned to avoid path conflicts, reduces the system operation overhead caused by frequent stop and re-planning of the path, greatly improves the scheduling efficiency, and solves the problem of low task scheduling efficiency of multiple vehicles in the prior art.

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

[0085] A first generation module is configured to generate a directed acyclic graph from a map of a movement space of the automatic guided vehicle, the directed acyclic graph including a plurality of point positions and passing paths, the point position being a position that can serve as a task starting point or a task ending point, and the passing path being a path between two point positions;

[0086] A planning module is configured to plan paths for the corresponding execution vehicles according to a plurality of to-be-processed task path requests and the directed acyclic graph, to obtain next step planning paths of a plurality of execution vehicles.

[0087] In the implementation, the map of the movement space of the automatic guided vehicle is simplified into a directed acyclic graph including a plurality of point positions and passing paths between the point positions, and interference information that is useless for path planning is removed, so that the path planning is clearer and more explicit.

[0088] To implement scheduling of new tasks, in an optional implementation, the obtaining unit includes:

[0089] A first obtaining module is configured to obtain a plurality of original to-be-processed task path requests, the original to-be-processed task path request including position information of the task starting point and position information of the task ending point;

[0090] A first determination module is configured to determine the non-execution vehicle closest to the task starting point as the execution vehicle of each original to-be-processed task path request;

[0091] A second generation module is configured to obtain position information of the execution vehicle of a plurality of original to-be-processed task path requests, and generate a plurality of to-be-processed task path requests.

[0092] In the above embodiment, a plurality of new tasks, i.e., original to-be-processed task path requests, are obtained, and in order to complete the original to-be-processed task path requests, an executing vehicle is arranged to perform, i.e., the non-executing vehicle with the minimum distance from the task starting point, so that the original to-be-processed task path request can be converted into a to-be-processed task path request, which includes the position information of the executing vehicle and the position information of the task ending point, and the next path planning can be performed, the scheduling of the new task is realized, the original to-be-processed task path request is a newly initiated task request without an assigned executing vehicle, and the to-be-processed task path request is a task request with an assigned executing vehicle.

[0093] In order to continue the scheduling of the unfinished tasks, in an optional embodiment, the obtaining unit further includes:

[0094] The second obtaining module is configured to obtain the to-be-processed task path request that is unfinished.

[0095] The updating module is configured to update the position information of the executing vehicle of the to-be-processed task path request that is unfinished, to obtain a plurality of to-be-processed task path requests.

[0096] In the above embodiment, the executing vehicle moves according to the corresponding next planning path, and it is possible that the executing vehicle cannot reach the task ending point, i.e., cannot complete the task path request. Since the executing vehicle has moved, the position information of the executing vehicle of the to-be-processed task path request that is unfinished needs to be updated, so that the to-be-processed task path request, which includes the updated position information of the executing vehicle and the position information of the task ending point, can be obtained, and the next path planning can be performed to continue the scheduling of the unfinished tasks.

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

[0098] The third generating module is configured to generate a plurality of shortest passing paths according to the position information of each executing vehicle and the position information of the corresponding task ending point, the shortest passing path being the shortest path from the current position of the executing vehicle to the task ending point;

[0099] The second determining module is configured to determine a preliminary next planning path of each executing vehicle according to the plurality of shortest passing paths, the preliminary next planning path being a path in which the executing vehicle moves along the corresponding shortest passing path for the specific time length from the current position;

[0100] The adjusting module is configured to, in the case that any two preliminary next planning paths overlap, adjust one of the preliminary next planning paths, so that the two preliminary next planning paths do not overlap.

[0101] The third determining module is configured to determine that each of the prepared next-step planning paths is the next-step planning path of each of the execution vehicles in the case that any two of the prepared next-step planning paths do not overlap.

[0102] In the above embodiment, the specific process of planning the path by using the PBS algorithm is to generate a plurality of shortest paths according to the position information of each of the execution vehicles and the position information of the corresponding task end points, and to determine the prepared next-step planning path of each of the execution vehicles according to the plurality of shortest paths, so as to reduce the distance and improve the scheduling efficiency. However, there may be overlap between two prepared next-step planning paths. Adjusting one of the prepared next-step planning paths can make all the next-step planning paths in the map of the moving space of the automated guided vehicle have no overlap, thereby avoiding path conflicts.

[0103] In order to ensure reaching the task end point, in an optional embodiment, the second determining module comprises:

[0104] The determining submodule is configured to determine that the prepared next-step planning path of the execution vehicle is the path from the current position to the task end point in the case that the execution vehicle can reach the corresponding task end point within the specific time length.

[0105] In the above embodiment, the execution vehicle can reach the corresponding task end point within the specific time length. In order to avoid crossing the task end point, the prepared next-step planning path of the execution vehicle is determined to be the path from the current position to the task end point, so as to ensure reaching the task end point and stopping.

[0106] In order to complete the task as soon as possible, in an optional embodiment, the device further comprises:

[0107] The adjusting unit is configured to adjust the other prepared next-step planning path in the case that the prepared next-step planning path of the execution vehicle is the path from the current position to the task end point and the prepared next-step planning path of the execution vehicle is one of the two prepared next-step planning paths that overlap after determining that the prepared next-step planning path of the execution vehicle is the path from the current position to the task end point.

[0108] In the above embodiment, the prepared next-step planning path of the execution vehicle is the path from the current position to the task end point, which indicates that the prepared next-step planning path is on the path from the second last point to the first last point (the point of the task end point). The execution vehicle is about to complete the task, and therefore there is overlap between the prepared next-step planning path and another prepared next-step planning path. Adjusting the other prepared next-step planning path can make the execution vehicle complete the task as soon as possible.

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

[0110] a sorting sub-module, configured to sort the original to-be-processed task path requests according to priorities to obtain a task sequence;

[0111] an obtaining sub-module, configured to obtain a plurality of original to-be-processed task path requests in the order of the task sequence, 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.

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

[0113] The scheduling device of the automated guided vehicle comprises a processor and a memory, and the generating unit, the obtaining unit, the planning unit, the converting unit and the repeating unit are all stored in the memory as program units, and the corresponding functions are realized by the processor executing the program units stored in the memory. The modules are all located in the same processor, or the modules are located in different processors in any combination.

[0114] The processor comprises a core, and the core retrieves the corresponding program units from the memory. One or more than one core can be set, and the problem of low task scheduling efficiency in the prior art can be solved by adjusting the core parameters.

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

[0116] The embodiment of the application provides a computer readable storage medium, and the computer readable storage medium comprises a stored program, wherein the program controls a device where the computer readable storage medium is located to execute the scheduling method of the automated guided vehicle when the program is running.

[0117] Specifically, the scheduling method of the automated guided vehicle comprises:

[0118] In step S201, a plurality of to-be-processed task path requests are obtained, the to-be-processed task path requests at least comprise position information of an executing vehicle and position information of a task terminal point, the to-be-processed task path requests correspond to the executing vehicles one by one, and the executing vehicles are one of the automated guided vehicles;

[0119] Step S202, a planning step, path planning is performed on the corresponding execution vehicle according to the plurality of above-mentioned to-be-processed task path requests and the map of the movement space of the above-mentioned automatic guided vehicle, to obtain a plurality of next-step planning paths of the above-mentioned execution vehicle, so that all of the above-mentioned next-step planning paths in the map of the movement space of the above-mentioned automatic guided vehicle are non-overlapping, and the above-mentioned next-step planning path is a path for the above-mentioned execution vehicle to move for a specific time length;

[0120] Step S203, a conversion step, each of the above-mentioned execution vehicle moves according to the corresponding above-mentioned next-step planning path, and the above-mentioned to-be-processed task path request corresponding to the above-mentioned execution vehicle reaching the above-mentioned task terminal point is converted into a processed task path request, and the above-mentioned execution vehicle reaching the above-mentioned task terminal point is converted 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, the above-mentioned obtaining step, the above-mentioned planning step and the above-mentioned conversion step are repeated at least once in sequence until all of the above-mentioned to-be-processed task path requests are converted into the above-mentioned processed task path request.

[0122] The embodiment of the present application provides a processor, which is used for running a program, wherein the program performs the scheduling method of the automatic guided vehicle when running.

[0123] Step S201, an obtaining step, a plurality of to-be-processed task path requests are obtained, the to-be-processed task path request at least includes position information of an execution vehicle and position information of a task terminal point, the to-be-processed task path request is one-to-one corresponding to the execution vehicle, and the execution vehicle is one of automatic guided vehicles;

[0124] Step S202, a planning step, path planning is performed on the corresponding execution vehicle according to the plurality of above-mentioned to-be-processed task path requests and the map of the movement space of the above-mentioned automatic guided vehicle, to obtain a plurality of next-step planning paths of the above-mentioned execution vehicle, so that all of the above-mentioned next-step planning paths in the map of the movement space of the above-mentioned automatic guided vehicle are non-overlapping, and the above-mentioned next-step planning path is a path for the above-mentioned execution vehicle to move for a specific time length;

[0125] Step S203, a conversion step, each of the above-mentioned execution vehicle moves according to the corresponding above-mentioned next-step planning path, and the above-mentioned to-be-processed task path request corresponding to the above-mentioned execution vehicle reaching the above-mentioned task terminal point is converted into a processed task path request, and the above-mentioned execution vehicle reaching the above-mentioned task terminal point is converted 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, the above-mentioned acquisition step, the above-mentioned planning step and the above-mentioned conversion step are repeated at least once in turn until all the above-mentioned to-be-processed task path requests are converted into the above-mentioned processed task path requests.

[0127] The embodiment of the application provides a scheduling system, which comprises a plurality of automatic guided vehicles, a processor, a memory, and a program stored in the memory and capable of running on the processor, and the processor implements at least the following steps when executing the program:

[0128] Step S201, an acquisition step, a plurality of to-be-processed task path requests are acquired, the to-be-processed task path request at least comprises position information of an execution vehicle and position information of a task terminal point, the to-be-processed task path request corresponds to the execution vehicle one by one, and the execution vehicle is one of the automatic guided vehicles;

[0129] Step S202, a planning step, path planning is performed on the corresponding execution vehicle according to the plurality of to-be-processed task path requests and a map of a moving space of the automatic guided vehicle, a next planning path of the execution vehicle is obtained, all the next planning paths in the map of the moving space of the automatic guided vehicle are ensured to be non-overlapping, and the next planning path is a path for the execution vehicle to move for a specific time length;

[0130] Step S203, a conversion step, each execution vehicle moves according to the corresponding next planning path, the to-be-processed task path request corresponding to the execution vehicle that reaches the task terminal point is converted into a processed task path request, and the execution vehicle that reaches the task terminal point is converted into a non-execution vehicle, and the non-execution vehicle is the automatic guided vehicle other than the execution vehicle;

[0131] Step S204, the above-mentioned acquisition step, the above-mentioned planning step and the above-mentioned conversion step are repeated at least once in turn until all the above-mentioned to-be-processed task path requests are converted into the above-mentioned processed task path requests.

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

[0133] Step S201, an acquisition step, a plurality of to-be-processed task path requests are acquired, the to-be-processed task path request at least comprises position information of an execution vehicle and position information of a task terminal point, the to-be-processed task path request corresponds to the execution vehicle one by one, and the execution vehicle is one of the automatic guided vehicles;

[0134] Step S202, a planning step, path planning is performed on the corresponding execution vehicle according to the plurality of above-mentioned to-be-processed task path requests and the map of the moving space of the above-mentioned automatic guided vehicle, to obtain a plurality of next-step planning paths of the above-mentioned execution vehicle, so that all the above-mentioned next-step planning paths in the map of the moving space of the above-mentioned automatic guided vehicle are non-overlapping, and the above-mentioned next-step planning path is a path for the above-mentioned execution vehicle to move for a specific time length;

[0135] Step S203, a conversion step, each of the above-mentioned execution vehicle moves according to the corresponding above-mentioned next-step planning path, and the above-mentioned to-be-processed task path request corresponding to the above-mentioned execution vehicle reaching the task end point is converted into a processed task path request, and the above-mentioned execution vehicle reaching the task end point is converted 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, the above-mentioned acquisition step, the above-mentioned planning step and the above-mentioned conversion step are repeated at least once in turn until all the above-mentioned to-be-processed task path requests are converted into the above-mentioned processed task path request.

[0137] Obviously, those skilled in the art should understand that the modules or steps of the present application can be realized by general computing devices, which can be concentrated on a single computing device or distributed on a network composed of multiple computing devices, and they can be realized by program codes executable by computing devices, so that they can be stored in storage devices and executed by computing devices, and in some cases, the steps shown or described can be executed in different order, or they can be manufactured into individual integrated circuit modules, or multiple modules or steps can be manufactured into a single integrated circuit module. Therefore, the present application is not limited to any specific hardware and software combination.

[0138] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system or a computer program product. Therefore, the present application can be in the form of a complete hardware embodiment, a complete software embodiment or an embodiment combining software and hardware aspects. Moreover, the present application can be in the form of a computer program product implemented on one or more computer usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer usable program codes.

[0139] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 one or more flow or blocks Figure 1 means for functionally implementing the steps in the flowchart block or blocks

[0140] These computer program instructions can also be stored in a computer readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer readable memory produce an article of manufacture including instructions which implement the function specified in the flowchart block or blocks. Figure 1 one or more flow or blocks Figure 1 means for functionally implementing the steps in the flowchart block or blocks

[0141] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 one or more flow or blocks Figure 1 means for functionally implementing the steps in the flowchart block or blocks

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

[0143] The memory can include non-persistent memory and / or persistent memory, for example, read only memory (ROM) and / or flash memory, for example, random access memory (RAM). The memory is an example of computer readable media.

[0144] Computer-readable media includes permanent and non-permanent, removable and non-removable media implemented in any method or technology for information storage. 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 disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassette, magnetic tape disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information accessible to a computing device. According to the definition herein, computer-readable media does not include transitory media such as modulated data signals and carriers.

[0145] It should also be noted that the terms "comprising", "including" or any other variant thereof are intended to cover non-exclusive inclusion, so that processes, methods, articles or devices including a series of elements not only include those elements, but also include other elements not explicitly listed or inherent to such processes, methods, articles or devices. Without more limitations, the element defined by the statement "comprising a" does not exclude the presence of another identical element in the process, method, article or device including the element.

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

[0147] 1) In the automatic guided vehicle scheduling method of the present application, the execution vehicle of each to-be-processed task path request plans the next planning path, i.e. the path for the execution vehicle to move for a specific time length, ensures that the path is not overlapped to avoid path conflict, then controls each execution vehicle to move according to the corresponding next planning path, converts the completed to-be-processed task path request into a processed task path request, repeatedly plans the next planning path until all to-be-processed task path requests are converted into processed task path requests, without stopping and re-planning to avoid path conflict, reducing the system running overhead caused by frequent stop and re-planning of the path, greatly improving the scheduling efficiency, and solving the problem of low multi-vehicle task scheduling efficiency in the prior art.

[0148] 2) The scheduling device of the automatic guided vehicle of the present application plans the next step planning path for each to-be-processed task path request, that is, the execution vehicle moves along the path for a specific time length, ensures that the path is not overlapped, that is, the path conflict is avoided, then controls each execution vehicle to move according to the corresponding next step planning path, converts the completed to-be-processed task path request into a processed task path request, repeatedly plans the next step planning path, until all the to-be-processed task path requests are converted into the processed task path requests, without stopping and re-planning to avoid the path conflict, reducing the system operation overhead caused by frequent stop and re-planning of the path, greatly improving the scheduling efficiency, and solving the problem of low efficiency of multi-vehicle task scheduling in the prior art.

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

Claims

1. A method of dispatching automated guided vehicles, characterized by, The method comprises: an acquisition step of acquiring a plurality of to-be-processed task path requests, the to-be-processed task path request comprising at least position information of an executing vehicle and position information of a task end point, the to-be-processed task path request corresponding to one of the executing vehicles, the executing vehicle being one of the autonomous guided vehicles; a planning step of planning a path for each of the executing vehicles according to the plurality of to-be-processed task path requests and a map of a moving space of the autonomous guided vehicles, to obtain a next-step planned path for each of the executing vehicles, so that all the next-step planned paths in the map of the moving space of the autonomous guided vehicles are non-overlapping, the next-step planned path being a path for the executing vehicle to move for a specific time length; a conversion step of controlling each of the executing vehicles to move according to the corresponding next-step planned path, and converting the to-be-processed task path request corresponding to the executing vehicle that has reached the task end point into a processed task path request, and converting the executing vehicle that has reached the task end point into a non-executing vehicle, the non-executing vehicle being one of the autonomous guided vehicles other than the executing vehicle; repeating the acquisition step, the planning step and the conversion step at least once until all the to-be-processed task path requests are converted into the processed task path requests; The method of planning a path for each of the executing vehicles according to the plurality of to-be-processed task path requests and a map of a moving space of the autonomous guided vehicles, to obtain a next-step planned path for each of the executing vehicles, so that all the next-step planned paths in the map of the moving space of the autonomous guided vehicles are non-overlapping, comprises: generating a plurality of shortest passage paths according to the position information of each of the executing vehicles and the position information of the corresponding task end point, the shortest passage path being a shortest path for the executing vehicle to move from a current position to the task end point; determining a preliminary next-step planned path for each of the executing vehicles according to the plurality of shortest passage paths, the preliminary next-step planned path being a path for the executing vehicle to move for the specific time length along the corresponding shortest passage path from the current position; in a case where any two of the preliminary next-step planned paths overlap, adjusting one of the preliminary next-step planned paths so that the two preliminary next-step planned paths do not overlap; in a case where any two of the preliminary next-step planned paths do not overlap, determining that each of the preliminary next-step planned paths is the next-step planned path for the corresponding executing vehicle.

2. The method of claim 1, wherein, The method of acquiring a plurality of to-be-processed task path requests comprises: acquiring a plurality of original to-be-processed task path requests, the original to-be-processed task path request comprising position information of a task start point and position information of a task end point; determining the non-executing vehicle closest to the task start point as the executing vehicle for each of the original to-be-processed task path requests; acquiring position information of the executing vehicle for each of the original to-be-processed task path requests, to generate a plurality of to-be-processed task path requests.

3. The method of claim 1, wherein, The method of acquiring a plurality of to-be-processed task path requests comprises: obtaining an unfinished to-be-processed task path request; updating the position information of the execution vehicle of the unfinished to-be-processed task path request to obtain a plurality of to-be-processed task path requests.

4. The method of claim 1, wherein, determining a preliminary next-step planning path of each execution vehicle according to a plurality of shortest passing paths, including: in the case that the execution vehicle can reach the corresponding task terminal point within the specific time length, determining the preliminary next-step planning path of the execution vehicle as a path from the current position to the task terminal point.

5. The method of claim 4, wherein, after determining the preliminary next-step planning path of the execution vehicle as a path from the current position to the task terminal point, the method further includes: in the case that the preliminary next-step planning path of the execution vehicle is a path from the current position to the task terminal point and the preliminary next-step planning path of the execution vehicle is one of the two preliminary next-step planning paths that exist in overlap, adjusting the other preliminary next-step planning path.

6. The method of claim 2, wherein, obtaining a plurality of original to-be-processed task path requests, including: sequencing the original to-be-processed task path requests according to priority to obtain a task sequence; obtaining a plurality of original to-be-processed task path requests in the order of the task sequence, so that the number of original to-be-processed task path requests is less than or equal to the number of non-execution vehicles.

7. A dispatching device of an automated guided vehicle, characterized by comprising: including: an obtaining unit for performing the obtaining step, obtaining a plurality of to-be-processed task path requests, the to-be-processed task path request including at least position information of an execution vehicle and position information of a task terminal point, the to-be-processed task path request corresponding to the execution vehicle one by one, the execution vehicle being one of the automated guided vehicles; a planning unit for performing the planning step, path planning for the corresponding execution vehicle according to a plurality of to-be-processed task path requests and a map of the movement space of the automated guided vehicle to obtain a next-step planning path of the execution vehicle, so that all next-step planning paths in the map of the movement space of the automated guided vehicle have no overlap, the next-step planning path being a path for the execution vehicle to move for a specific time length; a conversion unit for performing the conversion step, controlling each execution vehicle to move according to the corresponding next-step planning path, and converting the to-be-processed task path request corresponding to the execution vehicle that has reached the task terminal point into a processed task path request, and converting the execution vehicle that has reached the task terminal point into a non-execution vehicle, the non-execution vehicle being the automated guided vehicle other than the execution vehicle; a repeating unit for sequentially repeating the obtaining step, the planning step and the conversion step at least once until all to-be-processed task path requests are converted into processed task path requests; The planning unit comprises: a third generation module, configured to generate a plurality of shortest travel paths according to position information of each of the execution vehicles and position information of the corresponding task end points, the shortest travel path being a shortest path for the execution vehicle to reach the task end point from a current position; a second determination module, configured to determine a preliminary next step planning path for each of the execution vehicles according to the plurality of shortest travel paths, the preliminary next step planning path being a path for the execution vehicle to move along the corresponding shortest travel path for the specific time length from the current position; an adjustment module, configured to, in a case where any two of the preliminary next step planning paths overlap, adjust one of the preliminary next step planning paths so that the two preliminary next step planning paths do not overlap; and a third determination module, configured to, in a case where any two of the preliminary next step planning paths do not overlap, determine that each of the preliminary next step planning paths is the next step planning path for each of the execution vehicles.

8. A computer program product comprising a computer program, characterized in that, The computer program, when executed by a processor, implements the method of any one of claims 1 to 6.

9. A dispatch system characterized by, Comprise: a plurality of automated guided vehicles, one or more processors, memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, and the one or more programs comprise instructions for performing the method of any one of claims 1 to 6.

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