Scheduling method, device and equipment for vehicle body maintenance and transfer AGV system and storage medium

Abstract

The invention provides a scheduling method for a vehicle body maintenance and transfer AGV system, and relates to the technical field of intelligent manufacturing, and the method comprises the steps: obtaining task information, obtaining an operation power consumption requirement through calculation based on the task information, and selecting an operation AGV to execute a transfer task according to the operation power consumption requirement and the position information of the AGV; performing visual identification on the component state of each station to obtain operation process information of each station; acquiring operation process information of stations on the way on the task path, predicting a conflict node of the operation AGV executing the task according to a preset speed, determining a corresponding conflict station, judging whether the transfer time of the conflict station can be modified or not, and removing a conflict state; if not, the driving speed of the operation AGV is adjusted in a segmented mode according to the conflict nodes, and a control strategy of the operation AGV is obtained. According to the method, the operation process information of each station is obtained in real time through visual identification, so that the conflict nodes are predicted, the scheduling strategy of the AGV is effectively optimized according to the condition of each station, and the transfer efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the field of intelligent manufacturing technology, and in particular to a scheduling method, device, equipment and storage medium for a vehicle body inspection and transfer AGV system. Background Art

[0002] In the automated maintenance process of truck bodies, the body needs to be disassembled into different parts and transferred to different workstations for repair. After the repair is completed, it will be assembled. The speed of the maintenance work at each workstation is determined by the damage of the parts themselves. Therefore, the time required for maintenance work on different batches of parts at the same workstation is different and the fluctuation range is large, which makes it easy for AGVs to conflict during scheduling. Generally, conflicts can only be avoided by stopping and waiting, which affects the transportation efficiency of the maintenance work. Summary of the invention

[0003] The purpose of the present invention is to provide a scheduling method, device, equipment and storage medium for a vehicle body inspection and transfer AGV system to improve the above problems. In order to achieve the above purpose, the technical solution adopted by the present invention is as follows:

[0004] In a first aspect, the present invention provides a scheduling method for a vehicle body inspection and transfer AGV system, comprising:

[0005] Acquire task information, the task information including task station information and task path information, calculate the operation power consumption requirement based on the task information, and select the operation AGV to perform the transfer task according to the operation power consumption requirement and the position information of the AGV;

[0006] The operation progress information of each workstation is obtained by visually identifying the status of the components at each workstation;

[0007] Obtain the workstations along the task path according to the task path information, and predict the node occupancy position and node occupancy time on the task path according to the operation progress information of the workstations along the task path;

[0008] Based on the node occupation position and the node occupation time, the conflicting node of the working AGV executing the task at the preset speed is identified and the corresponding conflicting workstation is determined, and the task priority of the conflicting workstation and the operation progress information of the upper / lower level workstation of the conflicting workstation are obtained;

[0009] Determine whether the task priority of the conflicting workstation or the operation progress information of its upper / lower level workstation meets the first preset condition. If so, modify the transfer time of the conflicting workstation to resolve the conflict state; if not, adjust the travel speed of the operating AGV in segments according to the conflicting nodes to obtain the control strategy of the operating AGV.

[0010] In a second aspect, the present invention further provides a dispatching device for a vehicle body inspection and transfer AGV system, comprising:

[0011] A task allocation module is used to obtain task information, the task information includes task station information and task path information, calculate the operation power consumption requirement based on the task information, and select the operation AGV to perform the transfer task according to the operation power consumption requirement and the position information of the AGV;

[0012] The process identification module is used to obtain the operation process information of each workstation by visually identifying the component status of each workstation;

[0013] The node prediction module is used to obtain the workstations along the task path according to the task path information, and predict the node occupancy position and node occupancy time on the task path according to the operation progress information of the workstations along the task path;

[0014] A conflict identification module, based on the node occupation position and the node occupation time, identifies the conflicting nodes of the working AGV performing the task at a preset speed and determines the corresponding conflicting workstations, and obtains the task priority of the conflicting workstations and the operation progress information of the upper / lower level workstations of the conflicting workstations;

[0015] The strategy generation module determines whether the task priority of the conflicting workstation or the operation progress information of its upper / lower level workstation meets the first preset condition. If so, the transfer time of the conflicting workstation is modified to resolve the conflict state; if not, the driving speed of the operating AGV is adjusted in segments according to the conflicting nodes to obtain the control strategy of the operating AGV.

[0016] In a third aspect, the present invention further provides a dispatching device for a vehicle body inspection and transfer AGV system, comprising:

[0017] Memory for storing computer programs;

[0018] The processor is used to implement the steps of the scheduling method of the above-mentioned vehicle body maintenance and transfer AGV system when executing the computer program.

[0019] In a fourth aspect, the present invention further provides a readable storage medium, characterized in that a computer program is stored on the readable storage medium, and when the computer program is executed by a processor, the steps of the scheduling method of the vehicle body inspection and transfer AGV system are implemented.

[0020] The beneficial effects of the present invention are:

[0021] The present invention obtains the operation progress information of each workstation in real time through visual recognition. Based on the operation progress information, the node occupancy position and time on the path can be predicted, thereby predicting the conflicting nodes. The scheduling strategy of AGV is effectively optimized according to the task priority and operation progress information, thereby improving the transfer efficiency and the smoothness of the connection between operations of each workstation.

[0022] Other features and advantages of the present invention will be set forth in the following description, and in part will become apparent from the description, or may be understood by practicing embodiments of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0024] Figure 1 This is a flow chart of a scheduling method for a vehicle body inspection and transfer AGV system according to an embodiment of the present application;

[0025] Figure 2 This is a structural schematic diagram of a vehicle body inspection and transfer AGV system according to an embodiment of the present application;

[0026] Figure 3 This is a side view of a vehicle body inspection and transfer AGV system according to an embodiment of the present application;

[0027] Figure 4 This is a schematic diagram of the structure of a dispatching device of a vehicle body inspection and transfer AGV system according to an embodiment of the present application.

[0028] Figure 5 This is a schematic diagram of the scheduling equipment structure of a vehicle body inspection and transfer AGV system according to an embodiment of the present application.

[0029] Markings in the figure: 100-three-dimensional storage rack; 200-lifting device; 300-AVG; 400-charging device; 500-monitoring device; 501-monitoring camera; 502-sensor; 600-scheduling system; 710-task allocation module; 720-process identification module; 730-node prediction module; 740-conflict identification module; 750-strategy generation module; 800-scheduling equipment of vehicle body inspection and transfer AGV system; 801-processor; 802-memory; 803-multimedia component; 804-I / O interface; 805-communication component. DETAILED DESCRIPTION

[0030] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. The components of the embodiments of the present invention generally described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0031] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0032] Example 1

[0033] In order to optimize the scheduling strategy of AGV300, the present application provides a scheduling method of a vehicle body inspection and transfer AGV system, including steps S100, S200, S300, S400, and S500;

[0034] S100, obtaining task information, the task information including task station information and task path information, calculating the operation power consumption requirement based on the task information, and selecting the operation AGV 300 to perform the transfer task according to the operation power consumption requirement and the position information of the AGV 300, specifically including:

[0035] S110, calculating the operating distance L of the AGV 300 according to the task path information; the operating distance L includes the length L1 of the unloaded section and the length L2 of the loaded section;

[0036] S120, acquiring a load n matching the task station according to the task station information;

[0037] S130, obtaining workstations along the task path according to the task path information, obtaining the operation progress information of all workstations along the task path, and predicting the required waiting time s through a first prediction model according to the operation progress information; the first prediction model is trained with historical operation progress information as input and historical AGV300 waiting time as output;

[0038] S140, obtaining the number of emergency braking times C according to historical emergency braking information on the task path;

[0039] S150. Calculate the power consumption requirement of the operation based on the operation distance, load, waiting time and number of emergency brakes. The power consumption is generally calculated in 100%. Assuming that the current power consumption of AGV300 is W%, calculate:

[0040] When W%-L1×a1%-L2×a2×n%-s×a3%-C×a4%>5%, AGV300 can perform the task; a1, a2, a3, a4 are the power consumption coefficients under no-load, loaded, waiting, and emergency braking states, respectively, and 5% is the remaining power requirement for each AGV300, that is, 5% of the power must be reserved to ensure that the AGV300 can automatically return to the charging device 400 for charging; among the AGV300 that meets the above conditions, the AGV300 with the shortest path to the task station is selected to perform the task.

[0041] S200, obtaining the operation progress information of each workstation by visually identifying the component status of each workstation, specifically including:

[0042] Acquire an image corresponding to the workstation according to the workstation information and obtain component status information through visual recognition, wherein the component status information includes component surface status information, component location information, and component accumulation information;

[0043] The component surface status information includes the rust area or coating area on the component surface. For example, at the component rust removal station, the component surface image is obtained, and the image is input into the pre-trained model or the remaining rust area is directly calculated based on the image.

[0044] The location information of the component includes the position of the component on the conveyor line. Each workstation may contain multiple work positions. The components are transported and processed in sequence in an assembly line manner. Therefore, the position of the component on the conveyor line can also reflect the work progress of the workstation.

[0045] The information on the accumulated quantity of parts is mainly for small accessories after disassembly. Small accessories are generally sent to the workstation in batches for processing. After a batch of accessories is processed, they are transferred at the same time. Therefore, the cumulative quantity of parts completed through statistical processing can also determine the operation progress of the workstation.

[0046] The component status information is compared with the component processing stage table of the workstation to determine the stage time corresponding to the component status and the total time required for the operation, thereby obtaining the operation progress information; the component processing stage table is constructed by arranging the historical component status in time series, that is, during each operation, the component status and the corresponding operation time are automatically recorded at certain time intervals, and the data obtained for each operation is averaged to continuously update the component processing stage table; in addition to establishing the component processing stage table, a deep learning model can also be constructed based on the historical component status and the corresponding time to predict the operation progress of the workstation.

[0047] In this step, the time required for each workstation to complete the operation can be determined through the component status information, thereby predicting the time required for transfer.

[0048] S300, obtaining the workstations along the task path according to the task path information, and predicting the node occupancy position and node occupancy time on the task path according to the operation progress information of the workstations along the task path;

[0049] Node occupation means that the space at the position is occupied and AGV300 cannot pass through. The time required for transfer at each workstation is obtained through step S200, that is, the node occupation position and node occupation time corresponding to the workstation are determined.

[0050] S400, based on the node occupation position and the node occupation time, identify the conflicting nodes of the task that the AGV300 performs at a preset speed and determines the corresponding conflicting workstations, and obtains the task priority of the conflicting workstations and the operation progress information of the upper / lower level workstations of the conflicting workstations;

[0051] Under normal circumstances, the AGV300 travels at a preset fixed speed. The time it takes for the AGV300 to occupy each node position can be calculated based on the preset speed. If the difference between the time and the node occupation time is within the threshold range, it is determined that a conflict will occur at the node, and the corresponding workstation is the conflicting workstation. Then, the task priority of the conflicting workstation and the operation progress information of the upper / lower level workstations of the conflicting workstation are obtained.

[0052] S500, determine whether the task priority of the conflicting workstation or the operation progress information of its upper / lower level workstation meets the first preset condition. If so, modify the transfer time of the conflicting workstation to resolve the conflict state; if not, adjust the travel speed of the operating AGV300 according to the conflicting node segments to obtain the control strategy of the operating AGV300.

[0053] The first preset condition is specifically as follows: first, determine whether the task priority of the conflicting station is less than the task priority of the operating AGV300. If so, the transfer time of the conflicting station can be modified to allow the operating AGV300 to pass first; if the task priority does not meet the condition, then determine the operation progress information of its upper / lower station. This step is to determine whether the upper station has parts that need to be transferred to the conflicting station in a short time, or the lower station is idle and needs the conflicting station to transfer the parts to the lower station as soon as possible. If the upper / lower station does not have a more urgent transfer demand, it means that the transfer time of the conflicting station can be postponed, and the operating AGV300 can pass first;

[0054] It should be noted that if there are multiple conflicting workstations, all conflicting workstations need to meet the second preset condition;

[0055] The control strategy of the working AGV 300 obtained by adjusting the travel speed of the working AGV 300 in sections according to the conflicting nodes specifically includes:

[0056] Divide the road section to which the conflicting node belongs according to the location of the conflicting node and the conflicting time zone, wherein the road section includes an unloaded road section and a loaded road section;

[0057] The operating AGV 300 is adjusted to a different optimized speed on the empty road section according to a preset speed increment, wherein the optimized speed is less than the maximum speed limit, and the operating AGV 300 passes the conflict node without stopping when traveling at the optimized speed on the empty road section;

[0058] In the unloaded state, AGV300 can increase speed within a suitable range. In the loaded state, AGV300 carries various components, some of which may be lifted by AGV300 and not directly fixed. To avoid safety risks, AGV300 is set to travel at a fixed speed in the loaded state. It can only slow down or stop, but not accelerate.

[0059] For the conflicting nodes on the unloaded section, the speed of the working AGV 300 can be increased to pass the node before it is occupied. However, since the speed of the AGV 300 is increased, the time of the occupied node passing through the loaded section will change, that is, the conflicting nodes need to be recalculated;

[0060] Update the conflict nodes of the loaded section according to the adjusted different optimization speeds, and compare the number of conflict nodes of the loaded section before and after the update. If the number of conflict nodes of the loaded section decreases after the update, control the AGV300 to travel at the adjusted optimization speed; if the number of conflict nodes decreases under multiple optimization speeds, select the optimization speed with the least number of conflict nodes; if the number of conflict nodes is the same, select a lower optimization speed.

[0061] If the number of conflicting nodes in the loaded section increases or remains unchanged after the update, the preset speed is maintained to control the AGV300 to travel, and the AGV300 stops and waits at all conflicting nodes. Of course, since the operation progress information is updated in real time, the driving strategy of the AGV300 can also be adjusted in real time to optimize the transfer process. In this application, the left and right paths for the AGV300 to travel are planned in the warehouse, that is, generally on the same path, the AGV300 travels in the same direction and will not go in opposite directions. Therefore, it is only necessary to avoid the AGV300 that stays on the path due to the transfer operation according to the above method.

[0062] As an optional implementation manner, the method further includes S600:

[0063] After modifying the transfer time of the conflicting station, obtain the AGV300 information assigned to the transfer task of the conflicting station, obtain the conflicting AGV300 and obtain the current position information of the conflicting AGV300; it should be noted that in some cases, when modifying the transfer time of the conflicting station, the conflicting station may not have sent a transfer instruction, that is, there is no conflicting AGV300;

[0064] According to the current position of the conflicting AGV300, find the workstations along the way on the path that does not overlap with the task path of the working AGV300, and determine the nearest workstation that needs to be transferred according to the work progress information of the workstations along the way;

[0065] Generate new task information based on the workstation to be transferred and update the task list of the conflicting AGV300.

[0066] As an optional implementation, the method further includes step S700:

[0067] Acquire surveillance video data, and perform image recognition processing on the surveillance video to extract pedestrian location information in the video;

[0068] Based on the pedestrian location information, a pedestrian tracking algorithm is used to obtain the pedestrian's moving speed and direction, and to predict the pedestrian's moving path information and pedestrian conflict information;

[0069] According to the pedestrian movement path information and pedestrian conflict information, the PID algorithm is used to control the driving speed of AGV300 to resolve the conflict state.

[0070] This embodiment also provides a vehicle body inspection and transfer AGV system, including: AGV 300, a three-dimensional storage rack 100, a lifting device 200, a charging device 400 and a dispatching system 600;

[0071] The three-dimensional storage rack 100 includes a multi-layer storage platform, each layer of the storage platform includes a plurality of storage positions for storing the AGV 300, and a positioning device is arranged at each storage position;

[0072] The lifting device 200 is disposed on the three-dimensional storage rack 100 and connected to each storage platform of the three-dimensional storage rack 100;

[0073] The charging device 400 is disposed in each storage position;

[0074] The dispatching system 600 is wirelessly connected to all AGVs 300 and connected to the lifting device 200 , and is used to execute the above dispatching method to control the operation of the AGV 300 .

[0075] By setting up a three-dimensional storage rack 100 and setting up a charging device 400 in each storage position, the moving distance and time of the AGV300 are significantly reduced, while efficient energy replenishment is achieved, the space utilization and the working efficiency of the AGV300 are improved, and the maintenance and management process of the AGV300 is simplified.

[0076] As an optional embodiment, the storage system also includes a constant temperature and humidity device and a monitoring device 500; the constant temperature and humidity device is arranged on the three-dimensional storage rack 100 and is electrically connected to the scheduling system 600; the constant temperature and humidity system adjusts the temperature and humidity in the three-dimensional storage rack 100 to ensure the suitability of the storage and charging environment of the vehicle transfer AGV300.

[0077] The monitoring device 500 includes a monitoring camera 501 and a sensor 502, which are arranged on each storage platform and electrically connected to the dispatching system 600. The monitoring device 500 can monitor the situation in the three-dimensional storage rack 100 in real time. When the vehicle body transfer AGV 300 or the automatic charging device 400 has an abnormal condition, the monitoring device 500 sends a command to the dispatching system 600 and issues an alarm.

[0078] As an optional implementation, the lifting device 200 is disposed in the middle of the three-dimensional storage rack 100, and the storage positions are symmetrically distributed on both sides of the lifting device 200. After the lifting device 200 lifts the AGV 300, the AGV 300 can move horizontally to the storage position on either side.

[0079] As an optional implementation, a shell can be further provided on the periphery of the three-dimensional storage rack 100. The shell provides a relatively sealed protective space for the three-dimensional storage rack 100, achieves the purpose of waterproof and dustproof, protects the vehicle body transfer AGV 300 and the charging device 400, and improves the aesthetics.

[0080] Based on the above-mentioned vehicle body inspection and transfer AGV system, the scheduling method of the present application also includes:

[0081] Obtaining the remaining power information and task information of the AGV 300 and determining whether the first preset condition is met, and if so, issuing a charging instruction to the AGV 300 and allocating a storage location for the AGV 300 according to the remaining power information;

[0082] The first preset condition is that the remaining power of the current AGV300 is lower than the preset value or there is no new task to be assigned at present; if the remaining power of the AGV300 is too low and the required charging time is longer, it is preferably assigned a storage location farther away from the lifting device 200, because the route from the storage location of each storage platform to the lifting device 200 is a one-way street, so the scheduling system 600 needs to allocate a charging location for each AGV300 according to the predicted charging completion time, so that the AGV300 that completes charging first can be put into use immediately.

[0083] When AGV300 returns to the three-dimensional storage rack 100, the lifting device 200 can identify that there is an AGV300 waiting for charging through gravity sensing or scanning, and the scheduling system 600 needs to obtain the lifting operation information, which includes the number of the AGV300 currently to be charged. The number of AGV300 can be obtained through barcode scanning or radio frequency identification technology. The storage location assigned to it is queried according to the number of AGV300, and a lifting instruction for controlling its lifting height is sent to the lifting device 200 according to the storage position. After lifting the AGV300 to the specified layer, the AGV300 moves to the storage position through the horizontal mode, and automatically docks with the charging device 400 for charging through image target recognition technology.

[0084] Example 2

[0085] The present application also provides a dispatching device for a vehicle body inspection and transfer AGV system, comprising:

[0086] The task allocation module 710 is used to obtain task information, the task information includes task station information and task path information, calculate the operation power consumption requirement based on the task information, and select the operation AGV 300 to perform the transfer task according to the operation power consumption requirement and the position information of the AGV 300;

[0087] The process identification module 720 is used to obtain the operation process information of each workstation by visually identifying the component status of each workstation;

[0088] The node prediction module 730 is used to obtain the workstations along the task path according to the task path information, and predict the node occupancy position and node occupancy time on the task path according to the operation progress information of the workstations along the task path;

[0089] The conflict identification module 740 identifies the conflicting nodes of the task that the AGV 300 performs at a preset speed based on the node occupation position and the node occupation time, determines the corresponding conflicting workstations, and obtains the task priority of the conflicting workstations and the operation progress information of the upper / lower level workstations of the conflicting workstations;

[0090] The strategy generation module 750 determines whether the task priority of the conflicting workstation or the operation progress information of its upper / lower level workstations meets the first preset condition. If so, the transfer time of the conflicting workstation is modified to resolve the conflict state; if not, the travel speed of the operating AGV300 is adjusted according to the conflicting node segments to obtain the control strategy of the operating AGV300.

[0091] Embodiment 3:

[0092] Corresponding to the above method embodiment, this embodiment also provides a scheduling device for a vehicle body inspection and transfer AGV system. The scheduling device for a vehicle body inspection and transfer AGV system described below and the scheduling method for a vehicle body inspection and transfer AGV system described above can refer to each other.

[0093] Figure 5 FIG. 8 is a block diagram of a dispatching device 800 of a vehicle body inspection and transfer AGV system according to an exemplary embodiment. Figure 5 As shown, the dispatching device 800 of the vehicle body inspection and transfer AGV system may include: a processor 801 and a memory 802. The dispatching device 800 of the vehicle body inspection and transfer AGV system may also include one or more of a multimedia component 803, an I / O interface 804, and a communication component 805.

[0094] The processor 801 is used to control the overall operation of the dispatching device 800 of the vehicle body inspection and transfer AGV system to complete all or part of the steps in the dispatching method of the vehicle body inspection and transfer AGV system. The memory 802 is used to store various types of data to support the operation of the dispatching device 800 of the vehicle body inspection and transfer AGV system. These data may include, for example, instructions for any application or method operated on the dispatching device 800 of the vehicle body inspection and transfer AGV system, as well as application-related data, such as contact data, sent and received messages, pictures, audio, video, etc. The memory 802 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, disk or optical disk. The multimedia component 803 may include a screen and an audio component. The screen may be, for example, a touch screen, and the audio component is used to output and / or input audio signals. For example, the audio component may include a microphone for receiving external audio signals. The received audio signal may be further stored in the memory 802 or sent via the communication component 805. The audio component also includes at least one speaker for outputting audio signals. The I / O interface 804 provides an interface between the processor 801 and other interface modules, and the above-mentioned other interface modules can be keyboards, mice, buttons, etc. These buttons can be virtual buttons or physical buttons. The communication component 805 is used for wired or wireless communication between the scheduling device 800 and other devices of the vehicle body inspection and transfer AGV system. Wireless communication, such as Wi-Fi, Bluetooth, Near Field Communication (NFC), 2G, 3G or 4G, or a combination of one or more of them, so the corresponding communication component 805 can include: Wi-Fi module, Bluetooth module, NFC module.

[0095] In an exemplary embodiment, the scheduling device 800 of the vehicle body inspection and transfer AGV system can be implemented by one or more application specific integrated circuits (Application Specific Integrated Circuit, referred to as ASIC), digital signal processors (Digital Signal Processor, referred to as DSP), digital signal processing devices (Digital Signal Processing Device, referred to as DSPD), programmable logic devices (Programmable Logic Device, referred to as PLD), field programmable gate arrays (Field Programmable Gate Array, referred to as FPGA), controllers, microcontrollers, microprocessors or other electronic components to execute the above-mentioned scheduling method of the vehicle body inspection and transfer AGV system.

[0096] In another exemplary embodiment, a computer-readable storage medium including program instructions is also provided, and when the program instructions are executed by a processor, the steps of the scheduling method of the vehicle body inspection and transfer AGV system described above are implemented. For example, the computer-readable storage medium may be the memory 802 including the program instructions, and the program instructions may be executed by the processor 801 of the scheduling device 800 of the vehicle body inspection and transfer AGV system to complete the scheduling method of the vehicle body inspection and transfer AGV system described above.

[0097] Embodiment 4:

[0098] Corresponding to the above method embodiment, a readable storage medium is also provided in this embodiment. The readable storage medium described below and the scheduling method of the vehicle body inspection and transfer AGV system described above can refer to each other.

[0099] A readable storage medium stores a computer program, which, when executed by a processor, implements the steps of the scheduling method for the vehicle body inspection and transfer AGV system of the above method embodiment.

[0100] The readable storage medium may specifically be a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, or other readable storage medium that can store program codes.

[0101] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A scheduling method for a vehicle body inspection and transfer AGV system, characterized in that: include: Acquire task information, the task information including task station information and task path information, calculate the operation power consumption requirement based on the task information, and select the operation AGV to perform the transfer task according to the operation power consumption requirement and the position information of the AGV; The operation progress information of each workstation is obtained by visually identifying the status of the components at each workstation; Obtain the workstations along the task path according to the task path information, and predict the node occupancy position and node occupancy time on the task path according to the operation progress information of the workstations along the task path; Based on the node occupation position and the node occupation time, the conflicting node of the working AGV executing the task at the preset speed is identified and the corresponding conflicting workstation is determined, and the task priority of the conflicting workstation and the operation progress information of the upper / lower level workstation of the conflicting workstation are obtained; Determine whether the task priority of the conflicting workstation or the operation progress information of its upper / lower level workstation meets the first preset condition. If so, modify the transfer time of the conflicting workstation to resolve the conflict state; if not, adjust the travel speed of the operating AGV in segments according to the conflicting nodes to obtain the control strategy of the operating AGV.

2. The method for dispatching the vehicle body inspection and transfer AGV system according to claim 1, characterized in that: The control strategy of the working AGV obtained by adjusting the travel speed of the working AGV in sections according to the conflicting nodes includes: Divide the road section to which the conflicting node belongs according to the location of the conflicting node and the conflicting time zone, wherein the road section includes an unloaded road section and a loaded road section; The operating AGV is adjusted to a different optimized speed on an empty road section according to a preset speed increment, wherein the optimized speed is less than the maximum speed limit, and the operating AGV passes through the conflict node without stopping when traveling at the optimized speed on the empty road section; Update the conflict nodes of the load-carrying section according to the adjusted different optimized speeds, compare the number of conflict nodes of the load-carrying section before and after the update, and if the number of conflict nodes of the load-carrying section decreases after the update, control the AGV to travel at the adjusted optimized speed; If the number of conflicting nodes in the updated loaded section increases or remains unchanged, the AGV is controlled to travel at the preset speed and stops and waits at all conflicting nodes.

3. The dispatching method of the vehicle body inspection and transfer AGV system according to claim 1 is characterized in that: The method further comprises: After modifying the transfer time of the conflicting station, obtain the AGV information assigned to the transfer task of the conflicting station, obtain the conflicting AGV and obtain the current position information of the conflicting AGV; According to the current position of the conflicting AGV, find the workstation along the way on the path that does not overlap with the task path of the working AGV, and determine the nearest workstation that needs to be transferred based on the work progress information of the workstation along the way; Generate new task information based on the workstation to be transferred and update the task list of the conflicting AGV.

4. The dispatching method of the vehicle body inspection and transfer AGV system according to claim 1 is characterized in that: The method further comprises: Acquire surveillance video data, and perform image recognition processing on the surveillance video to extract pedestrian location information in the video; Based on the pedestrian location information, a pedestrian tracking algorithm is used to obtain the pedestrian's moving speed and direction, and to predict the pedestrian's moving path information and pedestrian conflict information; According to the path information of pedestrian movement and pedestrian conflict information, the PID algorithm is used to control the driving speed of the AGV to resolve the conflict state.

5. The method for dispatching the vehicle body inspection and transfer AGV system according to claim 1, characterized in that: The calculating the power consumption requirement of the operation based on the task information includes: Calculate the operating distance of the AGV according to the task path information; Acquire a load matching the task station according to the task station information; Acquire workstations along the task path according to the task path information, acquire operation progress information of all workstations along the task path, and predict the required waiting time through a first prediction model according to the operation progress information; The number of emergency braking times is obtained according to the historical emergency braking information on the task path; The power consumption requirement of the operation is calculated based on the operation distance, load, waiting time and number of emergency brakes.

6. The dispatching method of the vehicle body inspection and transfer AGV system according to claim 1 is characterized in that: The process of obtaining the operation progress information of each workstation by visually identifying the component status of each workstation includes: Acquire an image corresponding to the workstation according to the workstation information and obtain component status information through visual recognition, wherein the component status information includes component surface status information, component location information, and component accumulation information; By comparing the component status information with the component processing stage table of the workstation, the stage time and total operation time corresponding to the component status are determined to obtain the operation progress information; the component processing stage table is constructed to arrange the historical component status in time series.

7. The dispatching method of the vehicle body inspection and transfer AGV system according to claim 1 is characterized in that: The vehicle body inspection and transfer AGV system includes an AGV, a three-dimensional storage rack, and a lifting device; the three-dimensional storage rack includes a multi-layer storage platform, and each layer of the storage platform includes a plurality of storage positions for storing AGVs; A lifting device, the lifting device is arranged on the three-dimensional storage rack and connected to each storage platform of the three-dimensional storage rack; The scheduling method further includes: Obtaining the remaining power information and task information of the AGV and determining whether the second preset condition is met, and if so, issuing a charging instruction to the AGV and allocating a storage location for the AGV according to the remaining power information; The lifting operation information is obtained, wherein the lifting operation information includes the serial number of the AGV to be charged, the storage location assigned to the AGV is queried according to the serial number of the AGV, and a lifting instruction for controlling the lifting height of the AGV is sent to the lifting device according to the storage location.

8. A dispatching device for a vehicle body inspection and transfer AGV system, characterized in that: include: A task allocation module is used to obtain task information, the task information includes task station information and task path information, calculate the operation power consumption requirement based on the task information, and select the operation AGV to perform the transfer task according to the operation power consumption requirement and the position information of the AGV; The process identification module is used to obtain the operation process information of each workstation by visually identifying the component status of each workstation; The node prediction module is used to obtain the workstations along the task path according to the task path information, and predict the node occupancy position and node occupancy time on the task path according to the operation progress information of the workstations along the task path; A conflict identification module, based on the node occupation position and the node occupation time, identifies the conflicting nodes of the working AGV performing the task at a preset speed and determines the corresponding conflicting workstations, and obtains the task priority of the conflicting workstations and the operation progress information of the upper / lower level workstations of the conflicting workstations; The strategy generation module determines whether the task priority of the conflicting workstation or the operation progress information of its upper / lower level workstation meets the first preset condition. If so, the transfer time of the conflicting workstation is modified to resolve the conflict state; if not, the driving speed of the operating AGV is adjusted in segments according to the conflicting nodes to obtain the control strategy of the operating AGV.

9. A dispatching device for a vehicle body inspection and transfer AGV system, characterized in that: include: Memory for storing computer programs; A processor is used to implement the steps of the scheduling method of the vehicle body maintenance and transfer AGV system as described in any one of claims 1 to 7 when executing the computer program.

10. A readable storage medium, characterized in that: The readable storage medium stores a computer program, which, when executed by a processor, implements the steps of the scheduling method of the vehicle body inspection and transfer AGV system as described in any one of claims 1 to 7.

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