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

Abstract

The present invention provides a scheduling method for a vehicle body inspection and transfer AGV system, which relates to the field of intelligent manufacturing technology. The method comprises the following steps: obtaining task information, calculating the power consumption requirement of the operation based on the task information, selecting an operating AGV to perform the transfer task based on the power consumption requirement and the position information of the AGV; obtaining the operation progress information of each workstation by visually identifying the component status of each workstation; obtaining the operation progress information of the workstations along the task path, predicting the conflicting nodes at which the operating AGV will execute the task at a preset speed, determining the corresponding conflicting workstations, determining whether the transfer time of the conflicting workstations can be modified, and resolving the conflict; if not, adjusting the travel speed of the operating AGV in sections according to the conflicting nodes to obtain a control strategy for the operating AGV. The present invention obtains the operation progress information of each workstation in real time through visual recognition, thereby predicting the conflicting nodes, effectively optimizing the AGV scheduling strategy based on the conditions of each workstation, and improving transfer efficiency.

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 transported to different workstations for repair. After the repair is completed, it is reassembled. The speed of the maintenance work at each workstation is determined by the damage to the parts themselves. Therefore, the time required for maintenance work on different batches of parts at the same workstation varies 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-mentioned problems. In order to achieve the above-mentioned 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] Obtaining 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 to perform the transfer task according to the operation power consumption requirement and the AGV position information;

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

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

[0008] Based on the node occupation position and node occupation time, the conflicting nodes of the working AGV executing the current task at a preset speed are identified and the corresponding conflicting workstations are determined, and the task priority of the conflicting workstation and the operation progress information of the upper / lower level workstations 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 workstations meets the first preset condition. If so, modify the transfer time of the conflicting workstation to resolve the conflict state; if not, adjust the driving speed of the operating AGV according to the conflicting node segments 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, 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 AGV position information;

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

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

[0014] A conflict identification module identifies, based on the node occupation position and node occupation time, the conflicting nodes of the working AGV executing the current task at a preset speed and determines the corresponding conflicting workstations, 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 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 driving speed of the working AGV is adjusted according to the conflicting node segments to obtain the control strategy of the working 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 vehicle body inspection 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 the 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 at each workstation.

[0022] Other features and advantages of the present invention will be set forth in the following description, and in part will be apparent from the description, or may be learned 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 following briefly introduces the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying any 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 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 structural schematic diagram 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 in 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, not all of the embodiments. The components of the embodiments of the present invention generally described and shown in the drawings herein 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 of 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, it does not need to be further defined or explained in subsequent drawings.

[0032] Example 1

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

[0034] S100, obtaining task information, including task station information and task path information, calculating the operation power consumption requirement based on the task information, and selecting an AGV 300 to perform the transfer task based on the operation power consumption requirement and the location 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: Obtain workstations along the task path based on the task path information, obtain operation progress information of all workstations along the task path, and predict the required waiting time s using a first prediction model based on the operation progress information; the first prediction model is trained using historical operation progress information as input and historical AGV 300 waiting time as output;

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

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

[0040] When W%-L1×a1%-L2×a2×n%-s×a3%-C×a4%>5%, the AGV300 can perform the task; a1, a2, a3, and a4 are the power consumption coefficients in the 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 AGV300s that meet 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] Component surface status information includes the rusted or painted area on the component surface. For example, at a component derusting station, an image of the component surface is obtained and fed into a pre-trained model or the remaining rusted 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 accumulated information of parts is mainly for small parts after disassembly. Small parts are generally sent to the workstation in batches for processing. After a batch of parts is processed, they are transferred at the same time. Therefore, the cumulative amount of parts completed through statistical processing can also determine the operation progress of the workstation.

[0046] By comparing the component status information with the component processing stage table of the workstation, the stage time corresponding to the component status and the total time required for the operation are determined to obtain 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 a certain time interval, and the data obtained for each operation are 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 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 location is occupied and the AGV 300 cannot pass through. The time required for transfer at each workstation is obtained through step S200, which determines the node occupation position and node occupation time corresponding to the workstation.

[0050] S400, based on the node occupation position and node occupation time, identifying the conflicting nodes of the AGV 300 executing the current task at a preset speed and determining the corresponding conflicting workstations, obtaining 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. Based on the preset speed, the time it takes for the AGV300 to occupy each node position can be calculated. 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. The task priority of the conflicting workstation and the operation progress information of the upper / lower level workstations of the conflicting workstation are then obtained.

[0052] S500. Determine 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, 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 lower than the task priority of the working AGV 300. If so, the transfer time of the conflicting station can be modified to allow the working AGV 300 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 whether the lower station is idle and needs the conflicting station to transfer the parts to the lower station as soon as possible. If neither the upper / lower station has a more urgent transfer demand, it means that the transfer time of the conflicting station can be postponed, and the working AGV 300 can pass first;

[0054] It should be noted that if there are multiple conflicting workstations, all conflicting workstations must 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 conflict nodes specifically includes:

[0056] Divide the road sections to which the conflicting nodes belong according to the locations and conflicting time zones of the conflicting nodes, wherein the road sections include unloaded sections and loaded sections;

[0057] Adjusting the travel speed of the working AGV 300 on the empty road section to different optimized speeds according to preset speed increments, wherein the optimized speed is less than the maximum speed limit, and the working AGV 300 passes the conflict node without stopping when traveling at the optimized speed on the empty road section;

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

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

[0060] Update the conflict nodes of the loaded section according to the adjusted different optimized 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 optimized speed; if the number of conflict nodes decreases at multiple optimized speeds, select the optimized speed with the least number of conflict nodes; if the number of conflict nodes is the same, select a lower optimized speed.

[0061] If the number of conflicting nodes in the loaded section increases or remains unchanged after the update, the AGV300 will be controlled to travel at the preset speed and will stop and wait 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 information of the AGV 300 assigned to the transfer task of the conflicting station, obtain the conflicting AGV 300, and obtain the current position information of the conflicting AGV 300. 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 AGV 300.

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

[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] Obtain 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 movement speed and direction, and to predict the pedestrian's movement 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 the AGV300 to resolve the conflict state.

[0070] This embodiment also provides a vehicle body inspection and transfer AGV system, including: an 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 multiple storage platforms, each of which includes multiple storage locations for storing AGVs 300, and a positioning device is arranged at each storage location;

[0072] The lifting device 200 is arranged 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 location;

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

[0075] By setting up a three-dimensional storage rack 100 and installing 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, 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 installed on each storage platform and electrically connected to the dispatching system 600. The monitoring device 500 can monitor the conditions within the three-dimensional storage rack 100 in real time. If the vehicle transfer AGV 300 or the automatic charging device 400 experiences an abnormality, the monitoring device 500 issues a command to the dispatching system 600 and generates an alarm.

[0078] As an optional embodiment, the lifting device 200 is provided 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 laterally to the storage position on either side.

[0079] As an optional embodiment, a shell can be provided around the three-dimensional storage rack 100. The shell provides a relatively sealed protective space for the three-dimensional storage rack 100, achieving the purpose of waterproof and dustproof, protecting the vehicle transfer AGV 300 and the charging device 400, and improving the aesthetics.

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

[0081] Obtaining the remaining power information and task information of the AGV 300 and determining whether a 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 based on the remaining power information;

[0082] The first preset condition is that the current remaining power of AGV300 is lower than the preset value or there is no new task to be assigned at present; if the remaining power of 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 storage location of each storage platform to the lifting device 200 is a one-way street, the scheduling system 600 needs to assign a charging location to 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. 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 assignment module 710 is configured to obtain task information, including task station information and task path information, calculate the power consumption requirement of the operation based on the task information, and select the operating AGV 300 to perform the transfer task based on the power consumption requirement and the location 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 status of the components at 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 AGV 300 in executing the task at the preset speed based on the node occupation position and 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 driving speed of the operation AGV300 is adjusted according to the conflict node segments to obtain the control strategy of the operation AGV300.

[0091] Example 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 be referenced 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 scheduling device 800 of the vehicle body inspection and transfer AGV system to complete all or part of the steps in the scheduling method of the vehicle body inspection and transfer AGV system described above. The memory 802 is used to store various types of data to support the operation of the scheduling device 800 of the vehicle body inspection and transfer AGV system. This data may include, for example, instructions for any application or method operating on the scheduling device 800 of the vehicle body inspection and transfer AGV system, as well as application-related data such as contact information, 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, magnetic 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 transmitted 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 a keyboard, a mouse, 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 (ASIC), digital signal processors (DSP), digital signal processing devices (DSPD), programmable logic devices (PLD), field programmable gate arrays (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 further provided. When executed by a processor, the program instructions implement the steps of the above-described method for scheduling a vehicle body inspection and transfer AGV system. For example, the computer-readable storage medium may be the aforementioned memory 802 including the program instructions. 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 implement the above-described method for scheduling a vehicle body inspection and transfer AGV system.

[0097] Example 4:

[0098] Corresponding to the above method embodiment, this embodiment further provides a readable storage medium. 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-mentioned method embodiment.

[0100] The readable storage medium may specifically be any readable storage medium that can store program code, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

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

Claims

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

2. The scheduling method of the vehicle body inspection and transfer AGV system according to claim 1 is 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 sections to which the conflicting nodes belong according to the locations and conflicting time zones of the conflicting nodes, wherein the road sections include unloaded sections and loaded sections; Adjusting the speed of the working AGV on the empty road section to different optimized speeds according to preset speed increments, wherein the optimized speed is less than the maximum speed limit, and the working AGV passes the conflict node without stopping when traveling at the optimized speed on the empty road section; Update the conflict nodes of the loaded section according to the adjusted different optimized speeds, compare the number of conflict nodes of the loaded section before and after the update, and if the number of conflict nodes of the loaded section is reduced 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 scheduling 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 workstations along 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 workstations along the path; Generate new task information based on the workstation to be transferred and update the task list of the conflicting AGV.

4. The method for dispatching the vehicle body inspection and transfer AGV system according to claim 1, characterized in that: The method further comprises: Obtain 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 movement speed and direction, and to predict the pedestrian's movement path information and pedestrian conflict information; According to the pedestrian movement path information and pedestrian conflict information, the PID algorithm is used to control the AGV's travel speed 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 of the operation power consumption requirement based on the task information includes: Calculate the AGV's operating distance based on 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 using a first prediction model according to the operation progress information; The number of emergency braking times is obtained based on 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 method for dispatching the vehicle body inspection and transfer AGV system according to claim 1, 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; The component status information is compared with the component processing stage table of the workstation to determine the stage time and total operation time corresponding to the component status, and obtain the operation progress information; the component processing stage table is constructed to arrange the historical component status in time series.

7. The method for dispatching the vehicle body inspection and transfer AGV system according to claim 1, 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 multiple storage locations for storing AGVs; A lifting device, the lifting device is provided 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 a second preset condition is met, and if so, issuing a charging instruction to the AGV and allocating a storage location for the AGV based on the remaining power information; The lifting operation information is obtained, wherein the lifting operation information includes the number of the AGV to be charged currently, the storage location allocated to the AGV is queried according to the 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, 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 AGV position information; The process identification module is used to obtain the operation process information of each workstation by visually identifying the status of the components at each workstation; The node prediction module is used to obtain the workstations along the task path based on the task path information, and predict the node occupancy position and node occupancy time on the task path based on the operation progress information of the workstations along the task path; A conflict identification module identifies, based on the node occupation position and node occupation time, the conflicting nodes of the working AGV executing the current task at a preset speed and determines the corresponding conflicting workstations, 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 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 driving speed of the working AGV is adjusted according to the conflicting node segments to obtain the control strategy of the working 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 inspection 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 according to any one of claims 1 to 7.

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