Automatic guided vehicle scheduling method based on universal scheduling system

Abstract

The invention relates to the technical field of AGV equipment scheduling, and provides an automatic guided vehicle scheduling method based on a universal scheduling system, and the universal scheduling system is an adaptation layer software system developed based on a third-party scheduling interface. The universal scheduling system comprises an interface service program, a business interface processing layer, an adaptive interface processing layer, an AGV equipment abstraction layer and a shunting communication port. According to the invention, through a strategy of hierarchically defining interfaces of a universal scheduling system, the interface comprises a bottom abstraction layer interface, a middle instantiation interface and a high-level business-oriented layer interface, carrying or shifting instructions are executed flexibly for different types of AGV equipment, and real-time state information of the equipment is maintained; meanwhile, shunting logics of various service software of a logistics background can be better adapted; different shunting modes of an automatic guided vehicle on-site scheduling scene are summarized in a standardized mode, and a system needs to accurately judge a series of shunting conditions to send out a calling instruction so as to achieve the technical targets of consistency, accuracy, reliability and integrity of system information.

Description

Technical Field

[0001] The present invention relates to the technical field of AGV equipment scheduling, and particularly relates to a scheduling method for an automated guided vehicle based on a generalized scheduling system. Background Art

[0002] An automated guided vehicle (AGV) is an AGV device that can travel along a predefined path. It does not require manual driving and can operate autonomously in a unmanned environment. It is often used in industrial automation scenarios to achieve the goal of coordinated operation of a large number of automated guided vehicles, jointly completing parallel production tasks. By seamlessly docking equipment, customer scheduling, generalized scheduling, and logistics logic processing software, it can greatly improve production efficiency and automation level.

[0003] In the field of AGV shunting, typical pain points exist. For example, during the transportation of materials, due to AGV equipment problems, signals may be lost or equipment failures may occur, resulting in production line delays or even inability to complete production tasks normally; the AGV equipment scheduling strategy is untimely or unreasonable, which may lead to difficulties in storing materials in the warehouse due to insufficient storage space in the warehouse area, material chaos, etc.; during the transportation of the carrier, due to AGV equipment avoidance problems, conflicts may occur between on-site operators or other machines sharing the working space, bringing safety risks and the system not notifying in time; the process of mobilizing AGV equipment is unreasonable, resulting in resource waste, etc. This affects the overall performance and efficiency of the AGV system, leading to delays or even inability to complete tasks in the entire process. Summary of the Invention

[0004] In order to solve the above problems, the present invention provides the following technical solutions:

[0005] The present invention provides a scheduling method for an automated guided vehicle based on a generalized scheduling system. The generalized scheduling (GDS) system is an adaptation layer software system developed based on a third-party scheduling interface; the generalized scheduling system includes an interface service program, a service interface processing layer, an adaptation interface processing layer, an AGV equipment abstraction layer, and a shunting communication port; among them, "G" in the generalized scheduling (GDS) system is the abbreviation of generic, and various AGV scheduling interfaces of the third party are defined in a hierarchical and consistent manner.

[0006] The operation steps of the generalized scheduling (GDS) system are as follows:

[0007] Start the interface service, and the interface service program runs in the form of a background service program or is deployed by encapsulating a Java program into a container;

[0008] After the logistics system program determines that the shunting conditions are met, it officially sends a communication request to the interface service program;

[0009] The business interface processing layer defines high-level interfaces, which mainly handle and coordinate the docking requirements between the Generalized Dispatching System (GDS) and the business. For example, the processing logic related to locks is used to implement functions such as locking storage locations, locking tasks, and synchronizing transportation resources; another example is that the processing logic related to shunting can be hooked up with user-defined shunting rules to enable automatic tasks to be allocated and executed according to customer requirements. Optionally, it partially undertakes the function service interface for automatic shunting tasks. The high-level interfaces are used to define interfaces for the business layer for different scenarios; for example, preset logics before the execution of different logistics shunting tasks are given, additional lock maintenance for logistics resources, and the acquisition and maintenance of the running status of the business layer software, such as creating waybill status, AGV device starting to receive orders status, AGV device dispatching and running, the device being in a waiting state, the device pausing and not receiving orders, the shunting task completion status, and the device stopping due to manual termination of the waybill. These several key statuses are uniformly maintained to ensure the continuity of the entire system operation.

[0010] The adaptation interface processing layer obtains the AGV device status definition instantiation interface and obtains detailed information on the running status of the adapted business; the instantiation interface is used to define the specific corresponding status of the clear abstraction layer, derive the normal running status or abnormal running status, and provide real-time feedback of the business status code to facilitate reporting and correcting various problems in the shunting logic path; and maintain the working status set of the AGV device, and give the corresponding working status description according to the device status code; the instantiation interface is defined for adapting the shunting logic of various service software in the logistics background for different logistics characteristics, and it is the instantiation interface of the abstraction layer; logistics characteristics mainly refer to characteristics related to the business, such as inventory control, storage location management, device transportation direction, source storage location and target storage location for transportation, transportation time, type of AGV device used, etc.

[0011] The AGV device abstraction layer provides a unified dispatching interface for different types of AGV devices. This dispatching interface is an abstraction layer interface, and the discrete state information of the AGV device at the current location is obtained through the abstraction layer interface;

[0012] The abstraction layer interface is used to flexibly issue and parse point-to-point displacement commands to different types of AGV devices at the logistics site, and at the same time maintain the real-time status information of the devices; the status information includes the created (CREATED) status, running (RUNNING) status, waiting (WAITING) status, suspended status (SUSPENDED), completed status (FINISHED), terminated status (STOPPED), to-be-dispatched status (TOBEDISPATCHED), and failed status (FAILED);

[0013] The shunting communication port is used for obtaining, querying, issuing tasks, monitoring status, etc. through the HTTP communication interface; when the AGV equipment fails or abnormalities occur, the MQTT communication interface needs to report the message in time. In addition, the shunting communication port is also used for timely pushing or reporting of GDS information other than AGV equipment, such as warning messages, error messages, system abnormality messages, etc.

[0014] The AGV equipment receives the assigned tasks or waybills through high-level interfaces, key adapter interfaces, and shunting communication ports layer by layer or across layers, and checks the execution status through the AGV equipment dispatching system;

[0015] During the operation of the AGV equipment, the high-level interface, shunting communication port, abstract layer interface or instantiation interface is continuously called directly or indirectly on demand to obtain detailed equipment or system operation status, so as to achieve the goal of real-time and accurate monitoring of the operation status of the AGV equipment.

[0016] Furthermore, the scheduling method includes:

[0017] The user enters the vehicle information through the terminal device and obtains the dynamic information of the logistics activity (Context) through the dialogue. The logistics logic module corresponding to the required process determines whether the vehicle is located at the source warehouse; if not, a prompt message is issued; the vehicle information includes the vehicle number, capacity and size attribute information, whether the vehicle and warehouse are bound, the vehicle number, whether the vehicle is empty, whether the vehicle is full, whether the vehicle is transported by AGV, whether the vehicle is sent to the destination, and whether the original binding is released and a new binding is generated, etc.

[0018] If the carrier is in the source storage location, it searches one or more target storage locations to see if there are any empty locations to place the carrier; if not, a prompt message is issued;

[0019] When it is determined that the carrier is in the source storage location and there is an empty storage location in the target storage area, the source storage location and the target storage location are locked by calling the high-level interface. After locking, the instantiated interface is called to issue a shunting instruction for the outbound AGV equipment, and the corresponding status is fed back through the instantiated interface;

[0020] After receiving the shift instruction, the AGV device receives the waybill from the source warehouse to the target warehouse. During the execution of the task, the monitoring mechanism is activated to detect the health status of the AGV device in real time. If the task fails, prompt information is sent in time and the possible reasons for failure are notified. Task failure includes abnormal AGV device status and factors other than the device, such as manual intervention to change the task status.

[0021] After the AGV equipment arrives at the target storage location, it updates the completion status of the shunting task through the abstract layer interface or instantiation interface, unlocks the source storage location and the target storage location by calling the business layer interface, rebinds the vehicle and storage location information, and finally sends a message to the terminal indicating that the task has been successfully completed.

[0022] Furthermore, the scheduling method includes:

[0023] The user enters the vehicle information through the terminal device and obtains the dynamic information of the logistics activity (Context) through the dialogue. The logistics logic module corresponding to the required process determines whether the vehicle is placed in the source storage location and whether there is an empty position in one or more target storage locations; if not, a prompt message is issued; the vehicle information includes the vehicle number, capacity and size attribute information, whether the vehicle and the storage location are bound, the vehicle number, whether the vehicle is vacant, whether the vehicle is empty, whether the vehicle is full, whether the vehicle is transported by the AGV equipment, whether the vehicle is sent to the destination to release the original binding and generate a new binding, etc.

[0024] If there is an empty position for the carrier at the source storage location and the target storage location, the source storage location and the target storage location are locked by calling the high-level interface. After locking, the instantiated interface is called to issue the outbound AGV equipment shunting instruction, and the corresponding status is fed back through the instantiated interface;

[0025] After receiving the shift instruction, the AGV device receives the waybill from the source warehouse to the target warehouse; during the execution of the task by the AGV device, the outbound monitor is started, and the monitor manager is started immediately at the same time. Then the monitor manager determines whether to start the return monitor according to whether the outbound monitor is exited and the current operating status information of the AGV device, so as to continue to monitor the operating status of the AGV device on the return journey; if the task fails, prompt information is sent in time and the possible reasons for failure are notified; task failure includes abnormal AGV device status and factors other than the device, such as manual intervention to change the task status;

[0026] After the AGV equipment arrives at the target storage location, it updates the completion status of the shunting task through the abstract layer interface or instantiation interface, unlocks the source storage location and the target storage location by calling the business layer interface, and rebinds the vehicle and storage location information;

[0027] After the AGV equipment completes the outbound mission, the logistics logic module corresponding to the required process checks whether there are empty carriers in other storage locations in the same storage area as the target storage location and whether there are currently empty storage locations in the outbound source storage location; if not, a prompt message is sent and the reason for failure is given; if so,

[0028] The source and target storage locations are locked by calling the high-level interface. After locking, the instantiated interface is called to issue a return AGV equipment shunting instruction, and the corresponding status is fed back through the instantiated interface.

[0029] After the AGV device receives the shifting instruction, it receives the waybill from the target storage location to the source storage location. During the execution of the task by the AGV device, the monitor manager starts the return journey monitor to detect the health status of the AGV device in real time. If the task fails, prompt information is sent in a timely manner and the possible reasons for the failure are announced. Task failure includes abnormal status of the AGV device and factors other than the device, such as manual intervention changing the task status.

[0030] After the AGV device arrives at the source storage location, it updates the completion status of the shunting task through the abstraction layer interface or the instantiation interface, unlocks the source storage location and the target storage location by calling the business layer interface, and rebinds the vehicle and storage location information. Finally, it sends a message indicating that the task has been successfully completed to the terminal.

[0031] Furthermore, the scheduling method includes:

[0032] The user triggers the information of transporting an empty vehicle / full vehicle through the terminal device, obtains the dynamic information of the logistics activity (Context) through a dialogue method, and the logistics logic module corresponding to the required process determines whether there is an empty source storage location in the storage area at the process position where the current task is issued. If not, prompt information is sent.

[0033] If there is an empty source storage location, continue to retrieve whether there is an empty vehicle / full vehicle placed in one or more target storage area locations. If not, prompt information is sent.

[0034] When it is determined that the empty vehicle is in the target storage area location, the source storage location and the target storage location will be locked by calling the High-Level interface, a shunting instruction for the outbound AGV device will be sent, and the corresponding status will be fed back through the instantiation interface.

[0035] After the AGV device receives the shifting instruction, it receives the waybill from the target storage location to the source storage location. During the execution of the task by the AGV device, the monitor mechanism is started to detect the health status of the AGV device in real time. If the task fails, prompt information is sent in a timely manner and the possible reasons for the failure are announced. Task failure includes abnormal status of the AGV device and factors other than the device, such as manual intervention changing the task status.

[0036] After the AGV device arrives at the target storage location, it updates the completion status of the shunting task through the abstraction layer interface or the instantiation interface, unlocks the source storage location and the target storage location by calling the business layer interface, rebinds the vehicle and storage location information, and finally sends a message indicating that the task has been successfully completed to the terminal.

[0037] Furthermore, the logistics logic module includes many logistics system service customization modules related to processes or storage locations, such as the upper PIN logic module, the upper PIN call material logic module, the board out (BRD) logic module, the open stock (OPN) call carrier logic module, the open stock (OPN) logic module, the lamination logic module, the lamination (PRE) call material logic module, the PTH station logic module, the PTH station call material logic module, the storage location lock or task mutual exclusion logic module, the panel grinding (GRD) logic module, etc.

[0038] Furthermore, the monitor mechanism includes the monitoring thread of the outbound vehicle and the monitoring thread of the inbound vehicle. The execution result of the outbound vehicle or the return judgment condition determines whether the monitoring thread of the inbound vehicle exits. Specifically, when the AGV device fails or is abnormal or the return task is completed, the monitor obtains the status through the instantiation interface and then the monitoring thread of the inbound vehicle exits. During the entire task execution of the inbound vehicle, the monitoring thread always remains in the running state.

[0039] The normal operation of the monitor thread is to monitor the operating parameters of the AGV device through the monitor, so as to judge whether the AGV device is in a normal operating state. Once the monitor fails to operate healthily, the system issues a corresponding notice message after exiting.

[0040] The operating parameters include the current operating state of the AGV, the judgment of the presence or absence of the carrier at the source storage location, the presence or absence of an empty space at the target storage location, whether the outbound journey is successfully completed, whether the return status of the general dispatch GDS is normal, and whether the storage location is locked.

[0041] Furthermore, during the task execution of the AGV device, if it encounters abnormal situations, such as stopping due to obstacles, etc., it obtains the current changed state, such as the state of the transported goods stopped (STOPPED_Go), through the instantiation interface, and then the logistics logic processing software translates it into a status code and reports it to the terminal software, or through manual intervention, so as to restore the AGV device to the normal working state. At the same time, the monitor monitors the AGV device to quickly switch from the stopped state to the normal operating state, and finally updates the status of the shunting task completion through the abstract layer interface or the instantiation interface after reaching the destination site, ensuring the smooth progress of the shunting task.

[0042] The present invention has the following beneficial effects:

[0043] (1) By adopting the strategy of hierarchically defining interfaces for the general dispatch system in the present invention, including the underlying abstract layer interface, the intermediate instantiation interface, and the high-level business-oriented interface, it can flexibly face different types of AGV devices to execute handling or shifting instructions and maintain the real-time status information of the devices, while better adapting to the shunting logic of various service software in the logistics background.

[0044] (2) The present invention overcomes the limitations of the interfaces of third-party AGV device scheduling software (RCS), such as unfriendly accessibility, poor compatibility of communication standards and protocols, lack of interfaces, etc., and defines a unified software system-level adaptation layer interface or a generalized scheduling system to bridge the gap between the third-party scheduling interface and the on-site usage system;

[0045] (3) The present invention summarizes the different vehicle-shifting methods in the on-site scheduling scenario of the automated guided vehicle in a standardized manner. The system needs to accurately judge a series of vehicle-shifting conditions before issuing a call instruction to achieve the technical goals of system information consistency, accuracy, reliability, and integrity, such as whether the vehicle is at the source storage location, whether there is an empty space at the target storage location, etc. After meeting the conditions, operations such as locking the storage location, sending a vehicle-shifting instruction, real-time detecting the health status of the AGV device, handling different states of the AGV device, updating the task completion status, unlocking the storage location, and re-binding the vehicle and storage location information are performed to confirm the goal of system information consistency. Description of the Drawings

[0046] Figure 1 It is a schematic model diagram of the generalized scheduling (GDS) system in Embodiment 1.

[0047] Figure 2 It is a vehicle-shifting schematic diagram in Embodiment 2.

[0048] Figure 3 It is a vehicle-shifting schematic diagram in Embodiment 3.

[0049] Figure 4 It is a vehicle-shifting schematic diagram in Embodiment 4.

[0050] Figure 5 It is a vehicle-shifting schematic diagram in Embodiment 5.

[0051] Figure 6 It is a vehicle-shifting schematic diagram in Embodiment 6.

[0052] Figure 7 It is an implementation framework diagram of the business flow designer in Embodiment 7. Detailed Embodiments

[0053] The following makes a detailed description of the specific embodiments of the present invention in conjunction with the accompanying drawings. It should be noted that the embodiments are only specific elaborations of the invention and should not be regarded as limitations of the invention. The purpose of the embodiments is to enable those skilled in the art to better understand and reproduce the technical solutions of the present invention. The protection scope of the present invention should still be subject to the scope defined by the claims.

[0054] The logistics software industry often involves the dynamic migration of various logistics resources at the logistics site to coordinate the operation of the entire production or warehousing process. In production logistics, the storage location of raw materials may be dynamically adjusted according to the needs of the production schedule. When a production line is in urgent need of specific raw materials, the logistics software can quickly dispatch handling equipment to quickly transfer the required raw materials from the current storage location to the vicinity of the production line to ensure the continuity of production. For example, there are hard requirements such as transporting empty carriers, picking up fully loaded carriers, coordinating material transport tools with empty carriers, and coordinating empty carriers with material picking tools. For this reason, the present invention proposes an automatic guided vehicle scheduling specification from the perspective of logistics system software to help the evolution and development of logistics industry software.

[0055] According to the route of AGV equipment when performing tasks, shunting specifications can be divided into one-way vehicle dispatching and two-way vehicle dispatching; according to the shunting direction, this specification is divided into Class I shunting and Class II shunting; among them, Class I shunting is defined as forward transportation, that is, sending one-way or two-way AGV equipment from the source (the user's warehouse location) to the target location to transport materials or empty vehicles; Class II shunting is defined as reverse transportation, that is, sending one-way or two-way AGV equipment from the target (related to the warehouse location of the vehicle or material) location to the source location (the user's warehouse location) to transport materials or empty vehicles; therefore, the shunting specifications provided by the present invention are defined as several combinations of Class I one-way single location, Class I one-way multiple locations, Class I two-way single location, Class I two-way multiple locations, Class II one-way single location, Class II one-way multiple locations, Class II multiple-way single location and Class II two-way multiple locations. According to the complexity requirements of the business scenario, the application of more than three routes to the shunting specification combination of this patent should fall within the scope of the description of the present invention.

[0056] Example 1

[0057] The present embodiment provides a generalized dispatching (GDS) system, which is an adaptation layer software system developed based on a third-party dispatching interface; wherein, the "G" in the generalized dispatching (GDS) system is an abbreviation of generic, by defining various types of third-party AGV dispatching interfaces in a hierarchical and consistent manner. The dispatching software layer of third-party equipment is highly targeted in the design of dispatching interfaces. Often, the interfaces developed by equipment providers based on the characteristics of their own equipment have certain limitations, such as unfriendly system accessibility, poor communication standards and protocol compatibility, missing interfaces and other problems. Therefore, for different customer AGV equipment dispatching layer software, it is necessary to define a unified software system-level adaptation layer interface to fill the gap between the third-party dispatching interface and the on-site use system. The generalized dispatching system includes an interface service program, a business interface processing layer, an adaptation interface processing layer, an AGV equipment abstraction layer and a shunting communication port;

[0058] The generalized dispatching (GDS) system operation steps are:

[0059] Start the interface service, and the interface service program runs in the form of a background service program or is encapsulated into a container for deployment and running of a Java program;

[0060] After the logistics system program determines that the shunting condition is met, a communication request is officially sent to the interface service program;

[0061] The business interface processing layer defines high-level interfaces, which are mainly used to handle and coordinate the docking requirements between the Generalized Dispatching System (GDS) and the business. For example, the processing logic related to locks can be used to implement functions such as locking storage locations, locking tasks, and synchronizing transportation resources; another example is that the processing logic related to shunting can be hooked with user-defined shunting rules to enable automatic tasks to be allocated and executed according to customer requirements; optionally, some service interfaces undertake the functions of automatic shunting tasks. High-level interfaces are used to define interfaces for the business layer for different scenarios; for example, preset logics before the execution of different logistics shunting tasks are given, additional lock maintenance for logistics resources, and the acquisition and maintenance of the running status of the business layer software, such as the status of creating a waybill, the order receiving status of the AGV device starting, the dispatching operation of the AGV device, the device being in a waiting state, the device pausing and not receiving orders, the completion status of the shunting task, and the device stopping when the waybill is manually terminated. Several key statuses are uniformly maintained to ensure the continuity of the entire system operation.

[0062] The adaptation interface processing layer obtains the AGV device status definition instantiation interface and obtains the detailed information of the running status of the adapted business; the instantiation interface is used to define the specific corresponding status of the clear abstraction layer, derive the normal running status or abnormal running status, and real-time feedback the business status code, which is convenient for reporting and correcting various problems on the shunting logic path; and maintain the working status set of the AGV device, and give the corresponding working status description according to the device status code; the instantiation interface is defined for adapting the shunting logic of various service software in the logistics background according to different logistics characteristics, and is the instantiation interface of the abstraction layer; logistics characteristics mainly refer to characteristics related to the business, such as inventory control, storage location management, device transportation direction, source storage location and target storage location of transportation, transportation time, type of AGV device used, etc.

[0063] The AGV device abstraction layer provides a unified dispatching interface for different types of AGV devices. The dispatching interface is an abstraction layer interface, through which the current discrete state information of the AGV device is obtained; the abstraction layer interface is used to flexibly issue and parse point-to-point shifting instructions to different types of AGV devices at the logistics site, and maintain the real-time status information of the equipment; the status information includes the created (CREATED) state, the running (RUNNING) state, the waiting (WAITING) state, the suspended state (SUSPENDED), the completed state (FINISHED), the terminated state (STOPPED), the to-be-allocated state (TOBEDISPATCHED) and the like. and failure state (FAILED); the instantiated interface refines the running state, which is divided into the state when the AGV device is running on the way to the source site (RUNNING_COM), when the AGV device reaches the transmitted parameter source site and continues to rush from the source site to the destination site (RUNNING_GO), and the state after arriving at the destination site (RUNNING_ARR); similarly, the suspended state is divided into the state when the AGV device is suspended on the way to the source site (SUSPENDED_COM), when the AGV device reaches the transmitted parameter source site and continues to rush from the source site to the destination site and pauses (SUSPENDED_GO), and the suspended state after arriving at the destination site (SUSPENDED_ARR). The failure status is divided into the failure of the AGV equipment on the way to the source site (STOPPED_COM), the failure of the AGV equipment when it reaches the passed parameter source site and continues to rush from the source site to the destination site (STOPPED_GO), and the failure state after arriving at the destination site (STOPPED_ARR); for discrete special states, the original equipment working state definition can be directly referenced, such as creation, waiting, no waybill, unique completion state, etc.

[0064] The shunting communication port is used for obtaining, querying, issuing tasks, monitoring status, etc. through the HTTP communication interface; when the AGV equipment fails or abnormalities occur, the MQTT communication interface needs to report the message in time. In addition, the shunting communication port is also used for timely pushing or reporting of GDS information other than AGV equipment, such as warning messages, error messages, system abnormality messages, etc.

[0065] The AGV equipment receives the assigned tasks or waybills through high-level interfaces, key adapter interfaces, and shunting communication ports layer by layer or across layers, and checks the execution status through the AGV equipment dispatching system;

[0066] During the operation of the AGV device, the high-level interface, the shunting communication port, the abstraction layer interface, or the instantiation interface is continuously called directly or indirectly on-demand to obtain the detailed operation status of the device or system, so as to achieve the goal of real-time and accurate monitoring of the operation status of the AGV device.

[0067] Such as Figure 1As shown, if there are three AGV devices on site, the original AGV device scheduling interface can transmit several states of the device, including created (CREATED), running (RUNNING), waiting (WAITING), suspended (SUSPENDED), completed (FINISHED), terminated (STOPPED), to be assigned (TOBEDISPATCHED) and failed (FAILED). The middle layer in the figure defines the AGV device abstraction layer, which makes an abstract and consistent interface (abstract layer interface) for different third-party AGV devices. It is an interface definition based on the device scheduling system. Compared with the abstract interface layer of the business, this interface layer can better adapt to the shunting logic of various service software in the logistics background, and can feedback the business status code of the normal operation status to facilitate reporting and correcting problems. The various shunting specifications mentioned later require that the logistics software needs to follow the scheduling specifications during operation, and the abstract layer interface or instantiation interface needs to be called on demand. For example, for the running status, the use of the on-site equipment is refined, which is divided into the AGV device sending a moving instruction, the AGV device is on the way to the source site (RUNNING_COM), when the AGV device arrives at the passed parameter source site and continues to rush from the source site to the destination site (RUNNING_GO), the state after arriving at the destination site can be updated to (RUNNING_ARR), and then the AGV device can be defined as the completed state (FINISHED) after completing the task. This state is unique and does not need to be further defined; the device is temporarily stopped (SUSPENDED). The device state is defined as three suspended states to allow The system can determine the location and stage of the equipment operation when the equipment is in a suspended state. Therefore, it is divided into the AGV equipment being suspended on the way to the source site (SUSPENDED_COM), when the AGV equipment reaches the passed parameter source site and continues to rush from the source site to the destination site and is suspended (SUSPENDED_GO), and the suspended state after arriving at the destination site can be updated to (SUSPENDED_ARR); similarly, there can also be a defined equipment failure state (FAILED) as the AGV equipment failing on the way to the source site (STOPPED_COM), when The AGV device arrives at the source site of the passed parameters and continues to rush from the source site to the destination site. If it fails on the way (STOPPED_GO), and the failure state after arriving at the destination site can be updated to three states (STOPPED_ARR); for the discrete special state definition, the working state definition of the original device can be directly referenced, such as the creation (CREATED) state, the waiting (WAITING) state, the no waybill state (NONE), the unique completion state (FINISHED), etc.; the second middle layer in the figure defines the adaptation interface processing layer, and the outermost layer is the business interface processing layer;

[0068] Connect several states including the creation of the waybill status for the business interface processing layer, the order receiving status when the AGV device starts, the dispatching and running of the AGV device, the waiting state of the device, the state where the device pauses and does not receive orders, the completion status of the shunting task, and the stop of the device when the waybill is manually terminated to ensure the continuity of the entire system operation. On-site personnel can enter the information of the loaded carrier into the system by means of a mobile digital terminal device such as a PDA device. The system can flow according to the processing flow in the two-way single storage location task specification later. First, after the system determines that the shunting condition is met based on the entered carrier information and sends a shunting instruction, the system software can obtain the fast status transfer from the creation of the waybill status to the order receiving status from the generalized scheduling system. Then, the system monitor can monitor that the AGV device being shunted experiences the status (RUNNING_COM) during the running process to the source site, the status (RUNNING_GO) during the process from the source site to the destination site after the AGV device arrives at the transferred parameter source site, the updated status (RUNNING_ARR) after arriving at the destination site. Then, after the AGV device completes the task, the system obtains the device completion status (FINISHED). Then, after the system determines that the return shunting condition is met, it sends a shunting instruction again. The system software can obtain the fast status transfer from the creation of the waybill status to the order receiving status from the generalized scheduling system again. Then, the system monitor can monitor that the AGV device being shunted experiences the status (RUNNING_COM) during the running process to the return source site, the status (RUNNING_GO) during the process from the return source site to the return destination site after the AGV device arrives at the transferred parameter as the return source site, the updated status (RUNNING_ARR) after arriving at the return destination site. Then, after the AGV device completes the task, the system obtains the device completion status (FINISHED). At this time, the entire process of the outbound and return trips is successfully completed by calling the abstract layer interface or instantiation interface of the generalized scheduling system GDS.

[0069] Specific on-site example: During the lamination process, a call is made to the AGV device. The scheduling system assigns a handling task to AGV01, which is to move the loaded carrier at storage location PRE-003 to storage location DRL-030. After moving the loaded carrier to DRL-030, the scheduling system assigns a task to AGV02 to return to the rest point. Subsequently, the task to return to the rest point is terminated, and the scheduling system assigns a task for AGV02 to return the empty carrier from storage location DRL-033 to PRE-002. After completing the task of returning the empty carrier, the scheduling system assigns the task of returning to the rest point again, and at this time, AGV02 returns to the rest point. Among them, after the handling task is assigned, the system software can monitor the rapid state transition of AGV01 from the waybill creation state to the order acceptance start state through the abstraction layer interface or instantiation interface. During the process of AGV01 moving the loaded carrier at storage location PRE-003 to storage location DRL-030 from the source storage location, the system software can monitor through the monitor that AGV01 is in the running state on the way to the source site (RUNNING_COM), when it reaches the source site of the transmitted parameters and continues to move on the way from the source site to the destination site (RUNNING_GO), the updated state after reaching the destination site (RUNNING_ARR), and then after AGV01 completes the task, the system obtains the device completion state (FINISHED). At this time, the outbound task has been completed by AGV01. The task of returning the empty carrier from storage location DRL-033 to PRE-002 is assigned by the scheduling system to AGV02. After this device receives the shunting instruction, the system software can again monitor the rapid state transition of AGV02 from the waybill creation state to the order acceptance start state through the abstraction layer interface or instantiation interface. Then the system monitor can monitor that the shunted AGV02 also has to go through the running state on the way to the source site (RUNNING_COM), when it reaches the source site of the transmitted parameters and continues to move on the way from the source site to the destination site (RUNNING_GO), the updated state after reaching the destination site (RUNNING_ARR), and then after AGV02 completes the task, the system obtains the device completion state (FINISHED). At this time, the system uses the generalized scheduling system to call the interface of the third-party device scheduling system, and successively coordinates AGV01 and AGV02 to complete the entire outbound and return processes.

[0070] As described above, the above is the entire process from the normal state of the system and equipment to the completion of the task. Given the complexity of the on-site logistics operation scenario, it is not uncommon for the scheduling system to monitor abnormal working conditions of AGV equipment. Therefore, the following describes an unconventional working scenario of the equipment. On-site personnel can enter the information of the loaded vehicle into the system by means of a mobile digital terminal device such as a PDA device. The system can flow according to the processing flow in the two-way single-warehouse location task specification later. First, after the system determines that the car-shifting condition is met based on the entered vehicle information and sends a car-shifting instruction, the system software can obtain the rapid state transition from the waybill creation state to the order acceptance start state from the generalized scheduling system. Then, the system monitor can monitor that the AGV equipment being shifted experiences the state (RUNNING_COM) during the running process to the source site, and when the AGV equipment reaches the transmitted parameter source site and continues to the state (RUNNING_GO) during the journey from the source site to the destination site. The problem is that on the way from the source site to the destination site, the AGV equipment encounters an obstacle. Due to the inability to avoid the obstacle in time, the system obtains the current working state of the equipment as stopped (STOPPED_GO). At this time, the system should immediately send a prompt message, and on-site staff are required to troubleshoot the problem in time to restore the normal working state of the AGV equipment. At this time, the system monitoring software can monitor from the scheduling system that the AGV equipment quickly switches from the stopped state (STOPPED_GO) to the normal running state (RUNNING_GO), and finally reaches the updated state (RUNNING_ARR) after reaching the destination site. Then, after the AGV equipment completes the task, the system obtains the equipment completion state (FINISHED). Then, after the system determines that the return car-shifting condition is met, it sends a car-shifting instruction again. The system software can obtain the rapid state transition from the waybill creation state to the order acceptance start state from the generalized scheduling system again. Then, the system monitor can monitor that the AGV equipment being shifted experiences the state (RUNNING_COM) during the running process to the return source site, and when the AGV equipment reaches the transmitted parameter as the return source site and continues to the state (RUNNING_GO) during the journey from the return source site to the return destination site, and the updated state (RUNNING_ARR) after reaching the return destination site. Then, after the AGV equipment completes the task, the system obtains the equipment completion state (FINISHED). At this time, by means of the call of the abstract layer interface or instantiation interface of the generalized scheduling system GDS, the on-site personnel are timely notified to solve the problem, and the entire process of the outbound and return trips is successfully completed.

[0071] Specifically, call the vehicle to shunt, call the task, and before picking up the vehicle, take an emergency stop. The front-end interface of the third-party device can check the rds waybill status as drl-032-suspended, pre-002-created. Then the emergency stop is restored, and the AGV equipment continues to move to the DRL-032 storage location. The AGV stops without any voice prompts. The rds waybill status is drl-032-running, pre-002-created. The robot status is that the control right is seized. After releasing the control right, the AGV equipment can pick up the vehicle normally. Take an emergency stop, and the rds waybill status is drl-032-finished, pre-002suspended. After the emergency stop is restored, the AGV equipment continues to move for a distance and then stops. The rds waybill status remains unchanged. The robot status is that the control right is seized. After releasing the control right, the call vehicle task is completed normally, and the rds waybill status can be checked as drl-032-finished, pre-002-finished. In the above scenario, an emergency stop is made before the vehicle is picked up. The background service software can see that the system obtains the status of the AGV device being suspended (SUSPENDED_COM) on the way to the source site through the scheduling system; execution is resumed, and on the way to the DRL-032 storage location after the vehicle is picked up, the system software can obtain the status (RUNNING_GO) from the source site to the destination site through the abstract layer interface or the instantiation interface; if the AGV device is found to be stopped at this time, the abstract layer interface or the instantiation interface should be able to see that the current working status of the device is stopped (STOPPED_GO). After releasing control, the AGV device resumes normal operation and returns to the (RUNNING_GO) state. Finally, the task is completed and the device completion status (FINISHED) can be obtained from the general scheduling system.

[0072] Example 2

[0073] like Figure 2 As shown, this embodiment provides a type I one-way single-location scheduling method, where a one-way trip means that the automated guided vehicle is dispatched from the source location to the target location to complete the shunting task. A typical scenario is that a carrier with materials needs to be transported from the source location to the designated target location. The scheduling method includes:

[0074] The user enters the vehicle information through the terminal device and obtains the dynamic information of logistics activities through dialogue. The logistics logic module corresponding to the required process determines whether the vehicle is located at the source warehouse; if not, a prompt message is issued; the vehicle information includes the vehicle number, capacity and size attribute information, whether the vehicle and warehouse are bound, the vehicle number, whether the vehicle is empty, whether the vehicle is full, whether the vehicle is transported by AGV, whether the vehicle is delivered to the destination, whether the original binding is released and a new binding is generated, etc.

[0075] If the vehicle retrieves whether there is an empty position in the target storage area for the vehicle at the source storage location; if not, a prompt message is issued;

[0076] When it is determined that the vehicle is at the source storage location and there is an empty storage location in the target storage area, the source storage location and the target storage location are locked by calling the High-Level interface. After locking, the shunting instruction for the outbound AGV device is sent by calling the instantiation interface, and the corresponding status is fed back through the instantiation interface;

[0077] After receiving the shift instruction, the AGV device receives the waybill from the source storage location to the target storage location; during the execution of the task by the AGV device, the monitor mechanism is started to detect the health status of the AGV device in real time; if the task fails, a prompt message is sent in a timely manner and the possible reasons for the failure are announced; task failure includes abnormal status of the AGV device and factors other than the device such as manual intervention changing the task status;

[0078] After the AGV device arrives at the target storage location, the completion status of the shunting task is updated through the abstraction layer interface or the instantiation interface, the source storage location and the target storage location are unlocked by calling the business layer interface, the vehicle and the storage location information are rebound, and finally a message indicating that the task is successfully completed is sent to the terminal. Among them, the business layer interface is the relevant interface required for the logistics software call logic.

[0079] The logistics logic module includes many logistics system service customization modules related to processes or storage locations, such as the upper PIN logic module, the upper PIN call material logic module, the outboard (BRD) logic module, the open stock (OPN) call vehicle logic module, the open stock (OPN) logic module, the lamination logic module, the lamination (PRE) call material logic module, the PTH station logic module, the PTH station call material logic module, the storage location lock or task mutex logic module, the grinding board (GRD) logic module, etc.

[0080] The monitor mechanism includes the monitor thread of the outbound vehicle. The normal operation of the monitor thread is to monitor the operation parameters of the AGV device through the monitor, so as to judge whether the AGV device is in a normal operation state; once the monitor fails to run healthily, a corresponding notice message is issued by the system after exiting;

[0081] The operation parameters include the current operation state of the AGV, the judgment of the presence or absence of the vehicle at the source storage location, the presence or absence of an empty space at the target storage location, whether the outbound journey is successfully completed, whether the return status of the general dispatcher GDS is normal, and whether the storage location is locked.

[0082] If the AGV device encounters an abnormal situation during the execution of the task, such as stopping due to an obstacle, etc., the instantiated interface is called to obtain the current changed state, such as the stopped (STOPPED_Go) state, and then the logistics logic processing software translates it into a status code and reports it to the terminal software. Manual intervention is required when necessary to restore the normal working state of the AGV device; at the same time, the monitor monitors the AGV device to quickly switch from the stopped state to the normal operating state, and finally obtains and updates the shunting task completion status through the instantiated interface after arriving at the destination site to ensure the smooth progress of the shunting task. The specific implementation example is: transport materials from the process position (PIN-001) of the upper PIN warehouse area to the designated warehouse position (DRL-009) of the drilling DRL warehouse area. The scheduling system issues a handling task to the AGV02 device to transport the loaded carrier (L-003) on the PIN-001 warehouse position to the warehouse position DRL-009. At this time, the on-site personnel can immediately see that the two warehouse positions PIN-001 and DRL-009 are locked through the warehouse management interface. After transporting the loaded carrier to the warehouse position DRL-009, the two warehouse positions can be seen to be unlocked immediately. After completing the task of returning the loaded carrier, the system rebinds the carrier and warehouse position information, that is, changes the binding relationship from L-003 / PIN001 to L-003 / DRL-009, updates the internal status information of the system, and notifies the user of the completion information of the handling task. At this time, the entire shunting task is officially completed.

[0083] Example 3

[0084] like Figure 3 As shown, this embodiment provides a type I one-way multi-location scheduling method. The logistics activities of the factory production line will transfer materials or vehicles between different storage locations or cache locations to meet the production needs of different production lines or different process locations. The one-way in this embodiment means that the automatic guided vehicle is dispatched from the source storage location and arrives at the target storage location to complete the one-way shunting task. However, due to the layout of the factory or warehouse storage location, there is no empty storage location at the target storage location to place the vehicle to be transported. Therefore, it may be necessary to find the nearest second storage area to find an empty space. A typical scenario is that the vehicle with materials needs to be transported from the source storage location to the designated target storage area location.

[0085] The scheduling method comprises:

[0086] The user enters the vehicle information through the terminal device and obtains the dynamic information of logistics activities through dialogue. The logistics logic module corresponding to the required process determines whether the vehicle is located at the source warehouse; if not, a prompt message is issued; the vehicle information includes the vehicle number, capacity and size attribute information, whether the vehicle and warehouse are bound, the vehicle number, whether the vehicle is empty, whether the vehicle is full, whether the vehicle is transported by AGV, whether the vehicle is delivered to the destination, whether the original binding is released and a new binding is generated, etc.

[0087] If the vehicle retrieves whether there is an empty position in the storage location of the first target storage area at the source storage location, if not, it can continue to retrieve the storage location of the second target storage area closer to the first storage location. If no storage location in the second storage area is found, the system sends a notice message, such as the message that no target empty storage location is found and the shunting task type information cannot be executed.

[0088] When it is determined that either of the two conditions is met: the vehicle is at the source storage location and there is an empty position in the first target, or there is no empty position in the first target storage area but there is an empty position in the second target storage area. To ensure that the system is not interfered by additional factors during shunting or to prevent shunting conflicts, the source storage location and the target storage location are locked by calling the High-Level interface. After locking, the shunting instruction for the outbound AGV device is sent by calling the instantiation interface, that is, the point-to-point movement AGV device instruction is sent to the specific order-receiving AGV device through the instantiation interface, and the corresponding status is fed back through the instantiation interface.

[0089] After receiving the shift instruction, the AGV device receives the waybill from the source storage location to the target storage location. During the execution of the task by the AGV device, the monitor mechanism is started, that is, the outbound vehicle monitor. It is required that the monitor can branch and process the system actions in different states of the AGV device, and send prompt messages in time when the status of the AGV device is abnormal, such as the task execution fails, and it is best to give the possible reasons for the failure. If no abnormal situation occurs during the entire outbound journey of the AGV device, after the AGV device arrives at the first target storage location or the second target storage location and accurately obtains the FINISHED status, at this time, the vehicle carrying the material has been sent to the first target storage location or the second target storage location, indicating that the one-way vehicle task is all completed. At this time, it is necessary to obtain and update the shunting task completion status through the instantiation interface; if the task fails, send prompt messages in time and notify the possible reasons for the failure; task failure includes abnormal status of the AGV device and factors other than the device, such as manual intervention changing the task status.

[0090] After the AGV device reaches the target storage location, it updates the completion status of the shunting task through the abstract layer interface or the instantiation interface, calls the business layer interface to unlock the locks on the source storage location and the first target storage location or the second target storage location, binds the vehicle to the new target storage location (the first target storage location or the second target storage location). At this time, the system internally updates the completion status of the outbound task. Finally, the system sends a message indicating that the entire task has been successfully completed to the terminal. Among them, the business layer interface is all the call logic-related interfaces of the logistics software. The logistics logic module includes many logistics system service customization modules related to processes or storage locations, such as the upper PIN logic module, the upper PIN call material logic module, the outboard (BRD) logic module, the opening (OPN) call vehicle logic module, the opening (OPN) logic module, the lamination logic module, the lamination (PRE) call material logic module, the PTH station logic module, the PTH station call material logic module, the storage location lock or task mutex logic module, the grinding plate (GRD) logic module, etc.

[0091] The monitor mechanism includes the monitor thread of the outbound vehicle. The normal operation of the monitor thread is to monitor the operating parameters of the AGV device through the monitor, so as to judge whether the AGV device is in a normal operating state; once the monitor fails to operate healthily, the system will send a corresponding notification message after exiting.

[0092] The operating parameters include the current operating state of the AGV, the presence or absence of a vehicle in the source storage location, the presence or absence of an empty space in the target storage location, whether the outbound journey is successfully completed, whether the return status of the general dispatcher GDS is normal, and whether the storage location is locked.

[0093] If the AGV device encounters abnormal situations during the task execution, such as stopping due to obstacles, etc., it obtains the current changed state, such as the stopped (STOPPED_Go) state of transporting goods, through the instantiation interface, and then the logistics logic processing software translates it into a status code and reports it to the terminal software. If necessary, manual intervention is required to restore the normal working state of the AGV device; at the same time, the monitor monitors the AGV device to quickly switch from the stopped state to the normal operating state, and finally obtains and updates the completion status of the shunting task through the instantiation interface after reaching the destination site to ensure the smooth progress of the shunting task.

[0094] In a specific on-site example, materials are transported from the storage location (PIN-002) of the upper PIN process location to the storage location of the drilling DRL storage area. Taking into account not affecting the generation of material transportation targets, two storage areas close to the drilling DRL storage area, Drilling Area 1 and Drilling Area 2, are set up. Drilling Area 1 and Drilling Area 2 are distributed in the same workshop. When transporting materials from the storage location (PIN-002) of the previous PIN process location to the DRL storage area of ​​the drilling hole, the scheduling system will check whether there is an empty storage location in the drilling hole 1 area before issuing the transportation task to the AGV equipment. If not, it will continue to search whether there is an empty storage location in the drilling hole 2 area, and transport the carrier (L-001) with material on the PIN-002 storage location to the empty storage location DRL-031 found in the drilling hole 2 area. At this time, the on-site personnel can immediately see that the two storage locations PIN-002 and DRL-031 are locked through the warehouse management interface. After transporting the carrier with material to the storage location DRL-031, they can see that the two storage locations are unlocked immediately. After completing the task of returning the carrier with material, the system rebinds the carrier and storage location information, that is, changes the binding relationship from L-001 / PIN002 to L-001 / DRL-031, updates the internal status information of the system, and notifies the user of the completion information of the transportation task. At this time, the entire shunting task is officially completed.

[0095] Example 4

[0096] like Figure 4 As shown, this embodiment provides a type I two-way single storage location scheduling method. The logistics activities of the factory production line will transfer materials or carriers between different storage locations or cache locations to meet the production needs of different production lines or different process locations. The multi-trip here includes the outbound trip (forward trip) and the return trip (return trip), which means that the automatic guided vehicle is transferred out from the source storage location and transferred back from the target storage location to maximize the equipment utilization rate. A typical scenario is that the carrier with materials needs to be transported out from the source storage location, and the AGV equipment also transports the empty carrier back when it comes back.

[0097] The user enters the vehicle information through the terminal device and obtains the dynamic information of logistics activities through dialogue. The logistics logic module corresponding to the required process determines whether the vehicle is placed in the source warehouse and the target warehouse. If not, a prompt message is issued. The vehicle information includes the vehicle number, capacity and size attribute information, whether the vehicle and the warehouse are bound, the vehicle number, whether the vehicle is vacant, whether the vehicle is empty, whether the vehicle is full, whether the vehicle is transported by AGV equipment, whether the vehicle is sent to the destination, and whether the original binding is released and a new binding is generated.

[0098] If there are empty positions in the source storage location and the target storage location in the storage area for the vehicle, lock the source storage location and the target storage location by calling the High-Level interface. After locking, call the instantiation interface to send the shunting instruction for the outbound AGV device, that is, send the point-to-point movement AGV device instruction to the specific order-receiving AGV device through the instantiation interface. And feedback the corresponding status through the instantiation interface;

[0099] After the AGV device receives the shifting instruction, it receives the waybill from the source storage location to the target storage location; during the execution of the task by the AGV device, the outbound monitor is started, and at the same time, the monitor manager is immediately started. Then, the monitor manager determines whether to start the return monitor according to whether the outbound monitor exits and the running status information of the current AGV device, so as to continue to monitor the running status of the AGV device on the return journey; if the task fails, prompt information is sent in time and the possible failure reasons are notified; task failure includes abnormal AGV device status and factors other than the device such as manual intervention changing the task status;

[0100] After the AGV device arrives at the target storage location, update the shunting task completion status through the abstraction layer interface or the instantiation interface, and call the unlocking of the source storage location and the target storage location through the business layer interface to re-bind the vehicle and storage location information; among them, the business layer interface is all the call logic-related interfaces of the logistics software. After the AGV device completes the outbound task, the logistics logic module corresponding to the required process checks whether there are empty vehicles in other storage locations in the same storage area as the target storage location and whether there is an empty storage location at the source storage location during the outbound journey; if not, prompt information is sent and the failure reason is given;

[0101] Lock the source storage location and the target storage location by calling the High-Level interface. After locking, call the instantiation interface to send the shunting instruction for the return AGV device, and feedback the corresponding status through the instantiation interface;

[0102] After the AGV device receives the shifting instruction, it receives the waybill from the target storage location to the source storage location; during the execution of the task by the AGV device, the monitor manager starts the return monitor to detect the health status of the AGV device in real time; if the task fails, prompt information is sent in time and the possible failure reasons are notified; task failure includes abnormal AGV device status and factors other than the device such as manual intervention changing the task status;

[0103] After the AGV device arrives at the source storage location, update the shunting task completion status through the abstraction layer interface or the instantiation interface, unlock the source storage location and the target storage location by calling the business layer interface, and re-bind the vehicle and storage location information; finally, send a message indicating that the task is successfully completed to the terminal.

[0104] The logistics logic module includes many logistics system service customization modules related to processes or storage locations, such as the upper PIN logic module, the upper PIN call material logic module, the board out (BRD) logic module, the opening (OPN) call carrier logic module, the opening (OPN) logic module, the lamination logic module, the lamination (PRE) call material logic module, the PTH station logic module, the PTH station call material logic module, the storage location lock or task mutual exclusion logic module, the panel grinding (GRD) logic module, etc.

[0105] The monitor mechanism includes the monitor thread of the outbound vehicle and the monitor thread of the inbound vehicle. The monitor manager determines whether to start the monitor thread of the inbound vehicle based on the execution result of the outbound vehicle or the return judgment condition. Specifically, when the AGV device fails or malfunctions or after the inbound task is completed, the monitor thread of the inbound vehicle exits after obtaining the status through the instantiation interface. During the entire execution of the inbound vehicle task, the inbound monitor thread remains in the running state.

[0106] The normal operation of the monitor thread is to monitor the operating parameters of the AGV device through the monitor, so as to determine whether the AGV device is in a normal operating state. Once the monitor fails to operate properly, a corresponding notification message is sent out after it exits.

[0107] The operating parameters include the current operating status of the AGV, the presence or absence of a vehicle at the source storage location, the presence or absence of an empty space at the target storage location, whether the outbound journey is successfully completed, whether the status returned by the general dispatcher GDS is normal, and whether the storage location is locked. If the AGV device encounters abnormal situations during the task execution, such as stopping due to obstacles, etc., it obtains the current changed status through the instantiated interface, such as the state of stopped during material transportation (STOPPED_Go), and then the logistics logic processing software translates it into a status code and reports it to the terminal software. Manual intervention is required when necessary to restore the normal operating state of the AGV device; at the same time, the monitor monitors the AGV device to quickly switch from the stopped state to the normal operating state. Finally, after reaching the destination site, it obtains and updates the status of the shunting task completion through the instantiated interface to ensure the smooth progress of the shunting task. A specific on-site example is to transport materials from the process location (GRD-002) in the grinding plate storage area to the storage location in the outgoing plate BRD storage area. Considering not affecting the generation of the material transportation target on-site, after the system discovers that the two constraint conditions of the presence of a loaded vehicle at the storage location GRD-002 and the existence of an empty storage space at the target storage location BRD-003 are met, it locks the source storage location and the target storage location, sends a Class I outbound vehicle shunting instruction, and then after starting the outbound AGV device monitor, it starts the monitor manager to ensure real-time monitoring of the monitoring status during the movement of the AGV device. After determining that it has successfully reached the storage location BRD-003, it immediately checks whether there is an empty vehicle at the same storage location and finds that there is an empty vehicle at the storage location BRD-010. It returns that the target empty storage space exists, and then immediately locks the storage location BRD-003 where the empty vehicle is located, locks the new target storage location GRD-001, sends a Class I return AGV device scheduling instruction, starts the return vehicle monitor, monitors the operating status of the AGV device, and if a problem is found, immediately sends a notice to the system interface. After the AGV device successfully returns to the original grinding plate storage area, the two storage locations BRD-003 and GRD-001 will be unlocked in the same way, and the empty vehicle / storage location information will be rebound. At this time, the system internally updates the status of the return task completion, and at this time, the round-trip AGV device scheduling task is successfully completed.

[0108] Embodiment 5

[0109] As Figure 5 shown, this embodiment provides a Class I multi-journey and multi-storage location scheduling method. The storage location settings in the factory need to meet the material efficiency requirements for production. During production, there are sometimes various situations such as a single storage area being insufficient or a spare storage area objectively existing. At this time, the system enters the physical information of different storage locations to help judge the convenience of transporting materials at different storage locations. Figure 5 Describes the situation of shunting for two target storage locations. In the real logistics scenario, there may be more than two storage locations. Specifically, for the first target storage location and the second target storage location, for outbound and return shunting, how to utilize the situation of the first target storage location or the buffer location and the second target storage location or the buffer location. The specific scheduling method is as follows:

[0110] The user enters the vehicle information through the terminal device, and the logistics logic module corresponding to the required process determines whether the vehicle is in the source storage location and whether there is an empty location in the first target storage area to place the vehicle. If there is no empty storage location, it will go to the back to search for the second target storage location; if not, a prompt message will be issued; the vehicle information includes the vehicle number, capacity and size attribute information, whether the vehicle and the storage location are bound, the vehicle number, whether the vehicle is emptied, whether the vehicle is empty, whether the vehicle is full, whether the vehicle is transported by AGV equipment, whether the vehicle is delivered to the destination to release the original binding and generate a new binding, etc.

[0111] If there is an empty position for placing the carrier in the source storage location, the first target storage area storage location or the second target storage area storage location, the source storage location and the target storage location are locked by calling the high-level interface. After locking, the instantiated interface is called to issue the outbound AGV equipment shunting instruction, that is, the point-to-point mobile AGV equipment instruction is issued to the specific AGV equipment that can accept orders through the instantiated interface and the corresponding status is fed back through the instantiated interface;

[0112] After receiving the shift instruction, the AGV device receives the waybill from the source storage location to the target storage location; during the execution of the task by the AGV device, the outbound monitor is started, and the monitor manager is started immediately at the same time. Then the monitor manager determines whether to start the return monitor based on whether the outbound monitor has exited and the current operating status information of the AGV device, thereby continuing to monitor the operating status of the AGV device on the return journey; if the task fails, a prompt message is sent in time and the possible reasons for the failure are notified; task failure includes abnormal AGV device status and factors other than the equipment, such as manual intervention to change the task status; no abnormal situation occurs during the entire outbound journey of the AGV device. After the AGV device arrives at the target storage location, the system can accurately obtain the completion status (FINISHED), and the carrier carrying the material has been delivered to the first target storage location.

[0113] After the AGV equipment arrives at the target storage location, it is necessary to promptly unlock the source storage location and the first target storage location, while maintaining the consistency of material information. The shunting task completion status must be updated through the abstract layer interface or instantiation interface, and the source and target storage locations must be unlocked by calling the business layer interface, and the vehicle and storage location information must be rebinded. Among them, the business layer interface is the relevant interface required by the logistics software call logic.

[0114] After the AGV device completes the outbound task, the logistics logic module corresponding to the required process checks whether there are any empty carriers in other storage locations in the same storage area as the target storage location and whether there is an empty storage location at the source storage location during the outbound journey; if not, it sends a prompt message and gives the reason for failure; if so, it locks the source storage location and the target storage location by calling the High-Level interface, and after locking, calls the instantiation interface to issue a shunting instruction for the return AGV device, and feeds back the corresponding status through the instantiation interface;

[0115] After the AGV device receives the shifting instruction, it receives the waybill from the target storage location to the source storage location; during the execution of the task by the AGV device, the monitor manager starts the return monitor to continuously detect the health status of the AGV device; the return monitor manager continuously monitors whether the start monitor for the return journey exits during the operation of the logistics software; if the task fails, it promptly sends a prompt message and notifies the possible reasons for failure; task failure includes abnormal status of the AGV device and factors other than the device such as manual intervention changing the task status;

[0116] After the AGV device arrives at the source storage location, it updates the shunting task completion status through the abstraction layer interface or the instantiation interface, unlocks the source storage location and the target storage location by calling the business layer interface, and rebinds the carrier and storage location information; finally, it sends a message indicating that the task has been successfully completed to the terminal.

[0117] The logistics logic module includes many logistics system service customization modules related to processes or storage locations, such as the upper PIN logic module, the upper PIN call material logic module, the board out (BRD) logic module, the open stock (OPN) call carrier logic module, the open stock (OPN) logic module, the lamination logic module, the lamination (PRE) call material logic module, the PTH station logic module, the PTH station call material logic module, the storage location lock or task mutex logic module, the grinding board (GRD) logic module, etc.

[0118] The monitor mechanism includes the monitoring thread for the outbound vehicle and the monitoring thread for the return vehicle. The monitor manager decides whether to start the monitoring thread for the return vehicle based on the execution result of the outbound vehicle or the return judgment condition; specifically, when the AGV device fails or is abnormal or after the return task is completed, the monitor obtains the status through the instantiation interface and then the monitoring thread for the return vehicle exits. During the entire execution of the return vehicle task, the monitoring thread remains in the running state.

[0119] The normal operation of the monitor thread is to monitor the operating parameters of the AGV device through the monitor, so as to judge whether the AGV device is in a normal operating state; once the monitor fails to operate healthily, the system issues a corresponding notice message after exiting;

[0120] The operating parameters include the current operating status of the AGV, the presence or absence of the vehicle at the source storage location, the presence or absence of empty spaces at the target storage location, whether the outbound journey is successfully completed, whether the status returned by the general dispatcher GDS is normal, and whether the storage location is locked.

[0121] If, during the execution of a task by the AGV device, an abnormal situation is encountered, such as stopping due to an obstacle, etc., the current changed status, such as the state of the transported goods stopping (STOPPED_Go), is obtained by calling the instantiation interface. Then, the logistics logic processing software translates it into a status code and reports it to the terminal software. If necessary, manual intervention is required to restore the normal operating state of the AGV device. At the same time, the monitor monitors the AGV device quickly switching from the stopped state to the normal operating state. Finally, after reaching the destination site, the status of the shunting task completion is updated through the abstraction layer interface or the instantiation interface to ensure the smooth progress of the shunting task.

[0122] Embodiment 6

[0123] As Figure 6 shown, this embodiment provides a scheduling method for Class II one-way multi-storage locations. In the logistics activities of the factory production line, there will be a transfer of vehicles carrying materials between different storage locations or buffer locations to meet the production requirements of different production lines or different process positions. The one-way here means that the automated guided vehicle is dispatched from one or more target storage locations to reach the source storage location to complete a one-way shunting task. However, due to the layout of the factory or warehouse storage locations, there is no empty vehicle storage location at the first target storage location. Therefore, it may be necessary to find the nearest second source area nearby to find an empty vehicle storage location. A typical scenario is to transport an empty vehicle from the target storage location to the designated source storage area location.

[0124] The scheduling method includes:

[0125] The user triggers the information of transporting an empty / full vehicle through the terminal device, obtains the dynamic information of the logistics activity (Context) through a dialogue method, and the logistics logic module corresponding to the required process determines whether there is an empty source storage location in the storage area at the current process position where the task is issued; if not, a prompt message is issued.

[0126] In special scenarios, if it is found from the dialogue information that there is an empty vehicle in the crowded source storage location, before arranging for the normal outbound AGV device to transport the full-load vehicle, the empty vehicle is transported to the target storage location in advance to release the limited storage locations in a timely manner.

[0127] If there is an empty source storage location, continue to check whether there is an empty vehicle placed in one or more target storage areas / Full vehicle , if not, a prompt message is issued.

[0128] When it is determined that the empty vehicle is at the target storage location in the warehouse area, the source storage location and the target storage location will be locked by calling the High-Level interface, a shunting instruction for the outbound AGV device will be sent, and the corresponding status will be fed back through the instantiated interface;

[0129] After receiving the shifting instruction, the AGV device receives the waybill from the target storage location to the source storage location; during the execution of the task by the AGV device, the monitor mechanism is started to detect the health status of the AGV device in real time; if the task fails, a prompt message will be sent in time and the possible reasons for the failure will be announced; the task failure includes that the status of the AGV device is abnormal and factors other than the device such as manual intervention change the task status;

[0130] After the AGV device arrives at the target storage location, the completion status of the shunting task is updated through the abstract layer interface or the instantiated interface, the source storage location and the target storage location are unlocked by calling the business layer interface, the vehicle and the storage location information are rebound, and finally a message indicating that the task has been successfully completed is sent to the terminal. Among them, the business layer interface is the relevant interface required for the logistics software call logic. For a specific on-site example, when starting an empty vehicle handling task from the cutting process position and the empty vehicle is not found, and the task execution fails, the system will display a failure message that stays for 2s and then disappears; when the cutting process OPN-002 initiates an empty vehicle task, the system prompt message is: The call for the empty vehicle task has been started; after the empty vehicle is transported to OPN-001 and the task is completed, it will display that the AGV task is completed, and then the message disappears. Among them, before the outbound shunting task is initiated, it is necessary to lock the OPN-002 storage location and the original storage location DRL-011 where the empty vehicle is located. During the vehicle's task execution, the "RUNNING_Come" status, "RUNNING_Go" status, and "FINISHED" status can be successively obtained from the abstract layer interface or the instantiated interface, announcing that the task has been completed. At this time, the system safely unlocks the two previously locked storage locations and rebinds the empty vehicle, updates the internal status information of the system, and notifies the user of the completion of the handling task. At this time, the entire shunting task is officially completed.

[0131] Among them, the logistics logic module includes many logistics system service customization modules related to processes or storage locations, such as the upper PIN logic module, the upper PIN call material logic module, the outboard (BRD) logic module, the cutting (OPN) call vehicle logic module, the cutting (OPN) logic module, the lamination logic module, the lamination (PRE) call material logic module, the PTH station logic module, the PTH station call material logic module, the storage location lock or task mutex logic module, the grinding plate (GRD) logic module, etc.

[0132] The monitor mechanism includes the monitoring thread of the outbound vehicle. The normal operation of the monitor thread is to monitor the operating parameters of the AGV device through the monitor, so as to judge whether the AGV device is in a normal operating state; once the monitor fails to operate healthily, the system will send a corresponding notice message after exiting;

[0133] The operating parameters include the current operating state of the AGV, the judgment of the presence or absence of the vehicle at the source storage location, the presence or absence of empty space at the target storage location, whether the outbound journey is successfully completed, whether the return status of the general dispatch GDS is normal, and whether the storage location is locked.

[0134] During the execution of tasks by the AGV device, if abnormal situations are encountered, such as problems like stopping due to obstacles, the current changed state such as the state of stopped goods transportation (STOPPED_Go) can be obtained by calling the instantiation interface, and then the logistics logic processing software translates it into a status code and reports it to the terminal software. Manual intervention is required if necessary to restore the normal working state of the AGV device; at the same time, the monitor monitors the rapid switch of the AGV device from the stopped state to the normal operating state, and finally updates the completion status of the shunting task through the abstraction layer interface or the instantiation interface after reaching the destination site to ensure the smooth progress of the shunting task.

[0135] Embodiment 7

[0136] Such as Figure 7 As shown, this embodiment provides a logistics system business process flow designer implementation, which includes several parts: business components and component libraries, logistics facts and fact queues, simple interaction interfaces, real-time pattern matching, production rules, and shunting specifications. The logistics system can achieve the processing and decision-making of intelligent logistics facts (Facts) through the collaborative work of multiple parts.

[0137] Business components (Components) and component libraries (Library)

[0138] As the input part of the system, business components are reusable functional modules in the system, and the component library is the repository of these components. This component library is used to enable users to use interaction methods such as drag and drop through the simple interaction interface to achieve the logical implementation that can meet the on-site business requirements.

[0139] Logistics facts (Facts) and fact queues

[0140] Logistics facts (Facts): This is another data input source of the system. Facts are data objects input into the rule engine. In the logistics scenario, goods information, vehicle location, AGV device status, warehouse inventory, AGV and order status, etc. can all be facts. These facts are inserted into the working fact queue of the rule engine.

[0141] Fact Queuing: After the logistics fact data enters the system, it first enters the fact queuing module, where the data is preliminarily sorted and queued for subsequent processing.

[0142] Real-time Pattern Matching

[0143] The real-time pattern matching module needs to traverse the data in the fact queue to reprocess the input result data of user interaction. This module is responsible for dynamically matching the input logistics facts with the preset patterns in the system to determine the current logistics status and the operations to be performed in the plan.

[0144] Production Rules (Automatic / Manual / Mixed)

[0145] The production rules are the result of the operation of the real-time pattern matching module. This module will drive the system to execute a series of system operation instructions (which can be in automatic, manual or mixed modes) according to the generated rules. The execution process chain may run in automatic mode, manual mode or a mixed mode combining the two. For example, if an AGV is idle in a certain area, the rule may instruct the system to dispatch the AGV device to the material loading area and automatically transport it to the storage area where there is an empty storage location at a certain workstation.

[0146] Optionally, these rules can be adjusted according to the actual situation (such as the component library includes graphic elements for the user to choose whether to dynamically update the production rules) to adapt to the continuously changing logistics scenarios.

[0147] Application (Apply) and Shunting Specifications (Type I / Type II) refer to the part of the production rules that can be applied to the shunting specifications, where the descriptions of Type I and Type II shunting specifications are kept compatible with the above.

[0148] Optionally, the real-time pattern matching and production rule sub-processes can utilize AI technology to achieve more intelligent decision-making purposes, such as directly or indirectly affecting indicators such as the throughput rate of orders or the utilization rate of equipment.

[0149] Optionally, the shaded part in the figure can form an important part of the intelligent decision-making of the entire system. In addition to being able to coordinate the work of each module, it can also be used as an input for other subsystems. This part, based on the input logistics facts and the rules in the system or the rules input by the user, preset components, etc., approaches the optimal decision infinitely to achieve the efficiency and accuracy of logistics operations.

[0150] SimpleUI Interaction

[0151] The system provides a simple user interface (SimpleUI) for operators to interact with the system. In addition to viewing the logistics status, component elements, adjustment rules, or customizing processes through this interface, especially in the familiar way of Drag and Drop that operators are used to, business processes and logics that meet on-site business requirements can be achieved.

[0152] The above business flow designer framework can be implemented for the scheduling of automated guided vehicles (AGVs).

[0153] 1. Conduct real-time analysis and decision-making based on logistics fact data (such as cargo location, AGV status);

[0154] 2. Ensure the safe and efficient operation of AGVs through production rules and shunting specifications;

[0155] 3. Utilize business components and component libraries to implement reusable function modules and process designs, such as shunting paths, additional conditions, task or order allocation, and business flow control, etc.;

[0156] 4. Reasonably apply the scheduling strategy of AGVs through an intelligent decision-making module to improve the overall efficiency of logistics operations;

[0157] 5. Operators can customize, improve, monitor, and intervene in business processes through the simple user interface to ensure the reasonable operation of the system.

[0158] Example 8

[0159] This embodiment provides a message data presentation interface (Interface).

[0160] In order to well track all running states during the task execution of AGV equipment and meet the production requirements of transporting materials, carriers, or other on-site logistics resource scheduling. The system message notification interface specification requirements provided by the embodiments of this application include: button-triggered shunting tasks; the system interface needs to pre-design a notification area; a human-friendly message dialog box; placing notification message widgets on the interface; placing warning message widgets on the interface; clicking on the message control to pop up a message set scrolling window.

[0161] Among them, the interface design needs to classify and place buttons, and users need to be able to click on the buttons to trigger shunting tasks;

[0162] Normally, the message notification area is usually the bottom window of the main interaction interface. The system needs to classify and process system announcement messages, and different types of messages are given different color identifications as described below to improve the interface appearance;

[0163] The notification message widget and the alarm message widget are usually placed at the topmost or bottommost position of the main interaction interface. When the user clicks on the message widget, a message list window of appropriate size can pop up. The list column information displays the message attributes, and the window is required to be scrollable.

[0164] Notification message description: The message dialog box should be able to describe the event that occurred or correctly represent the operating state of the device and the execution state of the shunting task in clear, correct, and concise language.

[0165] Notification message color recognition: Green indicates success or a normal message confirmed by the system, such as the AGV arriving at the destination, the task has been confirmed to be completed; Blue indicates a normal message or a confirmation message, such as the AGV operating normally, the task of transporting materials has been sent, and the task of moving the empty vehicle has been completed; Yellow indicates a prompt message or a warning, such as the AGV is about to go to the rest point during the task execution; Red indicates an emergency warning or an error, such as the AGV malfunction, the AGV transportation stops, and there is a safety risk affecting the system operation.

[0166] Optionally, the above requirements for describing notification messages can be tailored according to the system scale and complexity. For example, the message that should be displayed in the message notification area does not have to pop up a message box for display, and the message sensed by the message widget does not have to be displayed in the notification area, etc.

[0167] Optionally, according to the project requirements and on-site scenario requirements, other measures beneficial to the implementation of the system message notification interface specification belong to the scope of this specification. For example, different types of notification messages can make the device emit clear and distinguishable sounds of different frequencies.

[0168] Although the preferred embodiments of the present application have been described, those skilled in the art can make additional changes and modifications to these embodiments once they know the basic creative concept. Therefore, the appended claims are intended to be construed to include the preferred embodiments as well as all changes and modifications falling within the scope of the present application.

[0169] It should be noted that the technical features not detailed in the present invention can all be realized by any existing technology.

Claims

1. A scheduling method for an automated guided vehicle based on a generalized scheduling system, characterized in that, The general scheduling system is an adaptation layer software system developed based on a third-party scheduling interface; the general scheduling system includes an interface service program, a service interface processing layer, an adaptation interface processing layer, an AGV device abstraction layer, and a shunting communication port; The running steps of the general scheduling system are as follows: Start the interface service, and the interface service program runs in the form of a background service program or is encapsulated into a container for deployment and running with a Java program; After the logistics system program determines that the shunting condition is met, it officially sends a communication request to the interface service program; The service interface processing layer defines high-level interfaces for handling and coordinating the docking requirements between the general scheduling system and the service; The adaptation interface processing layer obtains an AGV device status definition instantiation interface to obtain detailed information on the running status of the adaptation service; The AGV device abstraction layer provides a unified scheduling interface for different types of AGV devices. This scheduling interface is an abstraction layer interface, and the discrete state information of the current location of the AGV device is obtained through the abstraction layer interface; The HTTP communication interface for obtaining, querying, issuing tasks, and monitoring the status is used through the shunting communication port; the MQTT communication interface for reporting messages in a timely manner when a failure or abnormality occurs in the AGV device. In addition, the shunting communication port is also used to push or report messages of GDS information other than the AGV device in a timely manner; The AGV device receives the issued task or waybill through layer-by-layer or cross-layer calls of the high-level interface, the key adaptation interface, and the shunting communication port, and views the execution status through the AGV device scheduling system; During the operation of the AGV device, the high-level interface, the shunting communication port, the abstraction layer interface, or the instantiation interface is continuously called directly or indirectly as needed to obtain detailed device or system operation status, so as to achieve the goal of real-time and accurate monitoring of the operation status of the AGV device.

2. The scheduling method of an automated guided vehicle based on a generalized scheduling system according to claim 1, characterized in that, The scheduling method includes: The user enters vehicle information through a terminal device, obtains dynamic information of logistics activities through a dialogue method, and the logistics logic module corresponding to the required process determines whether the vehicle is located at the source storage location; if not, a prompt message is issued; If the vehicle is at the source storage location, check whether there are empty positions in one or more target storage areas to place the vehicle; if not, a prompt message is issued; When it is determined that the vehicle is at the source storage location and there are empty storage positions in the target storage area, the source storage location and the target storage location are locked by calling the high-level interface. After locking, the instantiation interface is called to issue a shunting instruction for the outgoing AGV device, and the corresponding status is fed back through the instantiation interface; After receiving the shifting instruction, the AGV device receives the waybill from the source storage location to the target storage location; during the execution of the task by the AGV device, the monitor mechanism is started to detect the health status of the AGV device in real time; if the task fails, a prompt message is sent in a timely manner and the possible failure reasons are announced; After the AGV device arrives at the target storage location, the shunting task completion status is updated through the abstraction layer interface or the instantiation interface, the source storage location and the target storage location are unlocked by calling the service layer interface, the vehicle and the storage location information are rebound, and finally a message indicating that the task is successfully completed is sent to the terminal.

3. The scheduling method of an automated guided vehicle based on a generalized scheduling system according to claim 1, wherein The scheduling method includes: The user enters vehicle information through the terminal device and obtains dynamic information of logistics activities through dialogue. The logistics logic module corresponding to the required process determines whether the vehicle is in the source storage location and whether there are empty positions in one or more target storage areas to place the vehicle. If not, a prompt message is sent. If the vehicle is in the source storage location and there are empty positions in the target storage areas to place the vehicle, the source storage location and the target storage location are locked by calling the high-level interface. After locking, the outbound AGV device shunting instruction is sent by calling the instantiation interface, and the corresponding status is fed back through the instantiation interface. After receiving the shifting instruction, the AGV device receives the waybill from the source storage location to the target storage location. During the execution of the task by the AGV device, the outbound monitor is started, and at the same time, the monitor manager is immediately started. Then, the monitor manager determines whether to start the return monitor according to whether the outbound monitor exits and the running status information of the current AGV device, so as to continue to monitor the running status of the AGV device on the return journey. If the task fails, a prompt message is sent in time and the possible failure reasons are notified. After the AGV device arrives at the target storage location, the shunting task completion status is updated through the abstract layer interface or the instantiation interface. The source storage location and the target storage location are unlocked by calling the service layer interface, and the vehicle and storage location information are rebound. After the AGV device completes the outbound task, the logistics logic module corresponding to the required process checks whether there are empty vehicles in other storage locations in the same storage area as the target storage location and whether the source storage location during the outbound journey is currently empty. If not, a prompt message is sent and the failure reason is given. If there are, the source storage location and the target storage location are locked by calling the high-level interface. After locking, the return journey AGV device shunting instruction is sent by calling the instantiation interface, and the corresponding status is fed back through the instantiation interface. After receiving the shifting instruction, the AGV device receives the waybill from the target storage location to the source storage location. During the execution of the task by the AGV device, the monitor manager starts the return monitor to detect the health status of the AGV device in real time. If the status of the AGV device is abnormal, a prompt message is sent in time and the possible failure reasons are notified. After the AGV device arrives at the source storage location, the shunting task completion status is updated through the abstract layer interface or the instantiation interface. The source storage location and the target storage location are unlocked by calling the service layer interface, and the vehicle and storage location information are rebound. Finally, a message indicating that the task is successfully completed is sent to the terminal.

4. The scheduling method of an automated guided vehicle based on a generalized scheduling system according to claim 1, characterized in that, The scheduling method includes: The user triggers the information of transporting empty / full vehicles through the terminal device and obtains dynamic information of logistics activities through dialogue. The logistics logic module corresponding to the required process determines whether there are empty source storage locations in the storage area where the task is currently issued. If not, a prompt message is sent. If there are empty source storage locations, continue to search whether there are empty / full vehicles in one or more target storage areas. If not, a prompt message is sent. When it is determined that the empty vehicle is in the target storage area, the source storage location and the target storage location are locked by calling the high-level interface, the outbound AGV device shunting instruction is sent, and the corresponding status is fed back through the instantiation interface. After receiving the shift instruction, the AGV device receives the waybill from the target storage location to the source storage location. During the execution of the task, the monitoring mechanism is activated to detect the health status of the AGV device in real time. If the task fails, prompt information is sent in time and the possible reasons for the failure are notified. After the AGV equipment arrives at the source storage location, it updates the completion status of the shunting task through the abstract layer interface or instantiation interface, unlocks the source storage location and the target storage location by calling the business layer interface, rebinds the vehicle and storage location information, and finally sends a message to the terminal indicating that the task has been successfully completed.

5. A scheduling method for an automated guided vehicle based on a generalized scheduling system according to claim 2 or 3 or 4, characterized in that The logistics logic module includes an upper PIN logic module, an upper PIN calling material logic module, a plate output logic module, a material cutting calling carrier logic module, a material cutting logic module, a pressing logic module, a pressing calling material logic module, a PTH station logic module, a PTH station calling material logic module, a storage location lock or task mutual exclusion logic module, and a grinding plate logic module.

6. The scheduling method of an automated guided vehicle based on a generalized scheduling system according to claim 3, characterized in that, The monitor mechanism includes a monitoring thread for the outbound vehicle and a monitoring thread for the return vehicle. The execution result of the outbound vehicle or the return judgment condition determines whether the monitoring thread of the return vehicle exits. The normal operation of the monitor thread is to monitor the operating parameters of the AGV equipment through the monitor, so as to determine whether the AGV equipment is in a normal operating state; once the monitor fails to operate healthily, the system will issue a corresponding notification message after exiting.

7. A scheduling method for an automated guided vehicle based on a generalized scheduling system according to claim 2 or 3 or 4, characterized in that If the AGV device encounters an abnormal situation during the execution of a task, the instantiated interface is called to obtain the current changed state, and then the logistics logic processing software translates it into a status code and reports it to the terminal software, or through manual intervention, the AGV device is restored to normal working state; at the same time, the monitor monitors the AGV device to quickly switch from a stopped state to a normal operating state, and finally updates the shunting task completion status through the abstract layer interface or instantiation interface after arriving at the destination site, ensuring the smooth progress of the shunting task.

8. A scheduling method for an automated guided vehicle based on a generalized scheduling system according to claim 2 or 3 or 4, characterized in that The vehicle information includes the vehicle number, capacity and size attribute information, whether the vehicle and the storage location are bound, the vehicle number, whether the vehicle is unset, whether the vehicle is empty, whether the vehicle is full, whether the vehicle is transported by AGV equipment, and whether the vehicle is sent to the destination to release the original binding and generate a new binding.

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