Multi-AGV task distribution method and device, electronic equipment and storage medium

Abstract

The invention relates to the technical field of workshop logistics distribution, in particular to a multi-AGV task distribution method and device, electronic equipment and a storage medium, by calculating the total time consumption of all to-be-processed materials in each processing procedure in real time, processing equipment with the least time consumption in each procedure is found out and forms a task chain, and when upstream equipment cannot provide materials for the downstream in time, the processing equipment is not required to provide materials for the downstream in time; the task between the upstream equipment and the downstream equipment is interrupted, the nearest cache is searched, materials are supplied to the downstream equipment, and execution is continued according to the task chain. According to the task chain, the task is issued to the AGV, the allocation AGV directly distributes the upstream output material to the downstream process corresponding machine equipment, a large number of AGV scheduling task routes from cache to the corresponding process equipment are saved, cache removing tasks are reduced, and the AGV carrying efficiency is improved; and continuous circulating processing can be carried out among the working procedures, so that bin explosion, material shortage and material stacking of working procedure equipment can be avoided, the workshop output rate is increased, and the productivity maximization of a photovoltaic cell workshop is realized.

Description

Technical Field

[0001] The present invention relates to the technical field of workshop logistics distribution, and in particular to a multi-AGV task dispatching method, device, electronic equipment and storage medium. Background Art

[0002] The photovoltaic cell production and manufacturing workshop realizes automated operation based on the AGV's movable carrier handling system. The handling system includes a handling server, a movable carrier and an AGV. The handling server is responsible for assigning tasks to the AGV, scheduling the AGV to transport the designated movable carrier from the upstream to the downstream of the process equipment, or from the cache (storage station) of the corresponding process to the process equipment of the process, so as to realize the flow of materials between the process processing equipment and cache of different processes, and complete the processing of photovoltaic cells on different process equipment.

[0003] The raw material silicon wafers need to go through multiple processes to be processed into solar cells. There are multiple similar processing equipment in each process. Due to equipment failures and downtime, it is easy for the production capacity between upstream and downstream processes to be difficult to connect and match, resulting in local material shortages, process equipment overload, and serious buffer material accumulation, which affects the production capacity of photovoltaic cell production workshops.

[0004] In the prior art, AGVs are usually deployed to transport upstream output materials to equipment or caches (storage stations) in downstream processes. When the machine equipment in the downstream process needs to be supplied with materials, AGVs are deployed to transport the materials in the corresponding cache to the corresponding machine equipment. This task dispatching strategy only determines whether the corresponding equipment needs materials at the current moment, and does not need to send them directly to the cache. It does not consider the direct matching relationship between upstream and downstream, which will cause a large amount of upstream materials to pass through the cache and then to the downstream process equipment, generating a large number of invalid tasks.

[0005] In order to solve the problem of material shortage in local process equipment, the existing technology increases the number of AGVs and movable carriers to increase throughput to cope with huge tasks in a short time. However, after solving the short-term tasks, the AGVs and movable carriers are idle, resulting in low overall utilization of AGVs and movable carriers. In addition, too many AGVs and movable carriers can easily lead to congestion or even blockage of workshop production capacity. Too many AGVs and movable carriers require more road resources and factory placement space, resulting in a waste of resources. Therefore, how to improve the handling efficiency of AGVs, reduce the number of movable carriers used for handling, maintain process equipment from bursting, and continuously recycle materials between processes to maximize the production capacity of photovoltaic cell workshops has always been a problem that has plagued the industry.

[0006] Based on the problems in the prior art, the present invention provides a multi-AGV task dispatching method, device, electronic device and storage medium. Summary of the invention

[0007] The purpose of the present invention is to provide a multi-AGV task dispatching method, device, electronic device and storage medium to solve the technical problems in the prior art, such as the explosion of workshop process equipment and serious buffer material accumulation, which lead to low workshop output efficiency.

[0008] The technical solution of the present invention is: a multi-AGV task dispatching method, comprising:

[0009] Obtain in real time the time it takes for process equipment in all processes to cache materials to be processed; the equipment with the shortest total processing time is the equipment that first generates demand tasks in the corresponding process;

[0010] According to the order of material circulation routes, the equipment that first generates demand tasks in each process is sorted to build a task chain;

[0011] Split out the task starting position of each task device in the task chain, form a group of tasks between the task devices of adjacent processes, and estimate the time required to complete each task;

[0012] According to the time consumption of the upstream task and the total processing time consumption of all the downstream materials to be processed, it is judged whether the materials of the corresponding equipment of the upstream process can meet the material supply demand of the corresponding equipment of the downstream process. If it can be satisfied, the corresponding task is a feasible task; if it cannot be satisfied, the corresponding task is an infeasible task;

[0013] Plan the off-chain branch line for the infeasible task. If the off-chain branch line can meet the task, the corresponding task equipment will be removed from the task chain. If the off-chain branch line cannot meet the infeasible task, the task equipment corresponding to the infeasible task will be retained, the task chain will be cut off, and the task will be turned into executable.

[0014] Before the task is issued, pre-schedule the idle AGV to the area where the equipment that will generate the task is located;

[0015] Send the tasks planned in the task chain to the AGV car scheduling system.

[0016] Preferably, the time taken by the process equipment of the process to cache the materials to be processed includes the time taken by the process equipment to cache the materials to be processed in the material inlet and outlet device and the time taken by the process equipment to cache the materials to be processed on the material inlet and outlet shuttle vehicle;

[0017] The total processing time is expressed as the sum of the time spent on caching the materials to be processed in the inlet and outlet devices of the process equipment in each process step and the time spent on the materials to be processed on the inlet and outlet docking vehicle of the equipment.

[0018] Preferably, in a group of tasks, the discharge port of the upstream process equipment is the starting point of the task, and the feed port of the downstream process equipment is the end point of the task.

[0019] Preferably, the method of adopting off-chain branch planning for infeasible tasks is:

[0020] For the corresponding equipment of the corresponding process of the infeasible task in the task chain, find the nearest cache storage station that has the materials required by the corresponding equipment, and generate an AGV docking task with the nearest cache storage station as the starting point and the corresponding equipment as the target point;

[0021] If all cache storage stations do not have the required materials for the corresponding equipment, the corresponding equipment will remain in the task chain, interrupt the task chain, and wait for the upstream process equipment to produce the materials required by the downstream equipment.

[0022] A multi-AGV task dispatching device, used to implement the multi-AGV task dispatching method, comprising:

[0023] The working time detection module monitors the time spent on the materials to be processed in the material inlet and outlet devices of the process equipment and the materials to be processed on the equipment material inlet and outlet shuttle vehicles;

[0024] The task time calculation module is used to calculate the total time consumed by the process equipment to process the materials, as well as the time consumed by each group of tasks in the task chain;

[0025] The judgment module determines the process equipment with the smallest total time consumption according to the total time consumption result calculated by the task time consumption calculation module, and judges whether the task equipment corresponding to the upstream process meets the material requirements of the downstream task equipment according to the task time consumption time obtained by the task time consumption calculation module;

[0026] The task chain module builds a task chain for the processing equipment with the smallest total time consumption according to the equipment material circulation route;

[0027] The task chain planning module determines the type of each task in the task chain based on the output result of the judgment module, whether it is a feasible task or an infeasible task;

[0028] The branch line planning module generates new tasks for the task equipment corresponding to the infeasible tasks removed from the task chain;

[0029] The AGV task dispatching module generates the task route according to the planning contents of the task chain planning module and the branch line planning module, and sends the task route to the AGV car dispatching system.

[0030] Preferably, the task equipment corresponding to the infeasible task is retained in the task chain, and the task chain is directly cut off to form a sequence of all feasible tasks before the task equipment corresponding to the infeasible task. The idle AGV is dispatched to the area where the equipment input and output ports where the task will be generated are located, and the task is sent to the AGV car scheduling system.

[0031] An electronic device comprises a processor and a memory, wherein the memory stores at least one instruction or at least one program, and the at least one instruction or at least one program is loaded and executed by the processor to implement the multi-AGV task dispatching method.

[0032] A computer-readable storage medium stores at least one instruction or at least one program, and the at least one instruction or the at least one program is loaded and executed by a processor to implement the multi-AGV task dispatching method.

[0033] Compared with the prior art, the advantages of the present invention are:

[0034] The present invention provides an AGV scheduling method and device, which are applied to the scheduling server in the AGV handling system of a photovoltaic cell workshop. The method calculates the total time consumption of all materials to be processed in each processing procedure in real time, finds the processing equipment with the least time consumption in each process, and builds a task chain according to the process flow sequence. When the upstream equipment cannot provide materials to the downstream in time, the task in the task chain is interrupted, the nearest cache is found, the downstream equipment is supplied with materials, and the task chain continues to be executed.

[0035] Compared with the existing technology, tasks are sent to AGVs according to the task chain, and AGVs are deployed to deliver materials produced upstream directly to the corresponding machines and equipment in the downstream process, saving a large number of AGV scheduling task routes from the cache to the corresponding process equipment, which can improve the handling efficiency of AGV carts, reduce de-caching tasks, and reduce the handling cost of the movable carrier handling system; and tasks are distributed according to the task chain, and continuous cyclic processing can be achieved between processes, which can keep the process equipment from being overloaded, lacking materials, and piling up materials, thereby improving the output rate of the workshop and maximizing the production capacity of the photovoltaic cell workshop. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] The present invention will be further described below in conjunction with the accompanying drawings and embodiments:

[0037] Figure 1 This is a logic flow chart of the multi-AGV task dispatching method of the present invention;

[0038] Figure 2 It is a schematic plan view of the distribution of the photovoltaic cell workshop process equipment of the present invention;

[0039] Figure 3 This is a schematic diagram of the task chain structure of the present invention;

[0040] Figure 4 A schematic diagram of a task chain for generating new tasks by cutting off infeasible tasks according to the present invention;

[0041] Figure 5This is a module diagram of the multi-AGV task dispatching system of the present invention;

[0042] Figure 6 The figure is a schematic diagram of the structure of an electronic device described in the present invention. DETAILED DESCRIPTION

[0043] The present invention is further described in detail below in conjunction with specific embodiments:

[0044] The AGV handling system in a photovoltaic cell workshop includes: AGV, movable carriers, photovoltaic cell processing equipment, and temporary storage areas between processes. The purpose of the present invention is to provide a multi-AGV task dispatching method and device, which is applied to the scheduling server in the AGV handling system in a photovoltaic cell workshop, to improve the handling efficiency of the AGV in the photovoltaic cell workshop, to reduce the number of handling AGVs and movable carriers used, and to maximize the production capacity of the photovoltaic cell workshop.

[0045] See attached Figure 1 , which shows a flowchart of a multi-AGV task dispatching method provided by an embodiment of the present invention. This specification provides method operation steps as described in the embodiment or flowchart, but may include more or fewer operation steps based on conventional or non-creative labor. The order of steps listed in the embodiment is only one way of executing the steps among many, and does not represent the only execution order. When the actual system or server product is executed, it can be executed in the order of the method shown in the embodiment or the accompanying drawings. Specifically, Figure 1 As shown, the multi-AGV task dispatching method of the photovoltaic cell workshop includes:

[0046] Step 1: Obtain the real-time data of each process equipment M in the workshop from the upper monitoring system ij The time it takes to cache the materials to be processed in the feeding and discharging device is t Mij The processing time t of the materials to be processed on the material transfer vehicle (AGV) corresponding to each process equipment ij .

[0047] Real-time calculation of each process equipment M in the workshop ij The material to be processed is cached in the feeding and discharging device. The processing time is t Mij , The processing time of the materials to be processed on the equipment inlet and outlet material transfer vehicle (AGV) t ij The total processing time of the two is t Sij , the total processing time of all materials to be processed in each processing equipment, that is, t Sij =t Mij +t ij .

[0048] Among them, the subscripts i and j are both positive integers, i represents the i-th process; j represents the j-th equipment in a certain process.

[0049] Step 2: Find the minimum total processing time of the materials to be processed in the buffer of the inlet and outlet devices of the process equipment and the materials to be processed on the inlet and outlet docking vehicle of the equipment in each process. Corresponding equipment That is, it is the equipment that first generates the required tasks in the process, among which, The subscript i is a positive integer, representing the i-th process.

[0050] In step 2, different criteria can be selected to determine the equipment with the shortest processing time according to different production requirements and priorities. For example, factors such as equipment stability and failure rate can be considered, and the equipment that generates the required tasks first can be determined after comprehensive evaluation, rather than just limited to the processing time.

[0051] Step 3, based on the material circulation route defined by the production process, construct the equipment that first generates tasks in each process into a task chain L. For each task on the task chain, it is set that: the discharge port of the upstream equipment is the starting point of the task, and the feed port of the downstream equipment is the end point of the task.

[0052] There are multiple similar processing equipment in each process. The materials processed in the upstream process are used as raw materials and transported to the downstream process by AGV carts for feeding. The equipment that completes material processing first in each process is found and arranged in the order of the processes to form an AGV task chain L, which helps to quickly schedule the material supply cycle between processes.

[0053] like Figure 2 As shown in the figure, a distribution diagram of process equipment in each process of a photovoltaic cell workshop is shown in the figure. According to the material processing cycle route, the task chain L constructed by the process equipment that first generates task requirements is shown in the figure. Figure 3 As shown, there are n processes in total.

[0054] Step 4: According to the established task chain, split the task starting position of each device in the task chain, estimate the time taken to complete each task, and calculate the time taken to complete each task according to the task time t i Determine whether the materials of the upstream process equipment can meet the material supply needs of the downstream equipment. That is, if a task of processing a material in an upstream process takes time t i Greater than the total processing time of the materials to be processed in the feed and discharge devices of the downstream process equipment of this process and the materials to be processed on the feed and discharge connection vehicles of the equipment Right now: The task is considered to be an infeasible task, that is, the materials of the upstream process equipment cannot meet the material supply demand of the process equipment in this process.

[0055] When calculating the time taken for a task, you also need to consider factors such as equipment failure and downtime, and comprehensively evaluate the time taken to complete each task.

[0056] Each feasible task in the task chain eliminates the task branch line transferred from the cache, and directly delivers the materials produced upstream to the equipment that first generates material demand in the downstream process, simplifying the AGV scheduling algorithm process and improving efficiency.

[0057] Step 5: When there is an infeasible task in task chain L, cut off the corresponding equipment of the upstream process in the task chain. Transport to the corresponding equipment in the downstream process This AGV is not feasible to transport tasks, and find the nearest cache station C k The cache (storage station) on the cache (station) generates k From the starting point to the downstream device Scheduling tasks for AGVs at target points, such as Figure 4 As shown, in order to ensure that the equipment is not short of materials as much as possible.

[0058] If there is no upstream material for the corresponding equipment in all caches (storage stations), the corresponding equipment will remain in task chain L, interrupt task chain L, and wait for the upstream process equipment to produce the materials required by the downstream equipment.

[0059] Step 6: Before the task is issued, pre-schedule the idle AGV to the vicinity of the material inlet and outlet of the equipment where the task will be generated to avoid task timeout due to the idle AGV being far away from the task target point.

[0060] Step 7: Send the tasks in the task chain planned in steps 1 to 6 to the AGV scheduling system.

[0061] Compared with the prior art, the AGV task dispatching method provided by the embodiment of the present invention constructs a task chain by paying real-time attention to the equipment processing time status in the workshop process.

[0062] In the constructed task chain, refer to the attached Figure 2 , and combined with the attached Figure 3 As shown, in the processing area of ​​a process, multiple machines are configured, all of which execute the process tasks of this process. If the required materials of the equipment that first generates material demand are met, the process will always be in a state of not being overstocked, and the output materials will be able to be smoothly transported to the downstream process, and so on for all other processes. In addition, when an unexecutable task appears in part of the task chain, the material in the cache is temporarily replenished so that the task chain can continue to be executed, keeping all processes from being overstocked and enabling continuous cyclic processing.

[0063] Therefore, tasks are sent to AGVs according to the task chain, and AGVs are deployed to deliver materials produced upstream directly to the corresponding machines and equipment in the downstream process, saving a large number of AGV scheduling task routes from the cache to the corresponding process equipment, improving efficiency, and distributing tasks according to the task chain. Continuous cycle processing can be achieved between processes, which can ensure that the process equipment is not overloaded, lacks materials, or piled up, thereby improving the output rate of the workshop and maximizing the workshop capacity.

[0064] The embodiment of the present invention provides a device for implementing the above-mentioned multi-AGV task dispatching method, such as Figure 5 As shown, it includes a task chain node query module, a task chain module and a task dispatch module.

[0065] Among them, the task chain node query module includes a monitoring unit, a calculation unit and a judgment output unit. The monitoring unit monitors in real time to obtain the time consumed for caching the materials to be processed in the inlet and outlet devices of each process equipment and the time consumed for the materials to be processed on the inlet and outlet shuttle vehicle of the equipment; the calculation unit calculates in real time the total processing time consumed for the materials to be processed cached in the inlet and outlet devices of each process equipment and the materials to be processed on the inlet and outlet shuttle vehicle of the equipment; the judgment output unit determines the device with the smallest total processing time consumed for the materials to be processed cached in the inlet and outlet devices of each process equipment and the materials to be processed on the inlet and outlet shuttle vehicle of the equipment inlet and outlet in each process step and outputs the result to the task chain module.

[0066] The task chain module includes a generation unit, an on-chain planning unit and a branch line planning unit. The generation unit constructs the equipment that first generates tasks in each process into a task chain based on the material circulation route defined by the production process. The on-chain planning unit splits the starting position of the task for each equipment in the task chain, and sets the discharge port of the upstream equipment in the task chain as the starting point of the task, and the feed port of the downstream equipment as the end point of the task.

[0067] The time taken to complete each task is estimated and calculated. Based on the time taken, it is determined whether the materials of the upstream process equipment can meet the material supply requirements of the downstream equipment. If they can meet the requirements, it is a feasible task. If not, it is an infeasible task. The corresponding equipment of the corresponding process of the infeasible task in the task chain is cut off.

[0068] For the corresponding equipment of the process corresponding to the infeasible task in the task chain, find the upstream material of the equipment in the nearest cache, and generate a task with the cache as the starting point and the equipment as the target point. If there is no upstream material corresponding to the equipment in all caches, the equipment cannot be cut off from the task chain, and the task chain is interrupted, waiting for the upstream process equipment to produce the materials required by the downstream equipment.

[0069] The task dispatching module pre-dispatches idle AGVs to the vicinity of the material inlet and outlet of the equipment where the task will be generated before the task is issued. According to the task plan planned by the task chain module, the task is issued to the AGV car dispatching system.

[0070] An embodiment of the present invention also provides an electronic device, which includes a processor and a memory; the memory stores one or more instructions, and the one or more instructions are suitable for the processor to load and execute to implement a multi-AGV task dispatching method as described in the above method embodiment.

[0071] The memory can be used to store software programs and modules. The processor executes various functional applications and data processing by running the software programs and modules stored in the memory. The memory can mainly include a program storage area and a data storage area, wherein the program storage area can store the operating system, application programs required for the function, etc.; the data storage area can store data created according to the use of the device, etc. In addition, the memory can include a high-speed random access memory and can also include a non-volatile memory, such as at least one disk storage device, a flash memory device or other volatile solid-state storage device. Accordingly, the memory can also include a memory controller to provide the processor with access to the memory.

[0072] Figure 6 The schematic diagram of the structure of an electronic device provided in an embodiment of the present invention, the internal structure of the electronic device may include but is not limited to: a processor, a memory and a communication interface, wherein the processor, the memory and the communication interface in the electronic device may be connected through a bus or other means, and the embodiment shown in this specification Figure 6 The example of connecting through bus is taken in the following.

[0073] Among them, the processor (or CPU, Central Processing Unit, central processing unit) is the computing core and control core of the electronic device. The communication interface is used for communication between the memory and the processor. The memory is used to store programs and data. It can be understood that the memory here can be a high-speed RAM storage device or a non-volatile storage device (non-volatile memory), such as at least one disk storage device; optionally, it can also be at least one storage device located away from the aforementioned processor. The memory provides a storage space, which stores the operating system of the electronic device, which may include but is not limited to: Windows system (an operating system), Linux system (an operating system), etc., and the present invention does not limit this; and, in the storage space, a computer program (including program code) suitable for being loaded and executed by the processor is also stored. In the embodiment of this specification, the processor loads and executes the computer program stored in the memory to implement the multi-AGV task dispatching method provided in the above method embodiment.

[0074] An embodiment of the present invention also provides a computer-readable storage medium, which can be set in an electronic device to store at least one instruction, at least one program, code set or instruction set related to a multi-AGV task dispatching method in a method embodiment. The at least one instruction, at least one program, code set or instruction set can be loaded and executed by a processor of the electronic device to implement the multi-AGV task dispatching method provided in the above method embodiment.

[0075] Optionally, in this embodiment, the above-mentioned storage medium may include but is not limited to: a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk, and other media that can store program codes.

[0076] It should be noted that the sequence of the embodiments of the present invention described above is for description only and does not represent the advantages and disadvantages of the embodiments. The above describes specific embodiments of this specification, and other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the embodiments and still achieve the desired results. In addition, the processes depicted in the drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0077] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0078] Those skilled in the art will appreciate that all or part of the steps to implement the above embodiments may be accomplished by hardware, or may be accomplished by a program to instruct the relevant hardware. The program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a disk, or an optical disk, etc.

[0079] The above disclosure is only a preferred embodiment of the present invention, which certainly cannot be used to limit the scope of the present invention. Therefore, equivalent changes made according to the claims of the present invention are still within the scope of the present invention.

Claims

1. A multi-AGV task dispatching method, characterized in that: include: Obtain in real time the time it takes for process equipment in all processes to cache materials to be processed; the equipment with the shortest total processing time is the equipment that first generates demand tasks in the corresponding process; According to the order of material circulation routes, the equipment that first generates demand tasks in each process is sorted to build a task chain; Split out the task starting position of each task device in the task chain, form a group of tasks between the task devices of adjacent processes, and estimate the time required to complete each task; According to the time consumption of the upstream task and the total processing time consumption of all the downstream materials to be processed, it is judged whether the materials of the corresponding equipment of the upstream process can meet the material supply demand of the corresponding equipment of the downstream process. If it can be satisfied, the corresponding task is a feasible task; if not, the corresponding task is an infeasible task; Plan the off-chain branch line for the infeasible task. If the off-chain branch line can meet the task, the corresponding task equipment will be removed from the task chain. If the off-chain branch line cannot meet the infeasible task, the task equipment corresponding to the infeasible task will be retained, the task chain will be cut off, and the task will be turned into executable. Before the task is issued, pre-schedule the idle AGV to the area where the equipment that will generate the task is located; Send the tasks planned in the task chain to the AGV car scheduling system.

2. A multi-AGV task dispatching method according to claim 1, characterized in that: The time spent by the process equipment of the process to cache the materials to be processed includes the time spent by the process equipment to cache the materials to be processed in the inlet and outlet devices and the time spent by the equipment to cache the materials to be processed on the inlet and outlet docking vehicle; The total processing time is expressed as the sum of the time spent on caching the materials to be processed in the inlet and outlet devices of the process equipment in each process step and the time spent on the materials to be processed on the inlet and outlet docking vehicle of the equipment.

3. A multi-AGV task dispatching method according to claim 2, characterized in that: In a group of tasks, the discharge port of the upstream process equipment is the starting point of the task, and the feed port of the downstream process equipment is the end point of the task.

4. A multi-AGV task dispatching method according to claim 3, characterized in that: The method of using off-chain branch planning for infeasible tasks is: For the corresponding equipment of the corresponding process of the infeasible task in the task chain, find the nearest cache storage station that has the materials required by the corresponding equipment, and generate an AGV docking task with the nearest cache storage station as the starting point and the corresponding equipment as the target point; If all cache storage stations do not have the required materials for the corresponding equipment, the corresponding equipment will remain in the task chain, interrupt the task chain, and wait for the upstream process equipment to produce the materials required by the downstream equipment.

5. A multi-AGV task dispatching device, used to implement the multi-AGV task dispatching method according to any one of claims 1 to 4, characterized in that: include: The working time detection module monitors the time spent on the materials to be processed in the material inlet and outlet devices of the process equipment and the materials to be processed on the equipment material inlet and outlet shuttle vehicles; The task time calculation module is used to calculate the total time consumed by the process equipment to process the materials, as well as the time consumed by each group of tasks in the task chain; The judgment module determines the process equipment with the smallest total time consumption according to the total time consumption result calculated by the task time consumption calculation module, and judges whether the task equipment corresponding to the upstream process meets the material requirements of the downstream task equipment according to the task time consumption time obtained by the task time consumption calculation module; The task chain module builds a task chain for the processing equipment with the smallest total time consumption according to the equipment material circulation route; The task chain planning module determines the type of each task in the task chain based on the output result of the judgment module, whether it is a feasible task or an infeasible task; The branch line planning module generates new tasks for the task equipment corresponding to the infeasible tasks removed from the task chain; The AGV task dispatching module generates the task route according to the planning contents of the task chain planning module and the branch line planning module, and sends the task route to the AGV car dispatching system.

6. A multi-AGV task dispatching device according to claim 5, characterized in that: The task equipment corresponding to the infeasible task is retained in the task chain, and the task chain is directly cut off to form all feasible task sequences before the task equipment corresponding to the infeasible task. The idle AGV is dispatched to the area where the equipment inlet and outlet where the task is to be generated is located, and the task is sent to the AGV car scheduling system.

7. An electronic device, characterized in that: The device includes a processor and a memory, wherein the memory stores at least one instruction or at least one program, and the at least one instruction or at least one program is loaded and executed by the processor to implement the multi-AGV task dispatching method as described in any one of claims 1-4.

8. A computer-readable storage medium, characterized in that: The storage medium stores at least one instruction or at least one program, and the at least one instruction or the at least one program is loaded and executed by the processor to implement the multi-AGV task dispatching method as described in any one of claims 1-7.

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