Task execution method and device of automatic guided vehicle and transportation task system

Abstract

The application provides a task execution method and device of an automatic guided vehicle and a transportation task system. The method comprises the following steps: establishing a time window and distributing a plurality of first path information of the time window to corresponding automatic guided vehicles, and each first path information in the time window has no path conflict; in a case that at least one target automatic guided vehicle reaches an end point of corresponding first path information and the end point of the first path information of the target automatic guided vehicle is not a task end point of a transportation task, updating the first path information of the target automatic guided vehicle in the time window to obtain second path information, so that the start point of the second path information is the end point of the corresponding first path information, and each first path information and each second path information in the updated time window has no path conflict; and repeating the updating step until all the automatic guided vehicles reach corresponding task end points, thereby solving the problem of path conflict in the execution of the transportation task by the plurality of vehicles.

Description

Technical Field

[0001] This invention relates to the field of route planning technology, and more specifically, to a method, apparatus, computer-readable storage medium, computer program product, and transportation task system for executing tasks of automated guided vehicles. Background Technology

[0002] In unmanned factories or workshops, path planning for Automated Guided Vehicles (AGVs) is a critical task because it directly impacts production efficiency, resource utilization, and the overall system efficiency. These factories or workshops typically consist of various equipment, production lines, and workstations, within which AGVs need to navigate to perform tasks such as material transport and parts supply. Therefore, path planning must consider the following issues:

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

[0004] 2. Conflict resolution: Plan a path for the AGV that is free from blocking, conflict, and deadlock.

[0005] 3. Operational efficiency optimization: Ensure that the planned path for the AGV vehicle achieves optimal operational efficiency for the entire system.

[0006] For scenarios requiring multiple AGVs, the scheduling of these multiple AGVs needs to be addressed. This means determining an optimization target parameter and, based on task requirements and available factory resources, developing a reasonable resource allocation scheme to assign material transport tasks in the unmanned workshop to each AGV. These AGVs must avoid collisions and complete material transport tasks efficiently. Summary of the Invention

[0007] The main objective of this application is to provide a method, apparatus, computer-readable storage medium, computer program product, and transportation task system for executing tasks by automated guided vehicles, so as to at least solve the problem of path conflicts when multiple automated guided vehicles are executing transportation tasks in the prior art.

[0008] To achieve the above objectives, according to one aspect of this application, a method for executing a task of an automated guided vehicle (AGV) is provided, comprising: establishing a time window and distributing multiple first path information of the time window to the corresponding AGVs to control the movement of the AGVs, wherein the first path information is the path for the AGVs to perform a transportation task, and the first path information within the time window has no path conflict; an update step, wherein if at least one target AGV reaches the end point of the corresponding first path information and the end point of the first path information of the target AGV is not the task end point of the transportation task, the first path information of the target AGV in the time window is updated to obtain second path information, such that the starting point of the second path information is the end point of the corresponding first path information, and at least one second path information of the updated time window is distributed to the corresponding target AGVs to control the movement of the target AGVs, wherein the first path information and the second path information in the updated time window have no path conflict, and the target AGV is any one of the AGVs; repeating the update step at least once until all the AGVs reach the task end point of the corresponding transportation task.

[0009] Optionally, before establishing a time window, the method further includes: generating the transportation task based on transportation demand, wherein the transportation task is a task that transports goods from a task origin to a task destination; and assigning the transportation task to the automated guided vehicle closest to the task origin.

[0010] Optionally, establishing a time window and sending multiple first path information of the time window to the corresponding automated guided vehicles (AGVs) to control the movement of the AGVs includes: obtaining multiple path planning requests initiated by the AGVs, the path planning requests including the task start point and task end point of the transportation task; generating the corresponding first path information of the AGVs based on the multiple path planning requests, ensuring that each first path information has no path conflict, and placing each first path information into the time window and sending it to the corresponding AGVs to control the movement of the AGVs.

[0011] Optionally, generating the first path information of the automated guided vehicle corresponding to the multiple path planning requests includes: generating a directed acyclic graph (DAG) based on a map of the automated guided vehicle's movement space, wherein the DAG includes multiple points and travel paths, the points being locations that can serve as the start or end point of the task, and the travel paths being paths between two points; and generating the first path information of the automated guided vehicle corresponding to the multiple path planning requests such that the first path information does not overlap on the DAG.

[0012] Optionally, the update step includes: when at least one of the target automated guided vehicles (AGVs) arrives at the penultimate point of the corresponding first path information and the endpoint of the first path information of the target AGVs is not the endpoint of the transportation task, updating the first path information of the target AGVs in the time window to obtain second path information, such that the starting point of the second path information is the endpoint of the corresponding first path information, and sending the updated second path information of the time window to the corresponding target AGVs to control the movement of the target AGVs.

[0013] Optionally, after establishing a time window and sending multiple first path information of the time window to the corresponding automated guided vehicles, the method further includes: upon receiving a new path planning request initiated by the automated guided vehicle, adding the first path information of the new automated guided vehicle to the time window to obtain an updated time window, wherein the first path information of the updated time window has no path conflict.

[0014] Optionally, the update step includes: generating second path information based on the endpoint of the first path information of the target automated guided vehicle and the endpoint of the transportation task, so as to update the first path information of the target automated guided vehicle in the time window based on the second path information, wherein each piece of second path information has no path conflict with any two of the unupdated first path information.

[0015] According to another aspect of this application, an automated guided vehicle (AGV) task execution apparatus is provided, comprising: an establishment unit, configured to establish a time window and distribute multiple first path information of the time window to the corresponding AGVs to control the movement of the AGVs, wherein the first path information is the path for the AGVs to perform a transportation task, and the first path information within the time window has no path conflict; an update unit, configured to perform an update step, wherein when at least one target AGV reaches the end point of the corresponding first path information and the end point of the first path information of the target AGV is not the task end point of the transportation task, the first path information of the target AGV in the time window is updated to obtain second path information, such that the starting point of the second path information is the end point of the corresponding first path information, and at least one second path information of the updated time window is distributed to the corresponding target AGVs to control the movement of the target AGVs, wherein the first path information and the second path information in the updated time window have no path conflict, and the target AGV can be any one of the AGVs; and a repeat unit, configured to repeat the update step at least once until all the AGVs reach the task end point of the corresponding transportation task.

[0016] According to another aspect of this application, a computer-readable storage medium is provided, the computer-readable storage medium including a stored program, wherein, when the program is executed, it controls the device on which the computer-readable storage medium is located to perform any of the methods described.

[0017] According to another aspect of this application, a computer program product is provided, comprising a computer program that, when executed by a processor, implements any of the methods described.

[0018] According to another aspect of this application, a transportation mission 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, the one or more programs including methods for performing any one of the methods described.

[0019] By applying the technical solution of this application, in the above-mentioned automated guided vehicle (AGV) task execution method, a time window is established. The first path information of the time window is the segmented path for each AGV to complete the transportation task. This ensures that there are no path conflicts among the first path information within the time window, and that there are no path conflicts among the segmented paths of the AGV. When an AGV reaches the end point of the corresponding first path information, and the end point of the first path information is not the end point of the transportation task, the next path needs to be planned. The first path information of these AGVs is then updated to obtain the second path information. Similarly, it is ensured that there are no path conflicts among the first path information and the second path information in the updated time window. By completing the segmented paths multiple times, the transportation task can be completed until all AGVs reach the end point of the corresponding transportation task. This ensures that there are no path conflicts throughout the entire process of completing the transportation task, and solves the problem of path conflicts when multiple AGVs execute transportation tasks in the prior art. Attached Figure Description

[0020] Figure 1 A hardware structure block diagram of a mobile terminal for performing a task execution method for an automated guided vehicle according to an embodiment of this application is shown.

[0021] Figure 2 A flowchart illustrating a task execution method for an automated guided vehicle according to an embodiment of this application is shown.

[0022] Figure 3 A flowchart illustrating another method for executing a task of an automated guided vehicle according to an embodiment of this application is shown.

[0023] Figure 4 A structural block diagram of a task execution device for an automated guided vehicle provided according to an embodiment of this application is shown.

[0024] The above figures include the following reference numerals:

[0025] 102. Processor; 104. Memory; 106. Transmission device; 108. Input / output device. Detailed Implementation

[0026] 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.

[0027] 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.

[0028] 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.

[0029] As described in the background section, in the prior art, multiple automated guided vehicles (AGVs) performing transportation tasks often experience path conflicts. To solve this technical problem, embodiments of this application provide an AGV task execution method, apparatus, computer-readable storage medium, computer program product, and transportation task system.

[0030] 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.

[0031] The methods and embodiments provided in this application can be executed on a mobile terminal, a computer terminal, or a 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 task execution 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 1The different configurations shown.

[0032] The memory 104 can be used to store computer programs, such as application software programs and modules, like the computer program corresponding to the task execution method of the automated guided vehicle in this embodiment of the invention. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, thereby implementing the above-described method. The memory 104 may include high-speed random access memory and non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 104 may further include memory remotely located relative to the processor 102, and these remote memories can be connected to the mobile terminal via a network. Examples of the aforementioned networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof. The transmission device 106 is used to receive or send data via a network. Specific examples of the aforementioned networks may include wireless networks provided by the mobile terminal's communication provider. In one example, the transmission device 106 includes a network interface controller (NIC), which can be connected to other network devices via a base station 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.

[0033] This embodiment provides a task execution method for an automated guided vehicle running on a mobile terminal, computer terminal, or similar computing device. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0034] Figure 2 This is a flowchart of a task execution method for an automated guided vehicle according to an embodiment of this application. Figure 2 As shown, the method includes the following steps:

[0035] Step S201: Establish a time window and send multiple first path information of the time window to the corresponding automated guided vehicles to control the movement of the automated guided vehicles. The first path information is the path of the automated guided vehicles to perform transportation tasks. There is no path conflict among the first path information within the time window.

[0036] Step S202, update step: when at least one target automated guided vehicle reaches the end point of the first path information and the end point of the first path information of the target automated guided vehicle is not the task end point of the transportation task, update the first path information of the target automated guided vehicle in the time window to obtain second path information, such that the starting point of the second path information is the end point of the first path information, and send at least one of the second path information of the updated time window to the corresponding target automated guided vehicle to control the movement of the target automated guided vehicle. There is no path conflict between each of the first path information and each of the second path information in the updated time window, and the target automated guided vehicle can be any one of the automated guided vehicles.

[0037] Step S203: Repeat the above update steps at least once until all the above-mentioned automated guided vehicles reach the task endpoint of the corresponding above-mentioned transportation task.

[0038] In the above-mentioned method for executing tasks using automated guided vehicles (AGVs), a time window is established. The first path information within the time window represents the segmented paths for each AGV to complete its transportation task. This ensures that there are no path conflicts between the first path information within the time window, thus guaranteeing that the segmented paths of the AGVs are also conflict-free. When an AGV reaches the endpoint of the corresponding first path information, and that endpoint is not the endpoint of the transportation task, the next path needs to be planned. The first path information of these AGVs is then updated to obtain second path information. Similarly, it is ensured that there are no path conflicts between the updated first and second path information within the time window. By repeatedly completing the segmented paths, the transportation task can be completed until all AGVs reach the endpoint of their respective transportation tasks. This ensures that there are no path conflicts throughout the entire process of completing the transportation task, thus solving the problem of path conflicts that occur when multiple AGVs execute transportation tasks in existing technologies.

[0039] To improve transportation efficiency, in one alternative implementation, the method further includes the following steps before establishing the time window:

[0040] Step S301: Generate the above transportation task according to the transportation requirements. The above transportation task is a task that transports goods from the starting point to the destination.

[0041] Step S302: Assign the above-mentioned transportation task to the above-mentioned automated guided vehicle that is closest to the starting point of the above-mentioned task.

[0042] In the above embodiments, the transportation needs of the workshop can be obtained by input from staff or by automatic triggering, thereby generating the above transportation tasks and assigning the transportation tasks to the automated guided vehicles (AGVs) closest to the task starting point, so as to reduce the transportation distance and improve transportation efficiency. Of course, the task assignment targets are idle AGVs.

[0043] To avoid path conflicts, in one optional implementation, step S201 includes:

[0044] Step S2011: Obtain multiple route planning requests initiated by the aforementioned automated guided vehicles, wherein the route planning requests include the task start point and task end point of the aforementioned transportation task.

[0045] Step S2012: Generate the first path information of the corresponding automated guided vehicle according to the multiple path planning requests, so that there is no path conflict among the first path information, and put the first path information into the time window and send it to the corresponding automated guided vehicle to control the movement of the automated guided vehicle.

[0046] In the above implementation, when an automated guided vehicle (AGV) receives a route planning request for a transportation task, the multiple route planning requests each include the starting point and the ending point of the corresponding transportation task. Based on the multiple route planning requests, corresponding first path information is generated so that no two pieces of first path information conflict. The first path information is then placed into a time window and sent to the corresponding AGV to control the movement of the AGV, thus ensuring that there are no path conflicts among the first path information within a time window.

[0047] It should be noted that if the path from the start point to the end point of the transportation task does not conflict with other first path information, then the complete path from the start point to the end point of the transportation task is planned; otherwise, a segmented path is planned for the current time window, and the multiple segmented paths of multiple time windows constitute the complete path from the start point to the end point of the transportation task.

[0048] To facilitate route planning, in one optional implementation, step S2012 includes:

[0049] Step S20121: Generate a directed acyclic graph based on the map of the movement space of the automated guided vehicle. The directed acyclic graph includes multiple points and travel paths. The points are locations that can serve as the starting point or the ending point of the task. The travel paths are the paths between two points.

[0050] Step S20122: Generate the first path information of the corresponding automated guided vehicle according to the multiple path planning requests, so that the first path information does not overlap on the directed acyclic graph.

[0051] In the above embodiments, a directed acyclic graph is generated based on the map of the mobile space, and path planning can be performed on the directed acyclic graph. This is simple and clear, greatly reducing the workload of path planning. Moreover, when determining whether there is a path conflict, it can be determined by whether the paths overlap. For example, the first path information 1 is point 1 → point 2 → point 3 → point 4, the first path information 2 is point 1 → point 3 → point 5 → point 6, and the first path information 3 is point 1 → point 3 → point 4 → point 7. The first path information 1 and the first path information 2 do not overlap, while the points 3 → 4 overlap in the first path information 1 and the first path information 3.

[0052] To improve transportation efficiency, in one optional implementation, step S202 includes:

[0053] Step S2021: When at least one of the aforementioned target automated guided vehicles arrives at the penultimate point of the corresponding first path information and the endpoint of the first path information of the aforementioned target automated guided vehicle is not the endpoint of the aforementioned transportation task, the first path information of the aforementioned target automated guided vehicle in the aforementioned time window is updated to obtain the aforementioned second path information, such that the starting point of the aforementioned first path information is the endpoint of the corresponding first path information, and the updated second path information of the aforementioned time window is sent to the corresponding aforementioned target automated guided vehicle to control the movement of the aforementioned target automated guided vehicle.

[0054] In the above embodiments, when performing path planning on a directed acyclic graph, the vehicle can be automatically guided to the second-to-last point of the corresponding first path information to plan the second path information (the next segment path). This avoids the situation where the automatically guided vehicle arrives at the end point of the corresponding first path information without the second path information (the next segment path), thereby preventing transportation interruption and improving transportation efficiency.

[0055] In an optional implementation, to complete the new transportation task, after establishing a time window and sending multiple first path information points for the time window to the corresponding automated guided vehicles, the method further includes:

[0056] Step S401: Upon receiving a new path planning request initiated by the aforementioned automated guided vehicle, the first path information of the new automated guided vehicle is added to the aforementioned time window to obtain an updated time window. The first path information in the updated time window has no path conflicts.

[0057] In the above embodiments, when a new transportation task is assigned to a new automated guided vehicle (AGV), the new AGV initiates a route planning request. Route planning is performed for the new AGV to ensure that the first route information of the new AGV does not conflict with the other first route information in the time window. The first route information of the new AGV is added to the time window to obtain an updated time window, ensuring that the first route information in the updated time window does not conflict with the other first route information.

[0058] To achieve segmented path planning, in one optional implementation, step S202 further includes:

[0059] Step S2022: Generate the second path information based on the endpoint of the first path information of the target automated guided vehicle and the endpoint of the transportation task, so as to update the first path information of the target automated guided vehicle in the time window according to the second path information, and each of the second path information has no path conflict with any two of the unupdated first path information.

[0060] In the above embodiments, when planning the second path information (next segment path), the endpoint of the first path information (previous segment path) is taken as the starting point and the endpoint of the transportation task is taken as the ending point to generate the second path information. This ensures that there is no path conflict between each of the second path information and any two of the unupdated first path information. After updating the first path information of the target automatic guidance vehicle in the time window according to the second path information, there is no path conflict between the updated second path information and the unupdated first path information in the time window.

[0061] To enable those skilled in the art to better understand the technical solution of this application, the implementation process of the task execution method of the automated guided vehicle of this application will be described in detail below with reference to specific embodiments.

[0062] This embodiment relates to a specific method for executing tasks of an automated guided vehicle, such as... Figure 3 As shown, it includes the following steps:

[0063] Step S1: Initialize the dispatch system, vehicles, and system windows, i.e., clear unfinished transportation tasks in the dispatch system and vehicles, and establish empty time windows;

[0064] Step S2: Read the transportation task from the scheduling task request queue and assign the transportation task to the nearest execution vehicle;

[0065] Step S3: Request the PBS algorithm to perform route planning for the transportation task of the vehicle and send the route into an empty time window to form the current time window;

[0066] Step S4: The current time window will send the path to the corresponding execution vehicle;

[0067] Step S5: Determine whether the vehicle has reached the task endpoint; if so, the dispatch ends.

[0068] Step S6: Otherwise, determine whether the vehicle has reached the second-to-last point of the segment task. If yes, return to step S4 for the next path planning step; otherwise, return to step S5.

[0069] It should be noted that the steps shown in the flowchart in 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 may be executed in a different order than that shown here.

[0070] This application also provides a task execution device for an automated guided vehicle. It should be noted that the task execution device for an automated guided vehicle in this application can be used to execute the task execution method for an automated guided vehicle provided in this application. This device is used to implement the above embodiments and preferred embodiments; details already described will not be repeated. As used below, the term "module" can refer to a combination of software and / or hardware that implements a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0071] The following describes the task execution device for the automated guided vehicle provided in the embodiments of this application.

[0072] Figure 4 This is a structural block diagram of the task execution device for an automated guided vehicle according to an embodiment of this application. Figure 4 As shown, the device includes:

[0073] Establishment unit 10 is used to establish a time window and send multiple first path information of the time window to the corresponding automated guided vehicles to control the movement of the automated guided vehicles. The first path information is the path of the automated guided vehicles to perform transportation tasks. There is no path conflict among the first path information within the time window.

[0074] The updating unit 20 is used to perform an updating step. When at least one target automated guided vehicle (AGV) arrives at the end of the corresponding first path information and the end of the first path information of the target AGV is not the task end of the transportation task, the first path information of the target AGV in the time window is updated to obtain second path information, such that the starting point of the second path information is the end point of the corresponding first path information. The updated second path information of at least one time window is sent to the corresponding target AGV to control the movement of the target AGV. There is no path conflict between the first path information and the second path information in the updated time window. The target AGV can be any one of the AGVs.

[0075] Repeating unit 30 is used to repeat the above update steps at least once until all the above-mentioned automated guided vehicles reach the task endpoint of the corresponding above-mentioned transportation task.

[0076] In the aforementioned automated guided vehicle (AGV) task execution device, a time window is established. The first path information within the time window represents the segmented paths for each AGV to complete its transportation task. This ensures that there are no path conflicts between the first path information within the time window, thus guaranteeing that the segmented paths of the AGVs are also conflict-free. When an AGV reaches the endpoint of the corresponding first path information, and that endpoint is not the destination of the transportation task, the next path needs to be planned. The first path information of these AGVs is then updated to obtain second path information. Similarly, it is ensured that there are no path conflicts between the updated first and second path information within the time window. By repeatedly completing the segmented paths, the transportation task can be completed until all AGVs reach the destination of their respective transportation tasks. This ensures that there are no path conflicts throughout the entire process of completing the transportation task, thus solving the problem of path conflicts occurring when multiple AGVs execute transportation tasks in the prior art.

[0077] To improve transportation efficiency, in one optional embodiment, the above-mentioned device further includes:

[0078] The generation unit is used to generate the above-mentioned transportation tasks according to transportation needs before the time window is established. The above-mentioned transportation tasks are tasks that transport goods from the starting point to the ending point of the task.

[0079] The allocation unit is used to allocate the aforementioned transportation task to the automated guided vehicle that is closest to the starting point of the aforementioned task.

[0080] In the above embodiments, the transportation needs of the workshop can be obtained by input from staff or by automatic triggering, thereby generating the above transportation tasks and assigning the transportation tasks to the automated guided vehicles (AGVs) closest to the task starting point, so as to reduce the transportation distance and improve transportation efficiency. Of course, the task assignment targets are idle AGVs.

[0081] To avoid path conflicts, in one optional implementation, the aforementioned establishment unit includes:

[0082] The acquisition module is used to acquire multiple route planning requests initiated by the aforementioned automated guided vehicles, the route planning requests including the task start point and task end point of the aforementioned transportation task.

[0083] The generation module is used to generate the first path information of the corresponding automated guided vehicle according to multiple path planning requests, so that there is no path conflict among the first path information, and to put the first path information into the time window and send it to the corresponding automated guided vehicle to control the movement of the automated guided vehicle.

[0084] In the above implementation, when an automated guided vehicle (AGV) receives a route planning request for a transportation task, the multiple route planning requests each include the starting point and the ending point of the corresponding transportation task. Based on the multiple route planning requests, corresponding first path information is generated so that no two pieces of first path information conflict. The first path information is then placed into a time window and sent to the corresponding AGV to control the movement of the AGV, thus ensuring that there are no path conflicts among the first path information within a time window.

[0085] It should be noted that if the path from the start point to the end point of the transportation task does not conflict with other first path information, then the complete path from the start point to the end point of the transportation task is planned; otherwise, a segmented path is planned for the current time window, and the multiple segmented paths of multiple time windows constitute the complete path from the start point to the end point of the transportation task.

[0086] To facilitate route planning, in one optional implementation, the above-mentioned generation module includes:

[0087] The first generation submodule is used to generate a directed acyclic graph based on the map of the movement space of the automated guided vehicle. The directed acyclic graph includes multiple points and travel paths. The points are locations that can serve as the starting point or the ending point of the task. The travel paths are the paths between two of the points.

[0088] The second generation submodule is used to generate the first path information of the corresponding automated guided vehicle based on multiple path planning requests, such that the first path information does not overlap on the directed acyclic graph.

[0089] In the above embodiments, a directed acyclic graph is generated based on the map of the mobile space, and path planning can be performed on the directed acyclic graph. This is simple and clear, greatly reducing the workload of path planning. Moreover, when determining whether there is a path conflict, it can be determined by whether the paths overlap. For example, the first path information 1 is point 1 → point 2 → point 3 → point 4, the first path information 2 is point 1 → point 3 → point 5 → point 6, and the first path information 3 is point 1 → point 3 → point 4 → point 7. The first path information 1 and the first path information 2 do not overlap, while the points 3 → 4 overlap in the first path information 1 and the first path information 3.

[0090] To improve transportation efficiency, in one optional implementation, the above-mentioned updating unit includes:

[0091] The first update module is configured to update the first path information of the target automated guided vehicle in the time window when at least one of the target automated guided vehicles arrives at the penultimate point of the corresponding first path information and the end point of the first path information of the target automated guided vehicle is not the end point of the transportation task, thereby obtaining the second path information, such that the starting point of the second path information is the end point of the corresponding first path information, and to send the updated second path information of the time window to the corresponding target automated guided vehicle to control the movement of the target automated guided vehicle.

[0092] In the above embodiments, when performing path planning on a directed acyclic graph, the vehicle can be automatically guided to the second-to-last point of the corresponding first path information to plan the second path information (the next segment path). This avoids the situation where the automatically guided vehicle arrives at the end point of the corresponding first path information without the second path information (the next segment path), thereby preventing transportation interruption and improving transportation efficiency.

[0093] In an optional embodiment, to complete the new transportation task, the above-mentioned device further includes:

[0094] The addition unit is used to add the first path information of the new automated guided vehicle to the time window after establishing a time window and sending the first path information of the time window to the corresponding automated guided vehicle. This results in an updated time window, where the first path information of the updated time window has no path conflicts.

[0095] In the above embodiments, when a new transportation task is assigned to a new automated guided vehicle (AGV), the new AGV initiates a route planning request. Route planning is performed for the new AGV to ensure that the first route information of the new AGV does not conflict with the other first route information in the time window. The first route information of the new AGV is added to the time window to obtain an updated time window, ensuring that the first route information in the updated time window does not conflict with the other first route information.

[0096] To implement segmented path planning, in one optional implementation, the update unit further includes:

[0097] The second update module is used to generate second path information based on the endpoint of the first path information of the target autoguided vehicle and the endpoint of the transportation task, so as to update the first path information of the target autoguided vehicle in the time window according to the second path information, wherein each of the second path information has no path conflict with any two of the unupdated first path information.

[0098] In the above embodiments, when planning the second path information (next segment path), the endpoint of the first path information (previous segment path) is taken as the starting point and the endpoint of the transportation task is taken as the ending point to generate the second path information. This ensures that there is no path conflict between each of the second path information and any two of the unupdated first path information. After updating the first path information of the target automatic guidance vehicle in the time window according to the second path information, there is no path conflict between the updated second path information and the unupdated first path information in the time window.

[0099] The aforementioned automated guided vehicle (AGV) task execution device includes a processor and a memory. The aforementioned setup unit, update unit, and repeat unit are all stored as program units in the memory, and the processor executes these program units to achieve the corresponding functions. All of the aforementioned modules reside in the same processor; alternatively, the modules may be located in different processors in any combination.

[0100] The processor contains a kernel, which retrieves the corresponding program units from memory. One or more kernels can be configured, and adjusting kernel parameters can resolve path conflicts that occur when multiple automated guided vehicles (AGVs) perform transportation tasks in existing technologies.

[0101] The memory may include non-permanent memory in computer-readable media, such as 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.

[0102] This invention provides a computer-readable storage medium including a stored program, wherein, when the program is executed, it controls the device containing the computer-readable storage medium to perform the task execution method of the automated guided vehicle.

[0103] Specifically, the task execution methods for automated guided vehicles include:

[0104] Step S201: Establish a time window and send multiple first path information of the time window to the corresponding automated guided vehicles to control the movement of the automated guided vehicles. The first path information is the path of the automated guided vehicles to perform transportation tasks. There is no path conflict among the first path information within the time window.

[0105] Step S202, update step: when at least one target automated guided vehicle reaches the end point of the first path information and the end point of the first path information of the target automated guided vehicle is not the task end point of the transportation task, update the first path information of the target automated guided vehicle in the time window to obtain second path information, such that the starting point of the second path information is the end point of the first path information, and send at least one of the second path information of the updated time window to the corresponding target automated guided vehicle to control the movement of the target automated guided vehicle. There is no path conflict between each of the first path information and each of the second path information in the updated time window, and the target automated guided vehicle can be any one of the automated guided vehicles.

[0106] Step S203: Repeat the above update steps at least once until all the above-mentioned automated guided vehicles reach the task endpoint of the corresponding above-mentioned transportation task.

[0107] This invention provides a processor for running a program, wherein the program executes the task execution method for the automated guided vehicle.

[0108] Specifically, the task execution methods for automated guided vehicles include:

[0109] Step S201: Establish a time window and send multiple first path information of the time window to the corresponding automated guided vehicles to control the movement of the automated guided vehicles. The first path information is the path of the automated guided vehicles to perform transportation tasks. There is no path conflict among the first path information within the time window.

[0110] Step S202, update step: when at least one target automated guided vehicle reaches the end point of the first path information and the end point of the first path information of the target automated guided vehicle is not the task end point of the transportation task, update the first path information of the target automated guided vehicle in the time window to obtain second path information, such that the starting point of the second path information is the end point of the first path information, and send at least one of the second path information of the updated time window to the corresponding target automated guided vehicle to control the movement of the target automated guided vehicle. There is no path conflict between each of the first path information and each of the second path information in the updated time window, and the target automated guided vehicle can be any one of the automated guided vehicles.

[0111] Step S203: Repeat the above update steps at least once until all the above-mentioned automated guided vehicles reach the task endpoint of the corresponding above-mentioned transportation task.

[0112] This invention provides a transportation task system, including multiple automated guided vehicles, a processor, a memory, and a program stored in the memory and executable on the processor. When the processor executes the program, it performs at least the following steps:

[0113] Step S201: Establish a time window and send multiple first path information of the time window to the corresponding automated guided vehicles to control the movement of the automated guided vehicles. The first path information is the path of the automated guided vehicles to perform transportation tasks. There is no path conflict among the first path information within the time window.

[0114] Step S202, update step: when at least one target automated guided vehicle reaches the end point of the first path information and the end point of the first path information of the target automated guided vehicle is not the task end point of the transportation task, update the first path information of the target automated guided vehicle in the time window to obtain second path information, such that the starting point of the second path information is the end point of the first path information, and send at least one of the second path information of the updated time window to the corresponding target automated guided vehicle to control the movement of the target automated guided vehicle. There is no path conflict between each of the first path information and each of the second path information in the updated time window, and the target automated guided vehicle can be any one of the automated guided vehicles.

[0115] Step S203: Repeat the above update steps at least once until all the above-mentioned automated guided vehicles reach the task endpoint of the corresponding above-mentioned transportation task.

[0116] This application also provides a computer program product, which, when executed on a data processing device, is suitable for executing an initialization program having at least the following method steps:

[0117] Step S201: Establish a time window and send multiple first path information of the time window to the corresponding automated guided vehicles to control the movement of the automated guided vehicles. The first path information is the path of the automated guided vehicles to perform transportation tasks. There is no path conflict among the first path information within the time window.

[0118] Step S202, update step: when at least one target automated guided vehicle reaches the end point of the first path information and the end point of the first path information of the target automated guided vehicle is not the task end point of the transportation task, update the first path information of the target automated guided vehicle in the time window to obtain second path information, such that the starting point of the second path information is the end point of the first path information, and send at least one of the second path information of the updated time window to the corresponding target automated guided vehicle to control the movement of the target automated guided vehicle. There is no path conflict between each of the first path information and each of the second path information in the updated time window, and the target automated guided vehicle can be any one of the automated guided vehicles.

[0119] Step S203: Repeat the above update steps at least once until all the above-mentioned automated guided vehicles reach the task endpoint of the corresponding above-mentioned transportation task.

[0120] It is obvious to those skilled in the art that the modules or steps of the present invention described above can be implemented using general-purpose computing devices. They can be centralized on a single computing device or distributed across a network of multiple computing devices. They can be implemented using computer-executable program code, and thus can be stored in a storage device for execution by a computing device. In some cases, the steps shown or described can be performed in a different order than those described herein, or they can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as a single integrated circuit module. Thus, the present invention is not limited to any particular combination of hardware and software.

[0121] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0122] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0123] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0124] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0125] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0126] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, like read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0127] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, 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 technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0128] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0129] As can be seen from the above description, the embodiments of this application achieve the following technical effects:

[0130] 1) In the task execution method of the automated guided vehicles of this application, by establishing a time window, the first path information of the time window is the segmented path for each automated guided vehicle to complete the transportation task. This ensures that there are no path conflicts among the first path information within the time window, and that there are no path conflicts among the segmented paths of the automated guided vehicles. When an automated guided vehicle reaches the end point of the corresponding first path information, and the end point of the first path information is not the end point of the transportation task, the next path needs to be planned, and the first path information of these automated guided vehicles is updated to obtain the second path information. Similarly, it is ensured that there are no path conflicts among the first path information and the second path information in the updated time window. By completing the segmented paths multiple times, the transportation task can be completed until all automated guided vehicles reach the end point of the corresponding transportation task. This ensures that there are no path conflicts throughout the entire process of completing the transportation task, and solves the problem of path conflicts when multiple automated guided vehicles execute transportation tasks in the prior art.

[0131] 2) In the task execution device for automated guided vehicles of this application, by establishing a time window, the first path information of the time window is the segmented path for each automated guided vehicle to complete the transportation task. This ensures that there are no path conflicts among the first path information within the time window, and that there are no path conflicts among the segmented paths of the automated guided vehicles. When an automated guided vehicle reaches the end point of the corresponding first path information, and the end point of the first path information is not the end point of the transportation task, it is necessary to plan the next path, update the first path information of these automated guided vehicles, and obtain the second path information. Similarly, it is ensured that there are no path conflicts among the first path information and the second path information in the updated time window. By completing the segmented paths multiple times, the transportation task can be completed until all automated guided vehicles reach the end point of the corresponding transportation task. This ensures that there are no path conflicts throughout the entire process of completing the transportation task, and solves the problem of path conflicts when multiple automated guided vehicles perform transportation tasks in the prior art.

[0132] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A method for executing tasks of an automated guided vehicle, characterized in that, include: A time window is established, and multiple first path information of the time window is sent to the corresponding automated guided vehicles to control the movement of the automated guided vehicles. The first path information is the path of the automated guided vehicles to perform transportation tasks, and there is no path conflict among the first path information within the time window. The update step involves updating the first path information of the target automated guided vehicle (AGV) in the time window when at least one target AGV reaches the end point of the corresponding first path information and the end point of the first path information of the target AGV is not the task end point of the transportation task. This yields second path information, where the starting point of the second path information is the end point of the corresponding first path information. At least one second path information in the updated time window is then sent to the corresponding target AGV to control its movement. There are no path conflicts between the first path information and the second path information in the updated time window, and the target AGV can be any one of the AGVs. Repeat the update steps at least once until all the automated guided vehicles reach the destination of the corresponding transportation task.

2. The method according to claim 1, characterized in that, Before establishing the time window, the method further includes: The transportation task is generated based on the transportation demand, and the transportation task is a task that transports goods from the starting point to the destination. The transportation task is assigned to the automated guided vehicle that is closest to the task's starting point.

3. The method according to claim 1, characterized in that, Establishing a time window and sending multiple first path information within the time window to the corresponding automated guided vehicles to control their movement includes: Obtain multiple route planning requests initiated by the automated guided vehicles, the route planning requests including the task start point and task end point of the transportation task; Generate the first path information of the corresponding automated guided vehicle according to the multiple path planning requests, so that there is no path conflict among the first path information, and put each first path information into the time window and send it to the corresponding automated guided vehicle to control the movement of the automated guided vehicle.

4. The method according to claim 3, characterized in that, Generate the first path information of the automated guided vehicle corresponding to the multiple path planning requests, including: A directed acyclic graph is generated based on a map of the movement space of the automated guided vehicle. The directed acyclic graph includes multiple points and travel paths. The points are locations that can serve as the starting point or the ending point of the task, and the travel paths are the paths between two points. Generate the first path information of the corresponding automated guided vehicle according to the multiple path planning requests, such that the first path information does not overlap on the directed acyclic graph.

5. The method according to claim 4, characterized in that, The update steps include: If at least one of the target automated guided vehicles (AGVs) reaches the penultimate point of the corresponding first path information and the endpoint of the first path information of the target AGV is not the endpoint of the transportation task, the first path information of the target AGV in the time window is updated to obtain the second path information, such that the starting point of the second path information is the endpoint of the corresponding first path information, and the updated second path information of the time window is sent to the corresponding target AGV to control the movement of the target AGV.

6. The method according to any one of claims 1 to 5, characterized in that, After establishing a time window and sending multiple first path information entries for the time window to the corresponding automated guided vehicles, the method further includes: Upon receiving a new path planning request initiated by the automated guided vehicle, the first path information of the new automated guided vehicle is added to the time window to obtain an updated time window, wherein there are no path conflicts among the first path information in the updated time window.

7. The method according to any one of claims 1 to 5, characterized in that, The update steps include: The second path information is generated based on the endpoint of the first path information of the target automated guided vehicle and the endpoint of the transportation task, so as to update the first path information of the target automated guided vehicle in the time window based on the second path information, and each second path information has no path conflict with any two of the unupdated first path information.

8. A task execution device for an automated guided vehicle, characterized in that, include: A time window is established, and multiple first path information of the time window are sent to the corresponding automated guided vehicles to control the movement of the automated guided vehicles. The first path information is the path of the automated guided vehicle to perform the transportation task, and there is no path conflict among the first path information within the time window. An update unit is configured to perform an update step, wherein when at least one target automated guided vehicle (AGV) reaches the end point of the corresponding first path information and the end point of the first path information of the target AGV is not the task end point of the transportation task, the first path information of the target AGV in the time window is updated to obtain second path information, such that the starting point of the second path information is the end point of the corresponding first path information, and at least one second path information of the updated time window is sent to the corresponding target AGV to control the movement of the target AGV, wherein there is no path conflict between each first path information and each second path information in the updated time window, and the target AGV can be any one of the AGVs; A repeating unit is used to repeat the update step at least once until all the automated guided vehicles reach the destination of the corresponding transportation task.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored program, wherein, when the program is executed, it controls the device on which the computer-readable storage medium is located to perform the method according to any one of claims 1 to 7.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the method described in any one of claims 1 to 7.

11. A transportation task 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 configured to be executed by the one or more processors, the one or more programs comprising methods for performing any one of claims 1 to 7.

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